+ python -m lidar_slam --no-model /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 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 0.02587156 Adjusted end_distance from 9.223372036854776e+18 to 310.00587156 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02587156 meters Centerline goodness [0,1] 0.7016506100080464 Centerline is valid? [0, False] SLAMing on 0.05587156 meters Centerline goodness [0,1] 0.6903404181786763 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999990e-01 1.29673039e-04 -5.18080482e-05 1.84141106e-03] [-1.29653052e-04 9.99999917e-01 3.85618635e-04 -2.42023154e-03] [ 5.18580482e-05 -3.85611914e-04 9.99999924e-01 -1.74062283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08587156 meters Centerline goodness [0,1] 0.6815766260031413 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999297e-01 -9.78874335e-04 -6.69260583e-04 7.95302733e-03] [ 9.78668218e-04 9.99999474e-01 -3.08234798e-04 -2.55285022e-03] [ 6.69561954e-04 3.07579597e-04 9.99999729e-01 -6.22079216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11587156000000001 meters Centerline goodness [0,1] 0.6872430668841762 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998829e-01 -1.18147634e-03 -9.72291596e-04 1.24595807e-02] [ 1.18144880e-03 9.99999302e-01 -2.89040406e-05 -5.41066226e-03] [ 9.72325067e-04 2.77552940e-05 9.99999527e-01 -8.44256884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14587156 meters Centerline goodness [0,1] 0.7011458792419568 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998809e-01 -1.13411700e-03 -1.04661310e-03 1.41591116e-02] [ 1.13443454e-03 9.99999311e-01 3.02848209e-04 -7.01889901e-03] [ 1.04626891e-03 -3.04035162e-04 9.99999406e-01 -1.00212137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17587156 meters Centerline goodness [0,1] 0.682822033170061 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99995557e-01 -2.52251110e-03 -1.58845161e-03 2.08544377e-02] [ 2.52158237e-03 9.99996649e-01 -5.86403740e-04 -6.83267131e-03] [ 1.58992550e-03 5.82395723e-04 9.99998566e-01 -1.51872520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20587156 meters Centerline goodness [0,1] 0.6904318893242563 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99995373e-01 -2.48884938e-03 -1.74936880e-03 2.45627996e-02] [ 2.48890122e-03 9.99996902e-01 2.74585392e-05 -1.16982147e-02] [ 1.74929504e-03 -3.18124183e-05 9.99998469e-01 -1.68319468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23587156 meters Centerline goodness [0,1] 0.6765381780340806 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99995549e-01 -2.40876377e-03 -1.76062040e-03 2.62604660e-02] [ 2.40952928e-03 9.99997003e-01 4.32800461e-04 -1.32783077e-02] [ 1.75957261e-03 -4.37040801e-04 9.99998356e-01 -1.86393591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26587156 meters Centerline goodness [0,1] 0.6816591056383667 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999595 -0.00214827 -0.00186556 0.02830189] [ 0.0021502 0.99999716 0.00103175 -0.01661277] [ 0.00186334 -0.00103576 0.99999773 -0.02037959] [ 0. 0. 0. 1. ]] SLAMing on 0.29587156000000003 meters Centerline goodness [0,1] 0.6931384169629922 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999657 -0.00174151 -0.0019572 0.03022311] [ 0.00174517 0.99999673 0.00186678 -0.02200523] [ 0.00195394 -0.00187019 0.99999634 -0.02213733] [ 0. 0. 0. 1. ]] SLAMing on 0.32587156000000006 meters Centerline goodness [0,1] 0.6764563958589227 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999466 -0.0019862 -0.00259362 0.04036041] [ 0.0019914 0.99999601 0.00200329 -0.02655561] [ 0.00258964 -0.00200844 0.99999463 -0.02885111] [ 0. 0. 0. 1. ]] SLAMing on 0.35587156000000003 meters Centerline goodness [0,1] 0.6600665087265535 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999463 -0.00174338 -0.00277618 0.04300652] [ 0.00174954 0.99999601 0.00221807 -0.0268356 ] [ 0.0027723 -0.00222291 0.99999369 -0.03103887] [ 0. 0. 0. 1. ]] SLAMing on 0.38587156000000006 meters Centerline goodness [0,1] 0.6738968166849616 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999477 -0.00146409 -0.0028855 0.04498609] [ 0.00147088 0.99999615 0.00235405 -0.02736845] [ 0.00288205 -0.00235828 0.99999307 -0.03248736] [ 0. 0. 0. 1. ]] SLAMing on 0.41587156000000003 meters Centerline goodness [0,1] 0.6747209053372075 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 0.9999949 -0.00104908 -0.00301536 0.04724351] [ 0.00105673 0.99999623 0.00253571 -0.028859 ] [ 0.00301269 -0.00253888 0.99999224 -0.03382847] [ 0. 0. 0. 1. ]] SLAMing on 0.44587156000000006 meters Centerline goodness [0,1] 0.6626282875384045 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99999196 0.00132168 -0.00378681 0.05743278] [-0.00130713 0.99999176 0.00384275 -0.03284773] [ 0.00379185 -0.00383777 0.99998545 -0.03906696] [ 0. 0. 0. 1. ]] SLAMing on 0.47587156 meters Centerline goodness [0,1] 0.5601628700341147 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99999025 0.00165402 -0.0040933 0.06035546] [-0.00163862 0.99999158 0.00376301 -0.03222704] [ 0.00409949 -0.00375626 0.99998454 -0.04074891] [ 0. 0. 0. 1. ]] SLAMing on 0.50587156 meters Centerline goodness [0,1] 0.672104476299358 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99998818 0.00205522 -0.00440558 0.06349807] [-0.00203879 0.99999096 0.00373063 -0.03203452] [ 0.0044132 -0.00372161 0.99998334 -0.04253597] [ 0. 0. 0. 1. ]] SLAMing on 0.53587156 meters Centerline goodness [0,1] 0.6556026571103925 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.05 [[ 0.99997651 0.0045541 -0.00512289 0.07357801] [-0.00452938 0.99997809 0.00482701 -0.03388389] [ 0.00514476 -0.00480369 0.99997523 -0.04777916] [ 0. 0. 0. 1. ]] SLAMing on 0.56587156 meters Centerline goodness [0,1] 0.5885141334265367 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99997248 0.00494488 -0.00553122 0.07709902] [-0.00491919 0.9999771 0.004648 -0.03219515] [ 0.00555408 -0.00462067 0.9999739 -0.04973169] [ 0. 0. 0. 1. ]] SLAMing on 0.5958715600000001 meters Centerline goodness [0,1] 0.5153540383523347 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99996836 0.00527698 -0.00595289 0.08083168] [-0.00525057 0.99997635 0.0044426 -0.03029291] [ 0.0059762 -0.0044112 0.99997241 -0.05191332] [ 0. 0. 0. 1. ]] SLAMing on 0.6258715600000001 meters Centerline goodness [0,1] 0.6107692307692307 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99996394 0.0056606 -0.00633052 0.08434859] [-0.00563369 0.99997505 0.00426085 -0.02887905] [ 0.00635448 -0.00422503 0.99997088 -0.05375327] [ 0. 0. 0. 1. ]] SLAMing on 0.65587156 meters Centerline goodness [0,1] 0.5067603160667252 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99994474 0.0077617 -0.00708968 0.09345406] [-0.00772615 0.99995751 0.00502805 -0.02974281] [ 0.00712841 -0.00497299 0.99996223 -0.05792679] [ 0. 0. 0. 1. ]] SLAMing on 0.68587156 meters Centerline goodness [0,1] 0.6192898943139139 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.06 [[ 0.99993904 0.00809704 -0.00750731 0.09708053] [-0.00806052 0.9999556 0.00488148 -0.02872852] [ 0.0075465 -0.00482067 0.9999599 -0.05994847] [ 0. 0. 0. 1. ]] SLAMing on 0.7158715600000001 meters Centerline goodness [0,1] 0.5917786006968031 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.06 [[ 0.99993479 0.00831043 -0.00783331 0.10027573] [-0.00827483 0.99995534 0.00456528 -0.02685057] [ 0.0078709 -0.00450016 0.9999589 -0.06186995] [ 0. 0. 0. 1. ]] SLAMing on 0.7458715600000001 meters Centerline goodness [0,1] 0.5964113842736756 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99993031 0.0085333 -0.00815883 0.10329684] [-0.00849874 0.99995481 0.00426118 -0.02439768] [ 0.00819482 -0.00419154 0.99995764 -0.06354947] [ 0. 0. 0. 1. ]] SLAMing on 0.7758715600000001 meters Centerline goodness [0,1] 0.4881477884700274 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99990689 0.0104218 -0.00880887 0.11237619] [-0.01037999 0.99993471 0.00477907 -0.01903851] [ 0.0088581 -0.00468719 0.99994978 -0.06802661] [ 0. 0. 0. 1. ]] SLAMing on 0.80587156 meters Centerline goodness [0,1] 0.4809182336878094 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99990546 0.01036291 -0.00903799 0.11479684] [-0.01032415 0.99993735 0.00432461 -0.01556346] [ 0.00908224 -0.00423089 0.9999498 -0.06961936] [ 0. 0. 0. 1. ]] SLAMing on 0.8358715600000001 meters Centerline goodness [0,1] 0.48407391113066434 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99990352 0.01036795 -0.00924431 0.11714567] [-0.01033102 0.9999385 0.00403351 -0.01354697] [ 0.00928556 -0.00393762 0.99994914 -0.07113547] [ 0. 0. 0. 1. ]] SLAMing on 0.8658715600000001 meters Centerline goodness [0,1] 0.4826071523648948 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99990132 0.01036208 -0.00948591 0.11957529] [-0.01032629 0.99993941 0.00381451 -0.01209142] [ 0.00952486 -0.00371618 0.99994773 -0.07287217] [ 0. 0. 0. 1. ]] SLAMing on 0.8958715600000001 meters Centerline goodness [0,1] 0.5149869726096381 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99989953 0.01032937 -0.00970787 0.12200181] [-0.01029497 0.99994057 0.00358637 -0.01059886] [ 0.00974434 -0.00348607 0.99994645 -0.07466062] [ 0. 0. 0. 1. ]] SLAMing on 0.92587156 meters Centerline goodness [0,1] 0.5149869726096381 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99989953 0.01032937 -0.00970787 0.12200181] [-0.01029497 0.99994057 0.00358637 -0.01059886] [ 0.00974434 -0.00348607 0.99994645 -0.07466062] [ 0. 0. 0. 1. ]] SLAMing on 0.9558715600000001 meters Centerline goodness [0,1] 0.51375016500198 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.08 [[ 0.99989836 0.01024947 -0.00991016 0.12670535] [-0.01021952 0.99994307 0.00306863 -0.00754926] [ 0.00994105 -0.00296704 0.99994618 -0.0762883 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9858715600000001 meters Centerline goodness [0,1] 0.5194029192573973 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.08 [[ 0.99989663 0.01014141 -0.01019191 0.12932057] [-0.01011341 0.99994495 0.0027958 -0.00576835] [ 0.0102197 -0.00269244 0.99994415 -0.07808901] [ 0. 0. 0. 1. ]] SLAMing on 1.0158715600000001 meters Centerline goodness [0,1] 0.4670104223806911 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.08 [[ 0.99989602 0.00996102 -0.01042731 0.13184787] [-0.00993692 0.99994784 0.00236035 -0.00267308] [ 0.01045028 -0.00225649 0.99994285 -0.07976918] [ 0. 0. 0. 1. ]] SLAMing on 1.04587156 meters Centerline goodness [0,1] 0.4612515358960857 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 0.99989796 0.00959055 -0.01058726 0.13659871] [-0.00957753 0.99995332 0.00127959 0.0063134 ] [ 0.01059904 -0.00117806 0.99994313 -0.08128216] [ 0. 0. 0. 1. ]] SLAMing on 1.07587156 meters Centerline goodness [0,1] 0.37921107570596635 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99897903e-01 9.36839722e-03 -1.07896674e-02 1.38700527e-01] [-9.36059822e-03 9.99955890e-01 7.73095507e-04 9.83810587e-03] [ 1.07964341e-02 -6.72018835e-04 9.99941491e-01 -8.25719182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10587156 meters Centerline goodness [0,1] 0.47454381369549425 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99896878e-01 9.20514994e-03 -1.10226172e-02 1.40813862e-01] [-9.20082725e-03 9.99957573e-01 4.42812240e-04 1.16415956e-02] [ 1.10262257e-02 -3.41349380e-04 9.99939151e-01 -8.37263334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.13587156 meters Centerline goodness [0,1] 0.37861423384803816 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.09 [[ 9.99895654e-01 9.09927532e-03 -1.12198241e-02 1.42974181e-01] [-9.09680173e-03 9.99958586e-01 2.71481720e-04 1.20778242e-02] [ 1.12218298e-02 -1.69388876e-04 9.99937019e-01 -8.50724295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.16587156 meters Centerline goodness [0,1] 0.38397074508608864 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99894621e-01 8.88544098e-03 -1.14802213e-02 1.45419699e-01] [-8.88468447e-03 9.99960524e-01 1.16896993e-04 1.22025271e-02] [ 1.14808068e-02 -1.48865300e-05 9.99934093e-01 -8.64619469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.19587156 meters Centerline goodness [0,1] 0.37291643730045143 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99900524e-01 7.84374651e-03 -1.17225164e-02 1.49477536e-01] [-7.84571111e-03 9.99969215e-01 -1.21613019e-04 1.28583445e-02] [ 1.17212016e-02 2.13572398e-04 9.99931282e-01 -8.73650840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22587156 meters Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99899702e-01 7.34546993e-03 -1.21091050e-02 1.52200078e-01] [-7.34759034e-03 9.99972998e-01 -1.30629243e-04 1.27359825e-02] [ 1.21078185e-02 2.19588884e-04 9.99926674e-01 -8.86999874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.25587156 meters Centerline goodness [0,1] 0.09399813689393599 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.09 [[ 9.99904579e-01 4.35863574e-03 -1.31086040e-02 1.61648967e-01] [-4.36903899e-03 9.99990163e-01 -7.65087464e-04 1.34247292e-02] [ 1.31051403e-02 8.22286461e-04 9.99913786e-01 -9.27914084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28587156 meters Centerline goodness [0,1] 0.3902276513048306 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.09 [[ 9.99901065e-01 3.71854341e-03 -1.35658900e-02 1.64785398e-01] [-3.72670449e-03 9.99992890e-01 -5.76358670e-04 1.14489335e-02] [ 1.35636503e-02 6.26857711e-04 9.99907813e-01 -9.40939841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.31587156 meters Centerline goodness [0,1] 0.3935382643477492 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.10 [[ 9.99902664e-01 7.98966594e-05 -1.39519097e-02 1.69786370e-01] [-1.38574659e-04 9.99991150e-01 -4.20481639e-03 1.20349096e-02] [ 1.39514502e-02 4.20634050e-03 9.99893826e-01 -9.79009138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.34587156 meters Centerline goodness [0,1] 0.392507356493478 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.12 [[ 0.99998733 -0.00360002 -0.00351939 0.16607599] [ 0.00357944 0.99997656 -0.00583709 0.01008092] [ 0.00354032 0.00582442 0.99997677 -0.12346554] [ 0. 0. 0. 1. ]] SLAMing on 1.37587156 meters Centerline goodness [0,1] 0.39284683524632014 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.13 [[ 0.99996519 -0.00733733 -0.00397269 0.17233331] [ 0.00730167 0.99993359 -0.00891588 0.00389371] [ 0.00403784 0.00888656 0.99995236 -0.12693967] [ 0. 0. 0. 1. ]] SLAMing on 1.40587156 meters Centerline goodness [0,1] 0.40836421851356386 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:-0.13 [[ 9.99963950e-01 -7.27623186e-03 -4.37660876e-03 1.75449458e-01] [ 7.23978428e-03 9.99939455e-01 -8.28679038e-03 -7.81258844e-04] [ 4.43664039e-03 8.25480594e-03 9.99956086e-01 -1.28548524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.43587156 meters Centerline goodness [0,1] 0.3976487618713399 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:-0.13 [[ 0.99996359 -0.00711612 -0.00470855 0.17795617] [ 0.00707965 0.99994516 -0.00771766 -0.00472418] [ 0.00476321 0.00768404 0.99995913 -0.12975988] [ 0. 0. 0. 1. ]] SLAMing on 1.46587156 meters Centerline goodness [0,1] 0.4015223596574691 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.13 [[ 0.9999644 -0.00680459 -0.00498922 0.1802806 ] [ 0.00676922 0.99995207 -0.00707369 -0.00878773] [ 0.00503711 0.00703966 0.99996253 -0.13105273] [ 0. 0. 0. 1. ]] SLAMing on 1.49587156 meters Centerline goodness [0,1] 0.40566268543849116 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.13 [[ 0.99996868 -0.00585984 -0.005319 0.18592933] [ 0.00582932 0.99996657 -0.00573437 -0.0161484 ] [ 0.00535243 0.00570319 0.99996941 -0.13384506] [ 0. 0. 0. 1. ]] SLAMing on 1.5258715600000001 meters Centerline goodness [0,1] 0.40542986425339367 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.14 [[ 0.99996963 -0.00538443 -0.00563464 0.18870901] [ 0.00535606 0.99997296 -0.00503814 -0.021023 ] [ 0.00566162 0.00500781 0.99997143 -0.13522862] [ 0. 0. 0. 1. ]] SLAMing on 1.55587156 meters Centerline goodness [0,1] 0.4395459227083427 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.14 [[ 0.99997093 -0.00483544 -0.00589554 0.19098502] [ 0.00481045 0.99997942 -0.00424487 -0.02694721] [ 0.00591595 0.00421639 0.99997361 -0.13645586] [ 0. 0. 0. 1. ]] SLAMing on 1.58587156 meters Centerline goodness [0,1] 0.41935768484206815 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.14 [[ 9.99950939e-01 -5.43316748e-04 -9.89066475e-03 2.20081645e-01] [ 4.99408140e-04 9.99990013e-01 -4.44132773e-03 -3.75095944e-02] [ 9.89297902e-03 4.43617035e-03 9.99941223e-01 -1.36678329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.61587156 meters Centerline goodness [0,1] 0.4170465411042672 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.14 [[ 9.99946886e-01 -8.01888749e-05 -1.03062544e-02 2.23503650e-01] [ 4.02962217e-05 9.99992507e-01 -3.87087212e-03 -4.08684318e-02] [ 1.03064875e-02 3.87025122e-03 9.99939397e-01 -1.38458504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.64587156 meters Centerline goodness [0,1] 0.4164260937674835 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.14 [[ 9.99942977e-01 4.58293475e-04 -1.06692856e-02 2.26519086e-01] [-4.92856017e-04 9.99994639e-01 -3.23703900e-03 -4.51016590e-02] [ 1.06677449e-02 3.24211283e-03 9.99937842e-01 -1.39815286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.67587156 meters Centerline goodness [0,1] 0.39881467669974024 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:-0.17 [[ 0.99999788 0.0017782 0.0010339 0.22069806] [-0.00177583 0.9999958 -0.00229167 -0.05121918] [-0.00103797 0.00228983 0.99999684 -0.1694026 ] [ 0. 0. 0. 1. ]] SLAMing on 1.70587156 meters Centerline goodness [0,1] 0.42598382990128203 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.17 [[ 9.99994126e-01 3.38504594e-03 5.37855395e-04 2.27767325e-01] [-3.38445735e-03 9.99993677e-01 -1.09147887e-03 -5.83737272e-02] [-5.41546700e-04 1.08965211e-03 9.99999260e-01 -1.71544730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.73587156 meters Centerline goodness [0,1] 0.4109361135758651 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.18 [[ 9.99989088e-01 4.66564056e-03 -2.35591363e-04 2.34607893e-01] [-4.66566458e-03 9.99989111e-01 -1.01505937e-04 -6.14499018e-02] [ 2.35115207e-04 1.02604020e-04 9.99999967e-01 -1.75148019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7658715600000001 meters Centerline goodness [0,1] 0.4117322990810728 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:-0.18 [[ 9.99982790e-01 5.79091161e-03 -9.40934270e-04 2.40718858e-01] [-5.79017937e-03 9.99982933e-01 7.79066719e-04 -6.52639310e-02] [ 9.45429718e-04 -7.73605133e-04 9.99999254e-01 -1.78094215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7958715600000001 meters Centerline goodness [0,1] 0.4146412037037037 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.18 [[ 0.99996587 0.00806543 -0.00179059 0.25065578] [-0.008062 0.99996566 0.00191679 -0.07253002] [ 0.00180599 -0.00190229 0.99999656 -0.18160134] [ 0. 0. 0. 1. ]] SLAMing on 1.82587156 meters Centerline goodness [0,1] 0.41300677576930866 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.18 [[ 0.99995971 0.00865578 -0.00237686 0.25500579] [-0.00865078 0.99996036 0.00210636 -0.07300251] [ 0.002395 -0.00208572 0.99999496 -0.18320444] [ 0. 0. 0. 1. ]] SLAMing on 1.85587156 meters Centerline goodness [0,1] 0.40118105849582175 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.19 [[ 0.99994284 0.01015633 -0.003343 0.26345441] [-0.01014612 0.99994386 0.00305486 -0.07523972] [ 0.00337383 -0.00302076 0.99998975 -0.18757198] [ 0. 0. 0. 1. ]] SLAMing on 1.88587156 meters Centerline goodness [0,1] 0.3698931419812054 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.19 [[ 0.99993518 0.01071553 -0.00384939 0.2676912 ] [-0.01070279 0.99993723 0.00331462 -0.07637537] [ 0.00388467 -0.00327321 0.9999871 -0.18916455] [ 0. 0. 0. 1. ]] SLAMing on 1.91587156 meters Centerline goodness [0,1] 0.38875915031212105 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.19 [[ 0.99992379 0.01166901 -0.00403096 0.27260037] [-0.01165347 0.99992466 0.00385638 -0.08028826] [ 0.00407566 -0.00380911 0.99998444 -0.18955579] [ 0. 0. 0. 1. ]] SLAMing on 1.94587156 meters Centerline goodness [0,1] 0.35897493135701053 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.19 [[ 0.99991864 0.01196201 -0.00442887 0.27587609] [-0.01194367 0.99992008 0.00414478 -0.08210132] [ 0.00447809 -0.00409155 0.9999816 -0.19071769] [ 0. 0. 0. 1. ]] SLAMing on 1.97587156 meters Centerline goodness [0,1] 0.3532732864674868 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.19 [[ 0.99991296 0.01231084 -0.00474524 0.27889528] [-0.01228898 0.99991386 0.00460959 -0.08515015] [ 0.00480158 -0.00455088 0.99997812 -0.19173796] [ 0. 0. 0. 1. ]] SLAMing on 2.00587156 meters Centerline goodness [0,1] 0.3778195068517649 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.20 [[ 0.99993552 0.00992715 -0.00551484 0.28800175] [-0.00991989 0.9999499 0.00134222 -0.08622229] [ 0.00552789 -0.00128743 0.99998389 -0.19509699] [ 0. 0. 0. 1. ]] SLAMing on 2.0358715600000004 meters Centerline goodness [0,1] 0.3585010563771822 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.20 [[ 0.99993096 0.01015723 -0.0059088 0.2914179 ] [-0.01014681 0.99994691 0.00179237 -0.08917463] [ 0.0059267 -0.00173229 0.99998094 -0.19667581] [ 0. 0. 0. 1. ]] SLAMing on 2.06587156 meters Centerline goodness [0,1] 0.20847623713865748 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.20 [[ 0.99992643 0.01034032 -0.00634154 0.29499868] [-0.01032696 0.9999444 0.00213444 -0.09122834] [ 0.00636326 -0.00206879 0.99997761 -0.19820136] [ 0. 0. 0. 1. ]] SLAMing on 2.0958715600000004 meters Centerline goodness [0,1] 0.2066570509264396 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.20 [[ 0.9999219 0.01053197 -0.00672906 0.29840548] [-0.01051569 0.9999417 0.00245095 -0.09360727] [ 0.00675448 -0.00238 0.99997436 -0.19973278] [ 0. 0. 0. 1. ]] SLAMing on 2.12587156 meters Centerline goodness [0,1] 0.2163083965354755 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.20 [[ 0.99993749 0.00799304 -0.00781859 0.30977948] [-0.00800273 0.99996725 -0.00120948 -0.09276007] [ 0.00780866 0.00127198 0.9999687 -0.20499977] [ 0. 0. 0. 1. ]] SLAMing on 2.1558715600000005 meters Centerline goodness [0,1] 0.20790564657370258 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.21 [[ 0.99993284 0.00816268 -0.00822757 0.3133803 ] [-0.00817153 0.99996607 -0.00104259 -0.09372127] [ 0.00821878 0.00110976 0.99996561 -0.2064872 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1858715600000003 meters Centerline goodness [0,1] 0.21289662231320372 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:-0.21 [[ 0.99992946 0.00821641 -0.00857662 0.31645321] [-0.00822572 0.99996562 -0.00105065 -0.09323106] [ 0.00856769 0.00112113 0.99996267 -0.20769889] [ 0. 0. 0. 1. ]] SLAMing on 2.2158715600000005 meters Centerline goodness [0,1] 0.21783022254127782 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:-0.21 [[ 9.99925786e-01 8.32882694e-03 -8.89114576e-03 3.19215453e-01] [-8.33720298e-03 9.99964835e-01 -9.05416493e-04 -9.43353212e-02] [ 8.88329204e-03 9.79476585e-04 9.99960063e-01 -2.08705979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2458715600000003 meters Centerline goodness [0,1] 0.20752595727795786 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.10, Z:-0.21 [[ 0.99998122 0.00549319 -0.00271728 0.36338821] [-0.00550375 0.99997728 -0.00389243 -0.09513421] [ 0.00269584 0.00390732 0.99998873 -0.21425053] [ 0. 0. 0. 1. ]] SLAMing on 2.27587156 meters Centerline goodness [0,1] 0.21825876662636035 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.22 [[ 0.99997953 0.00559016 -0.00311197 0.36640767] [-0.00560111 0.99997812 -0.00351976 -0.09791822] [ 0.00309223 0.00353712 0.99998896 -0.2151948 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3058715600000004 meters Centerline goodness [0,1] 0.31074165940425913 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.22 [[ 0.99998106 0.0048466 -0.00379465 0.3749427 ] [-0.00485996 0.99998199 -0.00352133 -0.09909438] [ 0.00377752 0.00353971 0.9999866 -0.21838885] [ 0. 0. 0. 1. ]] SLAMing on 2.33587156 meters Centerline goodness [0,1] 0.3104442642155537 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.22 [[ 0.99997954 0.00486923 -0.00414778 0.37771315] [-0.00488272 0.9999828 -0.00324817 -0.10095486] [ 0.00413189 0.00326836 0.99998612 -0.21912532] [ 0. 0. 0. 1. ]] SLAMing on 2.3658715600000004 meters Centerline goodness [0,1] 0.308186663083882 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.22 [[ 0.99997774 0.00488401 -0.00454662 0.38102804] [-0.00489754 0.9999836 -0.00296925 -0.10307632] [ 0.00453204 0.00299145 0.99998526 -0.22031623] [ 0. 0. 0. 1. ]] SLAMing on 2.3958715600000002 meters Centerline goodness [0,1] 0.3049699470709608 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.22 [[ 0.99997571 0.00493233 -0.00492416 0.38398153] [-0.00494549 0.99998423 -0.00266294 -0.10545886] [ 0.00491095 0.00268722 0.99998433 -0.22120426] [ 0. 0. 0. 1. ]] SLAMing on 2.4258715600000005 meters Centerline goodness [0,1] 0.3296297131008993 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.22 [[ 0.99997366 0.00497245 -0.00528784 0.38688633] [-0.00498496 0.9999848 -0.00235604 -0.10824637] [ 0.00527604 0.00238234 0.99998324 -0.2221467 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4558715600000003 meters Centerline goodness [0,1] 0.31999106544561084 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.23 [[ 0.99997076 0.00409869 -0.00645566 0.40008669] [-0.00411438 0.99998861 -0.00241899 -0.11233529] [ 0.00644567 0.00244548 0.99997624 -0.22852777] [ 0. 0. 0. 1. ]] SLAMing on 2.4858715600000005 meters Centerline goodness [0,1] 0.3308684281720624 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.23 [[ 0.99996826 0.0042058 -0.00676672 0.40260569] [-0.0042203 0.99998883 -0.0021302 -0.11474649] [ 0.00675768 0.00215869 0.99997484 -0.22908996] [ 0. 0. 0. 1. ]] SLAMing on 2.5158715600000003 meters Centerline goodness [0,1] 0.3181716032181222 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.23 [[ 0.99996553 0.00422924 -0.0071445 0.40589829] [-0.00424396 0.9999889 -0.00204624 -0.11528677] [ 0.00713576 0.00207649 0.99997238 -0.23030817] [ 0. 0. 0. 1. ]] SLAMing on 2.54587156 meters Centerline goodness [0,1] 0.28471295060080104 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.24 [[ 0.999952 0.0047281 -0.00858191 0.42071537] [-0.00474355 0.99998716 -0.00178094 -0.11314283] [ 0.00857338 0.00182156 0.99996159 -0.23833707] [ 0. 0. 0. 1. ]] SLAMing on 2.5758715600000004 meters Centerline goodness [0,1] 0.3624219641538565 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.24 [[ 0.99994821 0.00476582 -0.00899294 0.42417964] [-0.00478252 0.99998688 -0.00183639 -0.11231705] [ 0.00898407 0.0018793 0.99995788 -0.23961675] [ 0. 0. 0. 1. ]] SLAMing on 2.60587156 meters Centerline goodness [0,1] 0.23029531452474594 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.24 [[ 0.99994401 0.00492645 -0.00936479 0.42730078] [-0.00494209 0.99998643 -0.00164766 -0.11406906] [ 0.00935654 0.00169385 0.99995479 -0.24062894] [ 0. 0. 0. 1. ]] SLAMing on 2.6358715600000004 meters Centerline goodness [0,1] 0.2273908817612622 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.11, Z:-0.25 [[ 0.99998828 0.00392156 -0.00283853 0.46977234] [-0.00393088 0.99998687 -0.00328673 -0.11451318] [ 0.0028256 0.00329785 0.99999057 -0.2454417 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6658715600000003 meters Centerline goodness [0,1] 0.21212121212121215 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.11, Z:-0.25 [[ 0.99998691 0.00394756 -0.00325484 0.47324367] [-0.00395858 0.99998644 -0.00338402 -0.11295879] [ 0.00324144 0.00339686 0.99998898 -0.24669722] [ 0. 0. 0. 1. ]] SLAMing on 2.6958715600000005 meters Centerline goodness [0,1] 0.18486474401967357 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.25 [[ 0.9999851 0.00403767 -0.00367247 0.47679244] [-0.00405018 0.999986 -0.00340512 -0.11174455] [ 0.00365867 0.00341995 0.99998746 -0.24786582] [ 0. 0. 0. 1. ]] SLAMing on 2.7258715600000003 meters Centerline goodness [0,1] 0.2535303112070516 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.25 [[ 0.99998353 0.00412596 -0.0039907 0.4793635 ] [-0.00413921 0.99998593 -0.00331803 -0.11206909] [ 0.00397695 0.0033345 0.99998653 -0.24837569] [ 0. 0. 0. 1. ]] SLAMing on 2.7558715600000006 meters Centerline goodness [0,1] 0.2332517349024188 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.25 [[ 0.99998173 0.00421897 -0.00432873 0.48204578] [-0.00423296 0.99998583 -0.00322726 -0.11254375] [ 0.00431505 0.00324553 0.99998542 -0.24892785] [ 0. 0. 0. 1. ]] SLAMing on 2.7858715600000004 meters Centerline goodness [0,1] 0.18469734091573198 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.25 [[ 0.99997951 0.00440116 -0.00464788 0.48682572] [-0.00441611 0.9999851 -0.00321043 -0.11184408] [ 0.00463368 0.00323089 0.99998405 -0.24994998] [ 0. 0. 0. 1. ]] SLAMing on 2.81587156 meters Centerline goodness [0,1] 0.18469734091573198 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.25 [[ 0.99997951 0.00440116 -0.00464788 0.48682572] [-0.00441611 0.9999851 -0.00321043 -0.11184408] [ 0.00463368 0.00323089 0.99998405 -0.24994998] [ 0. 0. 0. 1. ]] SLAMing on 2.8458715600000004 meters Centerline goodness [0,1] 0.1692877596472887 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.25 [[ 0.99997773 0.0045005 -0.00492858 0.48904943] [-0.00451547 0.99998522 -0.00302949 -0.11310071] [ 0.00491488 0.00305168 0.99998327 -0.25028893] [ 0. 0. 0. 1. ]] SLAMing on 2.87587156 meters Centerline goodness [0,1] 0.1992082343626287 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.26 [[ 0.99997401 0.00406158 -0.00595629 0.50075616] [-0.0040796 0.99998713 -0.00301579 -0.11659832] [ 0.00594397 0.00304001 0.99997771 -0.25610508] [ 0. 0. 0. 1. ]] SLAMing on 2.9058715600000005 meters Centerline goodness [0,1] 0.19591688923090855 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.26 [[ 0.99997197 0.00412301 -0.00624923 0.50318697] [-0.00414129 0.99998717 -0.00291599 -0.11725288] [ 0.00623713 0.00294179 0.99997622 -0.25670238] [ 0. 0. 0. 1. ]] SLAMing on 2.9358715600000003 meters Centerline goodness [0,1] 0.19266241233905335 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.26 [[ 0.99996964 0.00418429 -0.00657417 0.50593376] [-0.004203 0.99998715 -0.00283545 -0.11749968] [ 0.00656222 0.00286299 0.99997437 -0.25752734] [ 0. 0. 0. 1. ]] SLAMing on 2.9658715600000005 meters Centerline goodness [0,1] 0.1889016871061725 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.26 [[ 0.9999671 0.00429916 -0.00687849 0.5083525 ] [-0.00431749 0.99998716 -0.00265193 -0.11890444] [ 0.006867 0.00268154 0.99997283 -0.25809733] [ 0. 0. 0. 1. ]] SLAMing on 2.9958715600000003 meters Centerline goodness [0,1] 0.1785018910995233 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.28 [[ 0.99998657 0.00471675 0.0021472 0.52616741] [-0.00470888 0.99998223 -0.00365582 -0.12164252] [-0.0021644 0.00364566 0.99999101 -0.28316391] [ 0. 0. 0. 1. ]] SLAMing on 3.0258715600000006 meters Centerline goodness [0,1] 0.17686705568372008 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.28 [[ 0.99998673 0.00480826 0.00184959 0.52866591] [-0.00480166 0.99998216 -0.0035527 -0.121942 ] [-0.00186664 0.00354377 0.99999198 -0.28405138] [ 0. 0. 0. 1. ]] SLAMing on 3.0558715600000004 meters Centerline goodness [0,1] 0.17354976778071218 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.28 [[ 0.99998689 0.00489071 0.00151506 0.53119191] [-0.00488543 0.99998205 -0.00346774 -0.12217232] [-0.00153199 0.00346029 0.99999284 -0.28461668] [ 0. 0. 0. 1. ]] SLAMing on 3.08587156 meters Centerline goodness [0,1] 0.17087387448685676 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.29 [[ 0.99998682 0.00500165 0.00116166 0.53401933] [-0.00499779 0.99998205 -0.00330417 -0.12287057] [-0.00117816 0.00329832 0.99999387 -0.28546351] [ 0. 0. 0. 1. ]] SLAMing on 3.1158715600000004 meters Centerline goodness [0,1] 0.17009664582148953 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.29 [[ 9.99984998e-01 5.42298455e-03 7.71388473e-04 5.38869820e-01] [-5.42075708e-03 9.99981215e-01 -2.86096645e-03 -1.25863743e-01] [-7.86888959e-04 2.85674202e-03 9.99995610e-01 -2.86368715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1458715600000002 meters Centerline goodness [0,1] 0.1680226628895184 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.29 [[ 9.99983975e-01 5.64659079e-03 4.06319276e-04 5.41463624e-01] [-5.64554700e-03 9.99980874e-01 -2.52573321e-03 -1.28338784e-01] [-4.20573287e-04 2.52339885e-03 9.99996728e-01 -2.86734670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1758715600000005 meters Centerline goodness [0,1] 0.16915142779929737 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.29 [[ 9.99982810e-01 5.86312361e-03 5.48539037e-05 5.44029067e-01] [-5.86299041e-03 9.99980446e-01 -2.17548358e-03 -1.31081717e-01] [-6.76079602e-05 2.17512457e-03 9.99997632e-01 -2.87181368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2058715600000003 meters Centerline goodness [0,1] 0.16453520812409328 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.13, Z:-0.29 [[ 9.99986400e-01 3.07513239e-03 -4.21228271e-03 5.72933470e-01] [-3.07767086e-03 9.99995086e-01 -5.96286199e-04 -1.31846319e-01] [ 4.21042835e-03 6.09242110e-04 9.99990951e-01 -2.86847160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2358715600000005 meters Centerline goodness [0,1] 0.17007687219142775 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.29 [[ 9.99984581e-01 3.21613750e-03 -4.52705485e-03 5.75186319e-01] [-3.21785924e-03 9.99994753e-01 -3.73091248e-04 -1.33160396e-01] [ 4.52583118e-03 3.87652920e-04 9.99989683e-01 -2.87310927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2658715600000003 meters Centerline goodness [0,1] 0.1702147036725029 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.29 [[ 9.99982420e-01 3.37378815e-03 -4.87618731e-03 5.77689787e-01] [-3.37426767e-03 9.99994303e-01 -9.01138482e-05 -1.34999182e-01] [ 4.87585551e-03 1.06565825e-04 9.99988107e-01 -2.87857798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2958715600000006 meters Centerline goodness [0,1] 0.17162900166807582 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.14, Z:-0.29 [[ 9.99980439e-01 3.52090346e-03 -5.16957010e-03 5.79914755e-01] [-3.52024921e-03 9.99993795e-01 1.35653297e-04 -1.36459487e-01] [ 5.17001564e-03 -1.17452469e-04 9.99986628e-01 -2.88435199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3258715600000004 meters Centerline goodness [0,1] 0.16729204339963832 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.30 [[ 9.99969299e-01 4.35331137e-03 -6.51540122e-03 5.93643073e-01] [-4.34968836e-03 9.99990378e-01 5.70136684e-04 -1.36940117e-01] [ 6.51782051e-03 -5.41779216e-04 9.99978612e-01 -2.95272779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.35587156 meters Centerline goodness [0,1] 0.1685201610152146 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.30 [[ 9.99966349e-01 4.48134683e-03 -6.87163026e-03 5.96228893e-01] [-4.47693834e-03 9.99989763e-01 6.56796478e-04 -1.37188882e-01] [ 6.87450324e-03 -6.26010511e-04 9.99976174e-01 -2.95992979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3858715600000004 meters Centerline goodness [0,1] 0.16615953298622854 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.30 [[ 0.99995349 0.00516611 -0.00814484 0.60911727] [-0.00515745 0.99998611 0.001084 -0.13977703] [ 0.00815033 -0.00104195 0.99996624 -0.30245923] [ 0. 0. 0. 1. ]] SLAMing on 3.4158715600000003 meters Centerline goodness [0,1] 0.1694899920841343 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.30 [[ 0.99995016 0.0052559 -0.00848864 0.61153939] [-0.00524671 0.99998563 0.00110383 -0.1397554 ] [ 0.00849432 -0.00105923 0.99996336 -0.30300204] [ 0. 0. 0. 1. ]] SLAMing on 3.4458715600000005 meters Centerline goodness [0,1] 0.16728389486044626 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.30 [[ 9.99946809e-01 5.31540324e-03 -8.83889954e-03 6.13984483e-01] [-5.30719209e-03 9.99985463e-01 9.52175737e-04 -1.38352381e-01] [ 8.84383225e-03 -9.05215352e-04 9.99960483e-01 -3.03529931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4758715600000003 meters Centerline goodness [0,1] 0.1761786600496278 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.30 [[ 9.99943371e-01 5.33633272e-03 -9.20754964e-03 6.16432091e-01] [-5.32961318e-03 9.99985513e-01 7.54168888e-04 -1.36547243e-01] [ 9.21144075e-03 -7.05053502e-04 9.99957325e-01 -3.04037157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5058715600000006 meters Centerline goodness [0,1] 0.17598258278904544 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.31 [[ 9.99935296e-01 5.57852243e-03 -9.91382356e-03 6.21792590e-01] [-5.57145388e-03 9.99984205e-01 7.40473689e-04 -1.35905270e-01] [ 9.91779772e-03 -6.85191367e-04 9.99950583e-01 -3.05633127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5358715600000004 meters Centerline goodness [0,1] 0.17405972190563024 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.31 [[ 9.99931241e-01 5.60253142e-03 -1.03017175e-02 6.24351430e-01] [-5.59496597e-03 9.99984057e-01 7.63060219e-04 -1.36110374e-01] [ 1.03058283e-02 -7.05369993e-04 9.99946645e-01 -3.06124170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5658715600000006 meters Centerline goodness [0,1] 0.17055549244575707 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.31 [[ 9.99981557e-01 5.60069654e-03 -2.34906112e-03 6.58626664e-01] [-5.59959016e-03 9.99984208e-01 4.77300955e-04 -1.35611825e-01] [ 2.35169725e-03 -4.64138372e-04 9.99997127e-01 -3.07220713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5958715600000004 meters Centerline goodness [0,1] 0.17648806123614758 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.31 [[ 9.99980980e-01 5.56841235e-03 -2.65193636e-03 6.60480171e-01] [-5.56742598e-03 9.99984430e-01 3.79179046e-04 -1.34912544e-01] [ 2.65400650e-03 -3.64407375e-04 9.99996412e-01 -3.07383098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62587156 meters Centerline goodness [0,1] 0.1788100760063377 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.31 [[ 9.99980352e-01 5.51598663e-03 -2.97822367e-03 6.62380008e-01] [-5.51512625e-03 9.99984747e-01 2.97026756e-04 -1.34357790e-01] [ 2.97981664e-03 -2.80595641e-04 9.99995521e-01 -3.07339210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6558715600000005 meters Centerline goodness [0,1] 0.1434639847535074 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.31 [[ 9.99979611e-01 5.45482662e-03 -3.32000213e-03 6.64281997e-01] [-5.45386341e-03 9.99985083e-01 2.99108478e-04 -1.34501088e-01] [ 3.32158419e-03 -2.80995541e-04 9.99994444e-01 -3.07238817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6858715600000003 meters Centerline goodness [0,1] 0.14342262726686916 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.31 [[ 9.99978470e-01 5.22339601e-03 -3.97197672e-03 6.68722180e-01] [-5.22192990e-03 9.99986294e-01 3.79396186e-04 -1.35792921e-01] [ 3.97390401e-03 -3.58646634e-04 9.99992040e-01 -3.07959516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7158715600000005 meters Centerline goodness [0,1] 0.14454134366925064 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.31 [[ 9.99977293e-01 5.17143910e-03 -4.32076840e-03 6.70692768e-01] [-5.16903291e-03 9.99986479e-01 5.67871453e-04 -1.37401715e-01] [ 4.32364669e-03 -5.45524364e-04 9.99990504e-01 -3.08180978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7458715600000003 meters Centerline goodness [0,1] 0.1458164751577925 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.31 [[ 9.99975998e-01 5.12371509e-03 -4.66372103e-03 6.72672717e-01] [-5.11989775e-03 9.99986549e-01 8.30090664e-04 -1.39541502e-01] [ 4.66791144e-03 -8.06192965e-04 9.99988780e-01 -3.08452483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7758715600000006 meters Centerline goodness [0,1] 0.14424007744433687 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.31 [[ 9.99974404e-01 4.71972300e-03 -5.37736887e-03 6.77281178e-01] [-4.71446213e-03 9.99988396e-01 9.90590352e-04 -1.41645814e-01] [ 5.38198179e-03 -9.65213594e-04 9.99985051e-01 -3.09152423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8058715600000004 meters Centerline goodness [0,1] 0.1450613000231321 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.31 [[ 0.99997265 0.00465902 -0.0057441 0.67913685] [-0.00465301 0.99998861 0.00105872 -0.14218737] [ 0.00574897 -0.00103197 0.99998294 -0.30896759] [ 0. 0. 0. 1. ]] SLAMing on 3.8358715600000006 meters Centerline goodness [0,1] 0.1433808367318884 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.31 [[ 0.99997058 0.00463393 -0.00611285 0.68128208] [-0.004627 0.99998864 0.00114713 -0.14294225] [ 0.0061181 -0.00111881 0.99998066 -0.30919826] [ 0. 0. 0. 1. ]] SLAMing on 3.8658715600000004 meters Centerline goodness [0,1] 0.14425018355359764 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.31 [[ 0.99996864 0.00462356 -0.0064302 0.68296326] [-0.00461603 0.99998864 0.00118559 -0.14324399] [ 0.00643561 -0.00115587 0.99997862 -0.30921999] [ 0. 0. 0. 1. ]] SLAMing on 3.8958715600000002 meters Centerline goodness [0,1] 0.15115066397830768 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.31 [[ 0.99996479 0.00470812 -0.0069467 0.68639455] [-0.00470101 0.99998841 0.00103953 -0.14192309] [ 0.00695152 -0.00100683 0.99997533 -0.30997517] [ 0. 0. 0. 1. ]] SLAMing on 3.9258715600000005 meters Centerline goodness [0,1] 0.1497163414971634 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.31 [[ 9.99962053e-01 4.74531266e-03 -7.30573069e-03 6.88488354e-01] [-4.73927461e-03 9.99988414e-01 8.43571853e-04 -1.40391956e-01] [ 7.30964906e-03 -8.08915979e-04 9.99972957e-01 -3.10394137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9558715600000003 meters Centerline goodness [0,1] 0.14691209755646917 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.31 [[ 9.99959504e-01 4.74365580e-03 -7.64774590e-03 6.90263566e-01] [-4.74008564e-03 9.99988648e-01 4.84883468e-04 -1.37712246e-01] [ 7.64995921e-03 -4.48612862e-04 9.99970638e-01 -3.10387033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9858715600000005 meters Centerline goodness [0,1] 0.15143095304251186 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.31 [[ 9.99956382e-01 4.87575509e-03 -7.96630014e-03 6.91989142e-01] [-4.87528689e-03 9.99988113e-01 7.81905342e-05 -1.34278740e-01] [ 7.96658668e-03 -3.93491250e-05 9.99968265e-01 -3.10526820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.01587156 meters Centerline goodness [0,1] 0.14629893075122757 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.32 [[ 9.99949467e-01 9.72733314e-03 2.53801740e-03 7.11509653e-01] [-9.72695014e-03 9.99952679e-01 -1.63206115e-04 -1.28848946e-01] [-2.53948486e-03 1.38510699e-04 9.99996766e-01 -3.16624430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04587156 meters Centerline goodness [0,1] 0.15381759970303688 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.32 [[ 9.99949277e-01 9.82936909e-03 2.19680781e-03 7.13346015e-01] [-9.82804933e-03 9.99951517e-01 -6.10753800e-04 -1.25424820e-01] [-2.20270462e-03 5.89132486e-04 9.99997401e-01 -3.16956579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.07587156 meters Centerline goodness [0,1] 0.14875348173384595 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.32 [[ 0.99996926 0.0077094 -0.0014264 0.73759251] [-0.00770776 0.99996963 0.00115251 -0.11822753] [ 0.00143524 -0.00114148 0.99999832 -0.31664962] [ 0. 0. 0. 1. ]] SLAMing on 4.10587156 meters Centerline goodness [0,1] 0.1509390482774513 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.32 [[ 9.99969476e-01 7.61728427e-03 -1.73901525e-03 7.39325505e-01] [-7.61615466e-03 9.99970782e-01 6.55270882e-04 -1.14930015e-01] [ 1.74395582e-03 -6.42006272e-04 9.99998273e-01 -3.17015229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.13587156 meters Centerline goodness [0,1] 0.17555011094674555 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.32 [[ 9.99969788e-01 7.49287585e-03 -2.06897309e-03 7.41175705e-01] [-7.49285079e-03 9.99971928e-01 1.98655066e-05 -1.10722403e-01] [ 2.06906386e-03 -4.36239980e-06 9.99997859e-01 -3.17498671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16587156 meters Centerline goodness [0,1] 0.17508596219970918 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.32 [[ 9.99969847e-01 7.38519889e-03 -2.40065439e-03 7.42944126e-01] [-7.38674734e-03 9.99972515e-01 -6.36786337e-04 -1.06211455e-01] [ 2.39588561e-03 6.54500164e-04 9.99996916e-01 -3.17813763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.19587156 meters Centerline goodness [0,1] 0.17825846324139838 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.32 [[ 0.99997036 0.00720657 -0.00271051 0.74450586] [-0.00721012 0.99997316 -0.00130425 -0.10173763] [ 0.00270103 0.00132375 0.99999548 -0.31791172] [ 0. 0. 0. 1. ]] SLAMing on 4.22587156 meters Centerline goodness [0,1] 0.18526189818650463 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.32 [[ 0.99997027 0.00700834 -0.00321439 0.74727768] [-0.00701507 0.99997322 -0.00208723 -0.09645721] [ 0.00319967 0.00210972 0.99999266 -0.31801925] [ 0. 0. 0. 1. ]] SLAMing on 4.25587156 meters Centerline goodness [0,1] 0.20438989303696142 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.32 [[ 0.99997054 0.00684503 -0.00347378 0.74851039] [-0.00685322 0.99997375 -0.00235159 -0.09498715] [ 0.00345759 0.00237533 0.9999912 -0.31807567] [ 0. 0. 0. 1. ]] SLAMing on 4.28587156 meters Centerline goodness [0,1] 0.20341453258380182 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.32 [[ 0.99997047 0.00668205 -0.00379478 0.74999447] [-0.00669172 0.99997438 -0.00254228 -0.0940849 ] [ 0.0037777 0.0025676 0.99998957 -0.31804606] [ 0. 0. 0. 1. ]] SLAMing on 4.31587156 meters Centerline goodness [0,1] 0.20841065132677672 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.32 [[ 0.999972 0.00612703 -0.00429688 0.75262398] [-0.00613916 0.99997719 -0.00281657 -0.09344386] [ 0.00427953 0.00284287 0.9999868 -0.31801972] [ 0. 0. 0. 1. ]] SLAMing on 4.34587156 meters Centerline goodness [0,1] 0.20028490683087108 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.32 [[ 9.99970001e-01 1.62125663e-03 -7.57424461e-03 7.77107610e-01] [-1.62591335e-03 9.99998493e-01 -6.08691846e-04 -8.95465160e-02] [ 7.57324635e-03 6.20988651e-04 9.99971130e-01 -3.17070897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.37587156 meters Centerline goodness [0,1] 0.21013260003262568 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.32 [[ 9.99997559e-01 1.11843898e-03 -1.90560608e-03 7.35420283e-01] [-1.12025607e-03 9.99998919e-01 -9.52747753e-04 -8.81926920e-02] [ 1.90453843e-03 9.54880194e-04 9.99997730e-01 -3.22961802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4058715600000005 meters Centerline goodness [0,1] 0.2048893523346078 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.32 [[ 9.99996711e-01 7.00185735e-04 -2.46724618e-03 7.38468809e-01] [-7.03720941e-04 9.99998727e-01 -1.43227861e-03 -8.57556534e-02] [ 2.46624018e-03 1.43401016e-03 9.99995931e-01 -3.23518072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.43587156 meters Centerline goodness [0,1] 0.20761140778397036 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.32 [[ 9.99996133e-01 5.94317527e-04 -2.71671396e-03 7.39637523e-01] [-5.98425731e-04 9.99998678e-01 -1.51163356e-03 -8.55284123e-02] [ 2.71581198e-03 1.51325347e-03 9.99995167e-01 -3.23646927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.46587156 meters Centerline goodness [0,1] 0.20449485109935983 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:-0.32 [[ 9.99994681e-01 2.52686559e-04 -3.25192766e-03 7.42368675e-01] [-2.58946954e-04 9.99998114e-01 -1.92485666e-03 -8.35377779e-02] [ 3.25143514e-03 1.92568849e-03 9.99992860e-01 -3.23831067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.49587156 meters Centerline goodness [0,1] 0.20450788180780965 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:-0.32 [[ 9.99993780e-01 8.40085538e-05 -3.52591339e-03 7.43476356e-01] [-9.16893526e-05 9.99997623e-01 -2.17828046e-03 -8.22387645e-02] [ 3.52572202e-03 2.17859020e-03 9.99991411e-01 -3.23736759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52587156 meters Centerline goodness [0,1] 0.2026434782608696 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:-0.32 [[ 9.99992582e-01 -3.62537567e-05 -3.85149470e-03 7.44855848e-01] [ 2.74448064e-05 9.99997384e-01 -2.28717930e-03 -8.17550670e-02] [ 3.85156755e-03 2.28705663e-03 9.99989967e-01 -3.23707741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.55587156 meters Centerline goodness [0,1] 0.2023259592841059 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.32 [[ 9.99991237e-01 -1.04818532e-04 -4.18502804e-03 7.46118615e-01] [ 9.54625863e-05 9.99997496e-01 -2.23571247e-03 -8.23548753e-02] [ 4.18525191e-03 2.23529337e-03 9.99988744e-01 -3.23478665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.58587156 meters Centerline goodness [0,1] 0.2010850664255408 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.32 [[ 9.99989931e-01 -2.08483777e-04 -4.48271300e-03 7.47378773e-01] [ 1.98631176e-04 9.99997564e-01 -2.19824323e-03 -8.28857339e-02] [ 4.48316038e-03 2.19733069e-03 9.99987536e-01 -3.23385035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61587156 meters Centerline goodness [0,1] 0.19989230445063566 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.32 [[ 9.99987817e-01 -5.18705637e-04 -4.90876163e-03 7.49190291e-01] [ 5.05638377e-04 9.99996327e-01 -2.66289446e-03 -8.05355058e-02] [ 4.91012486e-03 2.66037996e-03 9.99984406e-01 -3.22930044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64587156 meters Centerline goodness [0,1] 0.20006080164632145 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.32 [[ 9.99986325e-01 -6.62947795e-04 -5.18745772e-03 7.50295052e-01] [ 6.47482536e-04 9.99995343e-01 -2.98239070e-03 -7.87809027e-02] [ 5.18941073e-03 2.97899113e-03 9.99982098e-01 -3.22935936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.67587156 meters Centerline goodness [0,1] 0.19744781191483463 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.32 [[ 9.99984176e-01 -7.92255728e-04 -5.56958620e-03 7.51866608e-01] [ 7.74422763e-04 9.99994570e-01 -3.20327515e-03 -7.76650529e-02] [ 5.57209377e-03 3.19891124e-03 9.99979359e-01 -3.22927699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.70587156 meters Centerline goodness [0,1] 0.19558973408690816 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.32 [[ 9.99982733e-01 -8.13478352e-04 -5.81990513e-03 7.52836413e-01] [ 7.95098706e-04 9.99994692e-01 -3.15968337e-03 -7.80298757e-02] [ 5.82244457e-03 3.15500141e-03 9.99978072e-01 -3.22815084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73587156 meters Centerline goodness [0,1] 0.19558973408690816 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.32 [[ 9.99982733e-01 -8.13478352e-04 -5.81990513e-03 7.52836413e-01] [ 7.95098706e-04 9.99994692e-01 -3.15968337e-03 -7.80298757e-02] [ 5.82244457e-03 3.15500141e-03 9.99978072e-01 -3.22815084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76587156 meters Centerline goodness [0,1] 0.19294782029797297 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.33 [[ 0.99997465 -0.00238226 -0.00670943 0.75977229] [ 0.00235135 0.99998661 -0.00460989 -0.07690486] [ 0.00672032 0.004594 0.99996687 -0.32625558] [ 0. 0. 0. 1. ]] SLAMing on 4.79587156 meters Centerline goodness [0,1] 0.19369108553164882 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.33 [[ 0.99997264 -0.00243567 -0.00698449 0.76088676] [ 0.00240357 0.99998653 -0.00460002 -0.07709154] [ 0.0069956 0.00458311 0.99996503 -0.32631768] [ 0. 0. 0. 1. ]] SLAMing on 4.82587156 meters Centerline goodness [0,1] 0.19286657859973577 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.33 [[ 0.99997066 -0.00252951 -0.00723054 0.76186935] [ 0.00249582 0.999986 -0.00466514 -0.07683702] [ 0.00724224 0.00464696 0.99996298 -0.32633715] [ 0. 0. 0. 1. ]] SLAMing on 4.85587156 meters Centerline goodness [0,1] 0.19164573877381752 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.33 [[ 0.99996619 -0.0026779 -0.00777457 0.76415426] [ 0.00264038 0.99998484 -0.00483162 -0.07589637] [ 0.00778739 0.00481093 0.9999581 -0.32615531] [ 0. 0. 0. 1. ]] SLAMing on 4.88587156 meters Centerline goodness [0,1] 0.20402272092373597 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.33 [[ 0.99999203 -0.00234352 -0.00323288 0.71727337] [ 0.00232889 0.99998706 -0.0045227 -0.07588695] [ 0.00324344 0.00451514 0.99998455 -0.32738293] [ 0. 0. 0. 1. ]] SLAMing on 4.91587156 meters Centerline goodness [0,1] 0.20215620951323343 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.33 [[ 0.9999909 -0.00233472 -0.00356985 0.71831672] [ 0.00231829 0.99998674 -0.00459821 -0.07536267] [ 0.00358054 0.00458989 0.99998306 -0.32687598] [ 0. 0. 0. 1. ]] SLAMing on 4.9458715600000005 meters Centerline goodness [0,1] 0.20134508348794067 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.33 [[ 0.99998998 -0.00227955 -0.00385191 0.71920099] [ 0.0022618 0.99998683 -0.00460732 -0.07522393] [ 0.00386237 0.00459857 0.99998197 -0.32653194] [ 0. 0. 0. 1. ]] SLAMing on 4.97587156 meters Centerline goodness [0,1] 0.20195756299604317 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.08, Z:-0.33 [[ 9.99989539e-01 1.79393345e-03 -4.20758899e-03 7.20753758e-01] [-1.79424913e-03 9.99998388e-01 -7.12526351e-05 -7.77737801e-02] [ 4.20745438e-03 7.88013526e-05 9.99991146e-01 -3.26450027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00587156 meters Centerline goodness [0,1] 0.20078469162995594 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.08, Z:-0.33 [[ 0.99998141 0.00342328 -0.00504657 0.72727693] [-0.00341644 0.99999323 0.00136475 -0.07685938] [ 0.00505121 -0.00134749 0.99998633 -0.33019119] [ 0. 0. 0. 1. ]] SLAMing on 5.03587156 meters Centerline goodness [0,1] 0.19971645476996247 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.33 [[ 9.99976063e-01 4.29174960e-03 -5.42723060e-03 7.29086998e-01] [-4.28796398e-03 9.99990555e-01 7.08966980e-04 -6.95891654e-02] [ 5.43022205e-03 -6.85678240e-04 9.99985021e-01 -3.30108409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06587156 meters Centerline goodness [0,1] 0.20047099023387893 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.07, Z:-0.33 [[ 0.99996269 0.0069932 -0.00507057 0.72571957] [-0.00697483 0.99996908 0.00363149 -0.06796186] [ 0.00509581 -0.00359599 0.99998055 -0.32759106] [ 0. 0. 0. 1. ]] SLAMing on 5.09587156 meters Centerline goodness [0,1] 0.20099014482024702 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.33 [[ 0.99996221 0.00684068 -0.00536542 0.72663979] [-0.00682528 0.99997255 0.0028851 -0.06370778] [ 0.00538501 -0.00284837 0.99998144 -0.32746979] [ 0. 0. 0. 1. ]] SLAMing on 5.12587156 meters Centerline goodness [0,1] 0.2009645929464141 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.33 [[ 0.99996208 0.00667792 -0.00559042 0.72728585] [-0.00666492 0.99997505 0.0023393 -0.06079079] [ 0.0056059 -0.00230195 0.99998164 -0.32725122] [ 0. 0. 0. 1. ]] SLAMing on 5.1558715600000005 meters Centerline goodness [0,1] 0.19899727369345221 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.33 [[ 0.99996188 0.00643081 -0.00590612 0.72843842] [-0.00642085 0.99997794 0.00170244 -0.05745069] [ 0.00591694 -0.00166445 0.99998111 -0.32699982] [ 0. 0. 0. 1. ]] SLAMing on 5.18587156 meters Centerline goodness [0,1] 0.20061064464645062 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.33 [[ 0.99996225 0.00623068 -0.00605554 0.72897876] [-0.00622309 0.99997983 0.0012717 -0.05528452] [ 0.00606335 -0.00123397 0.99998086 -0.32706128] [ 0. 0. 0. 1. ]] SLAMing on 5.21587156 meters Centerline goodness [0,1] 0.1737408563574524 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.33 [[ 9.99962673e-01 6.01118405e-03 -6.20625351e-03 7.29478420e-01] [-6.00640187e-03 9.99981650e-01 7.88892811e-04 -5.29041099e-02] [ 6.21088181e-03 -7.51586112e-04 9.99980430e-01 -3.27077612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24587156 meters Centerline goodness [0,1] 0.16773029966703668 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.05, Z:-0.32 [[ 0.99993938 0.00400445 -0.01025688 0.74874652] [-0.00394383 0.99997468 0.00592386 -0.05155263] [ 0.01028035 -0.00588305 0.99992985 -0.3224776 ] [ 0. 0. 0. 1. ]] SLAMing on 5.27587156 meters Centerline goodness [0,1] 0.17218773165307633 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.05, Z:-0.32 [[ 0.99993877 0.00376357 -0.01040622 0.74930753] [-0.0037077 0.99997864 0.00538278 -0.04888588] [ 0.01042626 -0.00534387 0.99993137 -0.32267103] [ 0. 0. 0. 1. ]] SLAMing on 5.30587156 meters Centerline goodness [0,1] 0.1727989639462547 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.32 [[ 0.99993798 0.00325945 -0.01064941 0.75028097] [-0.00321441 0.99998583 0.00424359 -0.04317737] [ 0.01066309 -0.00420909 0.99993429 -0.322968 ] [ 0. 0. 0. 1. ]] SLAMing on 5.33587156 meters Centerline goodness [0,1] 0.1906823812721421 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.32 [[ 0.99993749 0.00297965 -0.01077682 0.75051403] [-0.00293979 0.99998878 0.0037133 -0.04063283] [ 0.01078777 -0.00368139 0.99993503 -0.32264796] [ 0. 0. 0. 1. ]] SLAMing on 5.36587156 meters Centerline goodness [0,1] 0.18998612395929693 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.32 [[ 0.99993631 0.00276482 -0.01094224 0.75092934] [-0.00272744 0.9999904 0.00342893 -0.0395238 ] [ 0.01095161 -0.00339887 0.99993425 -0.32246956] [ 0. 0. 0. 1. ]] SLAMing on 5.39587156 meters Centerline goodness [0,1] 0.2225121219117987 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.32 [[ 9.99945838e-01 2.71519618e-04 -1.04042172e-02 7.45883111e-01] [-2.60909970e-04 9.99999445e-01 1.02108870e-03 -3.69053618e-02] [ 1.04044887e-02 -1.01831883e-03 9.99945353e-01 -3.18344661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.42587156 meters Centerline goodness [0,1] 0.234854790972993 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.32 [[ 9.99945031e-01 -4.28552678e-05 -1.04848688e-02 7.45898638e-01] [ 5.05978817e-05 9.99999726e-01 7.38191822e-04 -3.59663847e-02] [ 1.04848343e-02 -7.38681757e-04 9.99944760e-01 -3.17810589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.45587156 meters Centerline goodness [0,1] 0.23233469160955733 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.32 [[ 9.99943724e-01 -3.22075122e-04 -1.06040446e-02 7.46041333e-01] [ 3.26566713e-04 9.99999858e-01 4.21844564e-04 -3.46965240e-02] [ 1.06039073e-02 -4.25283752e-04 9.99943687e-01 -3.17340396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4858715600000005 meters Centerline goodness [0,1] 0.18363369560232956 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.32 [[ 0.99995988 -0.00637212 -0.00629635 0.76677105] [ 0.00640114 0.99996894 0.00459906 -0.03253602] [ 0.00626685 -0.00463918 0.9999696 -0.32049594] [ 0. 0. 0. 1. ]] SLAMing on 5.51587156 meters Centerline goodness [0,1] 0.22051176322360433 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.32 [[ 0.99995758 -0.00658553 -0.00643995 0.7671925 ] [ 0.006615 0.9999677 0.00456494 -0.03283423] [ 0.00640968 -0.00460735 0.99996884 -0.32043098] [ 0. 0. 0. 1. ]] SLAMing on 5.54587156 meters Centerline goodness [0,1] 0.2252386978028299 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.32 [[ 0.99995624 -0.00669419 -0.0065345 0.76757344] [ 0.00672474 0.99996651 0.00466541 -0.03368217] [ 0.00650305 -0.00470915 0.99996777 -0.32060385] [ 0. 0. 0. 1. ]] SLAMing on 5.57587156 meters Centerline goodness [0,1] 0.2131286905773958 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.32 [[ 0.9999552 -0.00683017 -0.00655363 0.76785122] [ 0.00686137 0.99996518 0.00475038 -0.03448684] [ 0.00652095 -0.00479513 0.99996724 -0.32101207] [ 0. 0. 0. 1. ]] SLAMing on 5.60587156 meters Centerline goodness [0,1] 0.33743364874221093 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.32 [[ 9.99914166e-01 -1.13262399e-02 -6.58616511e-03 7.68234590e-01] [ 1.13242034e-02 9.99935819e-01 -3.46416771e-04 -3.02179934e-02] [ 6.58966600e-03 2.71803963e-04 9.99978251e-01 -3.21369397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63587156 meters Centerline goodness [0,1] 0.34053509715515073 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.32 [[ 0.999946 -0.01000727 -0.00280237 0.78710382] [ 0.00997962 0.99990304 -0.00971139 -0.0261313 ] [ 0.00289928 0.0096829 0.99994892 -0.32265386] [ 0. 0. 0. 1. ]] SLAMing on 5.66587156 meters Centerline goodness [0,1] 0.30535505602529733 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.32 [[ 0.99997599 -0.00633838 -0.00280157 0.78721696] [ 0.00632446 0.99996775 -0.00495021 -0.03023928] [ 0.00283286 0.00493237 0.99998382 -0.32307109] [ 0. 0. 0. 1. ]] SLAMing on 5.6958715600000005 meters Centerline goodness [0,1] 0.32954389809615126 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.32 [[ 0.99997518 -0.00641576 -0.00291298 0.78750107] [ 0.00640107 0.99996689 -0.00502494 -0.02993573] [ 0.00294513 0.00500617 0.99998313 -0.32295184] [ 0. 0. 0. 1. ]] SLAMing on 5.72587156 meters Centerline goodness [0,1] 0.9715514465755944 Centerline is valid? [False, True] Translation: X:0.74, Y:-0.03, Z:-0.32 [[ 9.99975206e-01 -7.04179436e-03 -2.42656505e-05 7.38282830e-01] [ 7.04151356e-03 9.99956442e-01 -6.12631807e-03 -2.88294941e-02] [ 6.74048655e-05 6.12599531e-03 9.99981234e-01 -3.21300005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.75587156 meters Centerline goodness [0,1] 0.9721033480559306 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.01, Z:-0.30 [[ 0.99992224 -0.01177305 0.00411145 0.77027101] [ 0.01196232 0.99870116 -0.04952678 -0.00748624] [-0.00352303 0.04957212 0.99876433 -0.29883681] [ 0. 0. 0. 1. ]] SLAMing on 5.78587156 meters Centerline goodness [0,1] 0.9598397252432742 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.04, Z:-0.30 [[ 9.99875116e-01 -1.51022132e-02 4.65561663e-03 8.00474028e-01] [ 1.51026416e-02 9.99885947e-01 -5.68806376e-05 -4.37498786e-02] [-4.65422662e-03 1.27185644e-04 9.99989161e-01 -3.01395942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81587156 meters Centerline goodness [0,1] 0.9370184636425803 Centerline is valid? [True, False] Translation: X:0.80, Y:-0.05, Z:-0.30 [[ 9.99877352e-01 -1.49924740e-02 4.52852121e-03 8.00939841e-01] [ 1.49911076e-02 9.99887571e-01 3.35517271e-04 -4.57145644e-02] [-4.53304230e-03 -2.67588572e-04 9.99989690e-01 -3.01606525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84587156 meters Centerline goodness [0,1] 0.9252097190792933 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.30 [[ 9.99879734e-01 -1.48504102e-02 4.47031021e-03 8.01196147e-01] [ 1.48469549e-02 9.99889454e-01 8.05154521e-04 -4.80821066e-02] [-4.48177291e-03 -7.38687194e-04 9.99989684e-01 -3.01764093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.87587156 meters Centerline goodness [0,1] 0.9141187970266645 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.30 [[ 0.99988247 -0.0146769 0.00443067 0.80136773] [ 0.01467101 0.99989145 0.00136073 -0.05084136] [-0.00445016 -0.00129557 0.99998926 -0.30186906] [ 0. 0. 0. 1. ]] SLAMing on 5.9058715600000005 meters Centerline goodness [0,1] 0.8994089540071106 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.30 [[ 0.99988606 -0.01445017 0.0043657 0.80154613] [ 0.01444086 0.9998934 0.00215655 -0.05490957] [-0.0043964 -0.00209326 0.99998814 -0.30177848] [ 0. 0. 0. 1. ]] SLAMing on 5.93587156 meters Centerline goodness [0,1] 0.8955051602390005 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.30 [[ 0.99982165 -0.01840389 0.00423751 0.80206908] [ 0.01841464 0.99982728 -0.00251334 -0.05216277] [-0.00419052 0.00259092 0.99998786 -0.30166085] [ 0. 0. 0. 1. ]] SLAMing on 5.96587156 meters Centerline goodness [0,1] 0.8917367931589811 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.30 [[ 0.99982539 -0.01821223 0.00418387 0.80234961] [ 0.018221 0.99983185 -0.00206742 -0.05423173] [-0.00414552 0.0021433 0.99998911 -0.30187785] [ 0. 0. 0. 1. ]] SLAMing on 5.99587156 meters Centerline goodness [0,1] 0.9188367273382592 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.30 [[ 0.99983381 -0.0177731 0.0040587 0.80284608] [ 0.017778 0.99984127 -0.00117322 -0.05833157] [-0.0040372 0.00124518 0.99999108 -0.30210116] [ 0. 0. 0. 1. ]] SLAMing on 6.025871560000001 meters Centerline goodness [0,1] 0.932208741148347 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.30 [[ 9.99837353e-01 -1.75611212e-02 4.10793202e-03 8.02791772e-01] [ 1.75642784e-02 9.99845467e-01 -7.33759522e-04 -6.03309625e-02] [-4.09441157e-03 8.05793040e-04 9.99991293e-01 -3.02263355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.05587156 meters Centerline goodness [0,1] 0.9600099018813575 Centerline is valid? [False, True] Translation: X:0.80, Y:-0.06, Z:-0.30 [[ 9.99841784e-01 -1.73327366e-02 3.99794027e-03 8.03247619e-01] [ 1.73339613e-02 9.99849719e-01 -2.71893851e-04 -6.24248559e-02] [-3.99262679e-03 3.41150975e-04 9.99991971e-01 -3.02492909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08587156 meters Centerline goodness [0,1] 0.9666426577833799 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.03, Z:-0.29 [[ 0.9998072 -0.01833263 -0.00703454 0.83667094] [ 0.01792255 0.99835324 -0.05449387 -0.03153738] [ 0.00802197 0.05435729 0.99848933 -0.29196509] [ 0. 0. 0. 1. ]] SLAMing on 6.11587156 meters Centerline goodness [0,1] 0.9791488979665125 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.06, Z:-0.29 [[ 9.99816947e-01 -1.80185239e-02 -6.43462367e-03 8.65762948e-01] [ 1.80191168e-02 9.99837642e-01 3.41745180e-05 -6.41721624e-02] [ 6.43296318e-03 -1.50114498e-04 9.99979297e-01 -2.92039169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14587156 meters Centerline goodness [0,1] 0.9912010953738413 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.06, Z:-0.29 [[ 9.99854120e-01 -1.61311272e-02 -5.61474920e-03 8.95061198e-01] [ 1.61315432e-02 9.99869878e-01 2.87982347e-05 -6.22528913e-02] [ 5.61355405e-03 -1.19368603e-04 9.99984237e-01 -2.91435002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.17587156 meters Centerline goodness [0,1] 0.9964743160619449 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.06, Z:-0.29 [[ 9.99891370e-01 -1.37159387e-02 -5.39641930e-03 9.23699046e-01] [ 1.37162938e-02 9.99905927e-01 2.87967294e-05 -5.98719664e-02] [ 5.39551667e-03 -1.02812474e-04 9.99985439e-01 -2.91919424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20587156 meters Centerline goodness [0,1] 0.9980393030613609 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.06, Z:-0.31 [[ 0.99997209 -0.00675716 0.00318702 0.95149013] [ 0.00672454 0.999926 0.0101382 -0.06317675] [-0.00325529 -0.01011649 0.99994353 -0.31278778] [ 0. 0. 0. 1. ]] SLAMing on 6.2358715600000005 meters Centerline goodness [0,1] 0.9993087454845471 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.04, Z:-0.29 [[ 0.99995879 -0.00701406 -0.00576345 0.98433473] [ 0.00695582 0.99992517 -0.01006348 -0.04462126] [ 0.0058336 0.01002297 0.99993275 -0.29431052] [ 0. 0. 0. 1. ]] SLAMing on 6.26587156 meters Centerline goodness [0,1] 0.9993355334558905 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.05, Z:-0.29 [[ 9.99976123e-01 -4.24789997e-03 -5.45054365e-03 1.01372853e+00] [ 4.24811559e-03 9.99990976e-01 2.79837768e-05 -4.58588298e-02] [ 5.45037560e-03 -5.11376482e-05 9.99985145e-01 -2.94563406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29587156 meters Centerline goodness [0,1] 0.9993343244502629 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.05, Z:-0.33 [[ 9.99756693e-01 -2.34737806e-04 2.20567604e-02 1.04227811e+00] [-2.04441132e-04 9.99801816e-01 1.99069431e-02 -5.12307979e-02] [-2.20570621e-02 -1.99066089e-02 9.99558509e-01 -3.30103437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32587156 meters Centerline goodness [0,1] 0.9992686170212766 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.03, Z:-0.31 [[ 0.99978264 0.00438819 -0.02038196 1.07276805] [-0.00448386 0.99997913 -0.00465027 -0.02979771] [ 0.02036113 0.00474065 0.99978145 -0.30810527] [ 0. 0. 0. 1. ]] SLAMing on 6.35587156 meters Centerline goodness [0,1] 0.9994482941254359 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.02, Z:-0.29 [[ 0.99997575 0.00637692 -0.00279968 1.10476833] [-0.00641015 0.99990711 -0.0120281 -0.01988433] [ 0.00272271 0.01204576 0.99992374 -0.29378568] [ 0. 0. 0. 1. ]] SLAMing on 6.38587156 meters Centerline goodness [0,1] 0.99986773944671 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.02, Z:-0.28 [[ 9.99968191e-01 7.96795353e-03 -3.57621627e-04 1.13355229e+00] [-7.96795423e-03 9.99968255e-01 -5.46873286e-07 -2.39518629e-02] [ 3.57605917e-04 3.39636865e-06 9.99999936e-01 -2.77713210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.41587156 meters Centerline goodness [0,1] 0.9992110626547742 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.03, Z:-0.31 [[ 0.99973904 0.00940317 -0.02081892 1.16161405] [-0.00922866 0.99992161 0.00846235 -0.02640187] [ 0.02089686 -0.00826802 0.99974745 -0.30955449] [ 0. 0. 0. 1. ]] SLAMing on 6.4458715600000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.02, Z:-0.28 [[ 9.99968707e-01 7.91106574e-03 1.69109747e-05 1.19284073e+00] [-7.91067421e-03 9.99936400e-01 -8.03854044e-03 -2.09900517e-02] [-8.05033210e-05 8.03815511e-03 9.99967690e-01 -2.77199288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47587156 meters Centerline goodness [0,1] 0.9999779944105803 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.03, Z:-0.28 [[ 9.99974793e-01 7.06706813e-03 6.85554760e-04 1.22327279e+00] [-7.06706716e-03 9.99975028e-01 -3.82734266e-06 -2.80855017e-02] [-6.85564688e-04 -1.01761535e-06 9.99999765e-01 -2.76167984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50587156 meters Centerline goodness [0,1] 0.9999124783931033 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.08, Z:-0.28 [[ 9.99790199e-01 3.70624216e-04 2.04797800e-02 1.25629089e+00] [-2.21381811e-03 9.95934644e-01 9.00515606e-02 -8.17401182e-02] [-2.03631471e-02 -9.00780062e-02 9.95726516e-01 -2.81902699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.29, Y:0.02, Z:-0.27 [[ 0.99997905 0.00634005 0.00130353 1.28969886] [-0.00619582 0.99586484 -0.09063567 0.02307976] [-0.00187278 0.0906257 0.99588326 -0.26906637] [ 0. 0. 0. 1. ]] SLAMing on 6.565871560000001 meters Centerline goodness [0,1] 0.99986889257932 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.03, Z:-0.27 [[ 9.99980590e-01 4.31823812e-03 4.49128060e-03 1.31840552e+00] [-4.31816932e-03 9.99990676e-01 -2.50166744e-05 -3.19313296e-02] [-4.49134675e-03 5.62207879e-06 9.99989914e-01 -2.73318050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.04, Z:-0.28 [[ 9.99993811e-01 2.89523275e-03 1.99900708e-03 1.35005317e+00] [-2.89522081e-03 9.99995809e-01 -8.86231625e-06 -3.66418372e-02] [-1.99902436e-03 3.07469449e-06 9.99998002e-01 -2.76699222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.04, Z:-0.28 [[ 9.99996686e-01 2.35492704e-03 1.04072037e-03 1.38108497e+00] [-2.35492457e-03 9.99997227e-01 -3.59262813e-06 -3.80118973e-02] [-1.04072595e-03 1.14179824e-06 9.99999458e-01 -2.79324664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6558715600000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.04, Z:-0.28 [[ 9.99996630e-01 2.37834920e-03 1.04070794e-03 1.41191988e+00] [-2.37834453e-03 9.99997172e-01 -5.72390542e-06 -3.82357945e-02] [-1.04071861e-03 3.24872411e-06 9.99999458e-01 -2.79820119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.04, Z:-0.28 [[ 9.99998530e-01 1.67164483e-03 3.82679161e-04 1.44224691e+00] [-1.67164442e-03 9.99998603e-01 -1.39307205e-06 -4.04067629e-02] [-3.82680955e-04 7.53366520e-07 9.99999927e-01 -2.82933791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.04, Z:-0.28 [[ 9.99999672e-01 8.09223364e-04 3.51577988e-05 1.47298113e+00] [-8.09223357e-04 9.99999673e-01 -2.07967630e-07 -4.32702061e-02] [-3.51579556e-05 1.79517049e-07 9.99999999e-01 -2.84377113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.05, Z:-0.29 [[ 9.99999923e-01 -9.90661250e-05 3.79415118e-04 1.50279082e+00] [ 9.90669158e-05 9.99999995e-01 -2.06539298e-06 -4.74631813e-02] [-3.79414911e-04 2.10298031e-06 9.99999928e-01 -2.85445696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.06, Z:-0.29 [[ 9.99997636e-01 -2.17336116e-03 -7.07348628e-05 1.53308385e+00] [ 2.17336125e-03 9.99997638e-01 1.17602288e-06 -5.50661218e-02] [ 7.07321398e-05 -1.32975251e-06 9.99999997e-01 -2.86475217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.80587156 meters Centerline goodness [0,1] 0.999978184991274 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.06, Z:-0.29 [[ 9.99994933e-01 -3.15445728e-03 -4.29271559e-04 1.56325678e+00] [ 3.15445867e-03 9.99995025e-01 2.56428477e-06 -5.76061597e-02] [ 4.29261334e-04 -3.91839117e-06 9.99999908e-01 -2.85810033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.06, Z:-0.28 [[ 9.99992856e-01 -3.77626151e-03 -1.69521340e-04 1.59401150e+00] [ 3.77626173e-03 9.99992870e-01 1.01264801e-06 -5.93954664e-02] [ 1.69516307e-04 -1.65279773e-06 9.99999986e-01 -2.83782065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86587156 meters Centerline goodness [0,1] 0.9998028866160013 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:-0.28 [[ 9.99985651e-01 -4.11763303e-03 3.42691721e-03 1.62422486e+00] [ 4.11772736e-03 9.99991522e-01 -2.04709384e-05 -6.41117713e-02] [-3.42680387e-03 3.45817554e-05 9.99994128e-01 -2.78954705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.07, Z:-0.28 [[ 9.99990621e-01 -4.09110140e-03 1.42175491e-03 1.65573609e+00] [ 4.09111685e-03 9.99991631e-01 -7.95672656e-06 -6.64289534e-02] [-1.42171046e-03 1.37732174e-05 9.99998989e-01 -2.81182431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92587156 meters Centerline goodness [0,1] 0.999848103463241 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.07, Z:-0.28 [[ 9.99983244e-01 -3.76286512e-03 4.39924856e-03 1.68730588e+00] [ 3.76301660e-03 9.99992919e-01 -2.61560914e-05 -6.71540227e-02] [-4.39911899e-03 4.27100985e-05 9.99990323e-01 -2.77829820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.07, Z:-0.28 [[ 9.99987535e-01 -2.63004241e-03 4.24421081e-03 1.71956217e+00] [ 2.63017235e-03 9.99996541e-01 -2.50350743e-05 -7.01023330e-02] [-4.24413028e-03 3.61977681e-05 9.99990993e-01 -2.77265984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9858715600000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.07, Z:-0.28 [[ 9.99986810e-01 -1.76829086e-03 4.82216952e-03 1.75108889e+00] [ 1.76844848e-03 9.99998436e-01 -2.84218242e-05 -7.18776664e-02] [-4.82211172e-03 3.69492076e-05 9.99988373e-01 -2.77178990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.07, Z:-0.28 [[ 9.99987275e-01 -6.92864357e-04 4.99690219e-03 1.78354330e+00] [ 6.93024270e-04 9.99999759e-01 -3.02708783e-05 -7.21731389e-02] [-4.99688001e-03 3.37334676e-05 9.99987515e-01 -2.76860327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.07, Z:-0.28 [[ 9.99986106e-01 2.38117904e-04 5.26606774e-03 1.81479994e+00] [-2.37950961e-04 9.99999971e-01 -3.23281632e-05 -7.28547329e-02] [-5.26607528e-03 3.10746481e-05 9.99986134e-01 -2.78012435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.07, Z:-0.28 [[ 9.99984370e-01 9.45837169e-04 5.51043142e-03 1.84697677e+00] [-9.45664556e-04 9.99999552e-01 -3.39302270e-05 -7.40364728e-02] [-5.51046104e-03 2.87186770e-05 9.99984817e-01 -2.78452385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.06, Z:-0.28 [[ 9.99944983e-01 5.92907831e-04 -1.04728017e-02 1.87956197e+00] [-8.57600788e-04 9.99679841e-01 -2.52879417e-02 -6.23394238e-02] [ 1.04544553e-02 2.52955319e-02 9.99625350e-01 -2.78894027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.08, Z:-0.28 [[ 9.99956411e-01 -2.82040987e-04 -9.33255953e-03 1.90808560e+00] [ 3.18181321e-04 9.99992456e-01 3.87124158e-03 -8.26330720e-02] [ 9.33139727e-03 -3.87404228e-03 9.99948957e-01 -2.81248899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.10, Z:-0.28 [[ 9.99994129e-01 -4.96106673e-04 3.39043390e-03 1.93588519e+00] [ 4.20460400e-04 9.99751769e-01 2.22760847e-02 -1.02975402e-01] [-3.40064360e-03 -2.22745284e-02 9.99746108e-01 -2.84965896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1958715600000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.09, Z:-0.29 [[ 9.99995669e-01 -6.17165669e-04 2.87773698e-03 1.96688867e+00] [ 6.17213852e-04 9.99999809e-01 -1.58552289e-05 -9.49540434e-02] [-2.87772665e-03 1.76313393e-05 9.99995859e-01 -2.87251636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.10, Z:-0.29 [[ 9.99994507e-01 -9.28504479e-04 3.18177874e-03 1.99878195e+00] [ 9.28571697e-04 9.99999569e-01 -1.96487442e-05 -9.87126135e-02] [-3.18175912e-03 2.26031460e-05 9.99994938e-01 -2.87529540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.09, Z:-0.29 [[ 0.99996469 -0.00217969 -0.00811646 2.0301214 ] [ 0.00207374 0.99991282 -0.01304019 -0.09374468] [ 0.00814417 0.0130229 0.99988203 -0.28966227] [ 0. 0. 0. 1. ]] SLAMing on 7.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.11, Z:-0.29 [[ 9.99997521e-01 3.99941956e-04 2.19023869e-03 2.06034221e+00] [-4.26287251e-04 9.99927410e-01 1.20412764e-02 -1.10781643e-01] [-2.18526389e-03 -1.20421802e-02 9.99925102e-01 -2.86399259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.10, Z:-0.29 [[ 9.99995512e-01 2.40084876e-03 1.79239113e-03 2.09158017e+00] [-2.40083595e-03 9.99997118e-01 -9.30002911e-06 -1.04411053e-01] [-1.79240829e-03 4.99675031e-06 9.99998394e-01 -2.89931832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.09, Z:-0.29 [[ 0.99995198 0.00365411 -0.00909359 2.12273627] [-0.00383135 0.99980152 -0.01955086 -0.0904412 ] [ 0.00902034 0.01958476 0.99976751 -0.28857661] [ 0. 0. 0. 1. ]] SLAMing on 7.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.11, Z:-0.29 [[ 0.99996904 0.00741769 0.00262535 2.15029379] [-0.00746771 0.99978031 0.01958473 -0.11106642] [-0.0024795 -0.01960373 0.99980475 -0.28870043] [ 0. 0. 0. 1. ]] SLAMing on 7.4058715600000005 meters Centerline goodness [0,1] 0.9999350354057039 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.09, Z:-0.29 [[ 9.99890858e-01 1.46024663e-02 2.24520070e-03 2.18171962e+00] [-1.46024752e-02 9.99893378e-01 -1.24669742e-05 -9.17683990e-02] [-2.24514337e-03 -2.03198740e-05 9.99997479e-01 -2.90033370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.09, Z:-0.29 [[ 9.99832852e-01 1.82661589e-02 7.84060649e-04 2.21308773e+00] [-1.82661623e-02 9.99833160e-01 -2.93321114e-06 -8.60361543e-02] [-7.83983415e-04 -1.13890582e-05 9.99999693e-01 -2.93049563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46587156 meters Centerline goodness [0,1] 0.9999345349801423 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.08, Z:-0.29 [[ 9.99767239e-01 2.14764615e-02 2.05656200e-03 2.24394360e+00] [-2.14764783e-02 9.99769354e-01 -1.39431700e-05 -8.32667651e-02] [-2.05638711e-03 -3.02277845e-05 9.99997885e-01 -2.90199186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49587156 meters Centerline goodness [0,1] 0.999845590506022 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.08, Z:-0.29 [[ 9.99632875e-01 2.67544766e-02 4.27947803e-03 2.27498083e+00] [-2.67545981e-02 9.99642031e-01 -2.88732298e-05 -7.83247393e-02] [-4.27871860e-03 -8.56330849e-05 9.99990843e-01 -2.87289389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525871560000001 meters Centerline goodness [0,1] 0.9997370612209124 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.08, Z:-0.28 [[ 9.99555354e-01 2.92168435e-02 5.95567789e-03 2.30718615e+00] [-2.92171308e-02 9.99573088e-01 -3.87710338e-05 -7.54716202e-02] [-5.95426810e-03 -1.35254026e-04 9.99982264e-01 -2.84381143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.55587156 meters Centerline goodness [0,1] 0.9998471849280678 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.07, Z:-0.29 [[ 9.99515903e-01 3.06357915e-02 5.42297645e-03 2.33875689e+00] [-3.06360460e-02 9.99530606e-01 -3.61572092e-05 -7.06523420e-02] [-5.42153864e-03 -1.29998851e-04 9.99985295e-01 -2.86459178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58587156 meters Centerline goodness [0,1] 0.9996557140705356 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.07, Z:-0.29 [[ 9.99510384e-01 3.07038343e-02 6.02220506e-03 2.37080443e+00] [-3.07041422e-02 9.99528516e-01 -4.13517491e-05 -6.95928529e-02] [-6.02063534e-03 -1.43575138e-04 9.99981866e-01 -2.85670077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61587156 meters Centerline goodness [0,1] 0.9997133280409279 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.07, Z:-0.28 [[ 9.99528156e-01 2.93120811e-02 9.17974256e-03 2.40311232e+00] [-2.93127112e-02 9.99570288e-01 -6.59291471e-05 -7.41647090e-02] [-9.17773044e-03 -2.03185104e-04 9.99957863e-01 -2.82469484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645871560000001 meters Centerline goodness [0,1] 0.9998466694412196 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.08, Z:-0.28 [[ 9.99583745e-01 2.74255563e-02 8.95408636e-03 2.43417536e+00] [-2.74260656e-02 9.99623833e-01 -6.59237980e-05 -7.61745492e-02] [-8.95252612e-03 -1.79679003e-04 9.99959909e-01 -2.83422476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67587156 meters Centerline goodness [0,1] 0.9999138747739212 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.08, Z:-0.29 [[ 9.99726183e-01 2.22188647e-02 7.34032703e-03 2.46453701e+00] [-2.22190521e-02 9.99753125e-01 -5.60247437e-05 -8.34789565e-02] [-7.33975969e-03 -1.07085706e-04 9.99973058e-01 -2.86154621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70587156 meters Centerline goodness [0,1] 0.9999782740940297 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.09, Z:-0.29 [[ 9.99778593e-01 1.94087620e-02 8.12799726e-03 2.49627342e+00] [-1.94089074e-02 9.99811628e-01 -6.10025730e-05 -8.80618794e-02] [-8.12765015e-03 -9.67664792e-05 9.99966965e-01 -2.86666882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7358715600000005 meters Centerline goodness [0,1] 0.9999780898753314 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.10, Z:-0.29 [[ 9.99885572e-01 1.35256673e-02 6.77496718e-03 2.52831592e+00] [-1.35256284e-02 9.99908523e-01 -5.15595211e-05 -9.75387215e-02] [-6.77504481e-03 -4.00820672e-05 9.99977048e-01 -2.90310102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.10, Z:-0.29 [[ 9.99918995e-01 1.08020940e-02 6.73182253e-03 2.56060641e+00] [-1.08019868e-02 9.99941655e-01 -5.22887167e-05 -1.02679820e-01] [-6.73199459e-03 -2.04325771e-05 9.99977340e-01 -2.91232331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.11, Z:-0.29 [[ 9.99949300e-01 8.18132919e-03 5.87055002e-03 2.59383854e+00] [-8.18119978e-03 9.99966532e-01 -4.60590498e-05 -1.07495155e-01] [-5.87073037e-03 -1.97142785e-06 9.99982767e-01 -2.93341996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.11, Z:-0.30 [[ 9.99971919e-01 5.73880481e-03 4.81937113e-03 2.62516359e+00] [-5.73868518e-03 9.99983533e-01 -3.86517389e-05 -1.12988561e-01] [-4.81951358e-03 1.09937999e-05 9.99988386e-01 -2.96862703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855871560000001 meters Centerline goodness [0,1] 0.999977783208549 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.12, Z:-0.30 [[ 9.99987008e-01 1.95146578e-03 4.70910336e-03 2.65762258e+00] [-1.95130679e-03 9.99998095e-01 -3.83561279e-05 -1.21424936e-01] [-4.70916924e-03 2.91667243e-05 9.99988911e-01 -2.96809207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.13, Z:-0.30 [[ 9.99989420e-01 2.94870990e-04 4.59063439e-03 2.68917223e+00] [-2.94698322e-04 9.99999956e-01 -3.82895066e-05 -1.26345005e-01] [-4.59064547e-03 3.69362492e-05 9.99989462e-01 -2.97959653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.13, Z:-0.30 [[ 9.99987006e-01 -1.12009366e-03 4.97320577e-03 2.72112693e+00] [ 1.12031845e-03 9.99999372e-01 -4.24147628e-05 -1.29766679e-01] [-4.97315514e-03 4.79857858e-05 9.99987633e-01 -2.97327857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9458715600000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.13, Z:-0.30 [[ 9.99982252e-01 -2.26721949e-03 5.50950756e-03 2.75359114e+00] [ 2.26751960e-03 9.99997428e-01 -4.82269878e-05 -1.33908832e-01] [-5.50938405e-03 6.07190483e-05 9.99984821e-01 -2.97009677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.14, Z:-0.30 [[ 9.99980199e-01 -3.71355557e-03 5.08044109e-03 2.78506207e+00] [ 3.71383698e-03 9.99993103e-01 -4.59588801e-05 -1.41898440e-01] [-5.08023537e-03 6.48259001e-05 9.99987093e-01 -2.97813078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.14, Z:-0.30 [[ 9.99978095e-01 -4.05451213e-03 5.23165071e-03 2.81739931e+00] [ 4.05482026e-03 9.99991778e-01 -4.82926594e-05 -1.44721297e-01] [-5.23141190e-03 6.95050049e-05 9.99986314e-01 -2.97638005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.15, Z:-0.30 [[ 9.99983186e-01 -3.65320724e-03 4.50354145e-03 2.84874626e+00] [ 3.65343264e-03 9.99993325e-01 -4.18228774e-05 -1.50961789e-01] [-4.50335860e-03 5.82755595e-05 9.99989858e-01 -2.99716362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065871560000001 meters Centerline goodness [0,1] 0.9998679867986798 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.15, Z:-0.30 [[ 9.99989012e-01 -2.58860596e-03 3.90829677e-03 2.88063475e+00] [ 2.58876731e-03 9.99996648e-01 -3.62261636e-05 -1.51838124e-01] [-3.90818990e-03 4.63434364e-05 9.99992362e-01 -2.98892421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.15, Z:-0.30 [[ 9.99987420e-01 -1.27018750e-03 4.85249471e-03 2.91164357e+00] [ 1.27042335e-03 9.99999192e-01 -4.55223981e-05 -1.52537869e-01] [-4.85243297e-03 5.16865480e-05 9.99988226e-01 -2.99663572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.15, Z:-0.30 [[ 9.99988593e-01 9.96163782e-04 4.67125322e-03 2.94253201e+00] [-9.95971712e-04 9.99999503e-01 -4.34434318e-05 -1.51559223e-01] [-4.67129418e-03 3.87905001e-05 9.99989089e-01 -3.00095328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.15, Z:-0.30 [[ 9.99981119e-01 3.79545402e-03 4.83285489e-03 2.97492439e+00] [-3.79527702e-03 9.99992797e-01 -4.57943277e-05 -1.49447337e-01] [-4.83299389e-03 2.74514400e-05 9.99988321e-01 -2.99736859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.14, Z:-0.30 [[ 9.99935703e-01 1.01531172e-02 5.05021415e-03 3.00631023e+00] [-1.01530029e-02 9.99948456e-01 -4.82577423e-05 -1.43981873e-01] [-5.05044381e-03 -3.02019964e-06 9.99987246e-01 -3.00138762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.14, Z:-0.30 [[ 9.99891764e-01 1.39626569e-02 4.63727564e-03 3.03893127e+00] [-1.39626076e-02 9.99902517e-01 -4.29988115e-05 -1.40796417e-01] [-4.63742396e-03 -2.17543027e-05 9.99989247e-01 -2.99895506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.14, Z:-0.30 [[ 9.99830088e-01 1.79224852e-02 4.31035432e-03 3.06979554e+00] [-1.79224764e-02 9.99839379e-01 -4.06606416e-05 -1.36214833e-01] [-4.31039072e-03 -3.65984907e-05 9.99990710e-01 -3.00731327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27587156 meters Centerline goodness [0,1] 0.9999559374311522 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.13, Z:-0.30 [[ 9.99677419e-01 2.51877710e-02 3.26109599e-03 3.10051628e+00] [-2.51877992e-02 9.99682737e-01 -3.24253945e-05 -1.27370265e-01] [-3.26087809e-03 -4.97248964e-05 9.99994682e-01 -3.02151156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305871560000002 meters Centerline goodness [0,1] 0.9999129753720303 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.12, Z:-0.30 [[ 9.99583068e-01 2.86170039e-02 3.84155093e-03 3.13191542e+00] [-2.86170714e-02 9.99590447e-01 -3.74034878e-05 -1.21765368e-01] [-3.84104798e-03 -7.25460441e-05 9.99992621e-01 -3.03496545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335871560000001 meters Centerline goodness [0,1] 0.9998916928408967 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.12, Z:-0.30 [[ 9.99487417e-01 3.17691486e-02 3.95286487e-03 3.16338075e+00] [-3.17692461e-02 9.99495229e-01 -3.81492563e-05 -1.16516403e-01] [-3.95208155e-03 -8.74498351e-05 9.99992187e-01 -3.04032368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36587156 meters Centerline goodness [0,1] 0.9997426659804426 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.11, Z:-0.30 [[ 9.99310452e-01 3.69004377e-02 4.12050563e-03 3.19404168e+00] [-3.69005777e-02 9.99318941e-01 -4.20577351e-05 -1.06594398e-01] [-4.11925127e-03 -1.10020304e-04 9.99991510e-01 -3.04180753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395871560000002 meters Centerline goodness [0,1] 0.9996988858777477 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.10, Z:-0.30 [[ 9.99231207e-01 3.89669717e-02 4.30934404e-03 3.22556208e+00] [-3.89671504e-02 9.99240491e-01 -4.25288746e-05 -1.02085927e-01] [-4.30772828e-03 -1.25426678e-04 9.99990714e-01 -3.04560981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425871560000001 meters Centerline goodness [0,1] 0.9994983423486302 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.10, Z:-0.30 [[ 9.99174105e-01 4.04952143e-02 3.35343135e-03 3.25745757e+00] [-4.04953270e-02 9.99179727e-01 -3.43136702e-05 -9.98895601e-02] [-3.35207016e-03 -1.01512968e-04 9.99994377e-01 -3.04471682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455871560000002 meters Centerline goodness [0,1] 0.9995052060924189 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.10, Z:-0.30 [[ 9.99123475e-01 4.15531021e-02 5.06182585e-03 3.28894061e+00] [-4.15533716e-02 9.99136284e-01 -5.19518915e-05 -9.71770620e-02] [-5.05961263e-03 -1.58429576e-04 9.99987188e-01 -3.04585905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485871560000001 meters Centerline goodness [0,1] 0.9994825913549639 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.09, Z:-0.31 [[ 9.99094221e-01 4.22875461e-02 4.74346597e-03 3.32005295e+00] [-4.22877925e-02 9.99105470e-01 -4.83803906e-05 -9.48262681e-02] [-4.74126868e-03 -1.52254136e-04 9.99988749e-01 -3.05719846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51587156 meters Centerline goodness [0,1] 0.9995892158346485 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.09, Z:-0.31 [[ 9.99080785e-01 4.26072423e-02 4.71262084e-03 3.35182891e+00] [-4.26074865e-02 9.99091888e-01 -4.86111418e-05 -9.24845258e-02] [-4.71041244e-03 -1.52226471e-04 9.99988894e-01 -3.06332821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545871560000002 meters Centerline goodness [0,1] 0.9995892158346485 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.09, Z:-0.31 [[ 9.99074023e-01 4.27655059e-02 4.71261284e-03 3.38352058e+00] [-4.27657483e-02 9.99085126e-01 -4.93615410e-05 -9.29754009e-02] [-4.71041237e-03 -1.52222581e-04 9.99988894e-01 -3.06822572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575871560000001 meters Centerline goodness [0,1] 0.9996960948184167 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.10, Z:-0.30 [[ 9.99082766e-01 4.26531708e-02 3.78600462e-03 3.41559465e+00] [-4.26533265e-02 9.99089932e-01 -3.96498244e-05 -9.82598682e-02] [-3.78425029e-03 -1.21872235e-04 9.99992832e-01 -3.04834579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60587156 meters Centerline goodness [0,1] 0.9996990412313513 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.09, Z:-0.31 [[ 9.99108230e-01 4.19582551e-02 4.71703495e-03 3.44684893e+00] [-4.19584816e-02 9.99119354e-01 -5.09756859e-05 -9.41487189e-02] [-4.71501977e-03 -1.46989397e-04 9.99988873e-01 -3.06906621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635871560000002 meters Centerline goodness [0,1] 0.9998909677700728 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.10, Z:-0.31 [[ 9.99165373e-01 4.07945627e-02 2.08849225e-03 3.47911942e+00] [-4.07946071e-02 9.99167553e-01 -2.13684322e-05 -9.73006023e-02] [-2.08762541e-03 -6.38486233e-05 9.99997819e-01 -3.08585640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665871560000001 meters Centerline goodness [0,1] 0.9997190889839664 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.10, Z:-0.31 [[ 9.99193599e-01 4.01041730e-02 1.95126920e-03 3.50988064e+00] [-4.01042060e-02 9.99195502e-01 -2.22555782e-05 -9.64143873e-02] [-1.95059195e-03 -5.60164707e-05 9.99998096e-01 -3.10050957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69587156 meters Centerline goodness [0,1] 0.9998491476844169 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.10, Z:-0.31 [[ 9.99259688e-01 3.83759601e-02 2.71315438e-03 3.54110693e+00] [-3.83760176e-02 9.99263369e-01 -3.08917525e-05 -9.70200725e-02] [-2.71234129e-03 -7.32511774e-05 9.99996319e-01 -3.08570191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725871560000002 meters Centerline goodness [0,1] 0.9998708260672996 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.10, Z:-0.31 [[ 9.99292487e-01 3.74770768e-02 3.16144959e-03 3.57245967e+00] [-3.74771499e-02 9.99297484e-01 -3.61391532e-05 -9.61237540e-02] [-3.16058301e-03 -8.23685358e-05 9.99995002e-01 -3.08217837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755871560000001 meters Centerline goodness [0,1] 0.9998268885378573 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.09, Z:-0.31 [[ 9.99310248e-01 3.69817326e-02 3.37331852e-03 3.60330116e+00] [-3.69818181e-02 9.99315938e-01 -3.70576441e-05 -9.44799132e-02] [-3.37238141e-03 -8.77193684e-05 9.99994310e-01 -3.07768424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785871560000002 meters Centerline goodness [0,1] 0.999850510400205 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.09, Z:-0.31 [[ 9.99349487e-01 3.57694386e-02 4.59896896e-03 3.63441218e+00] [-3.57695771e-02 9.99360063e-01 -5.21480882e-05 -8.82575671e-02] [-4.59789122e-03 -1.12389010e-04 9.99989423e-01 -3.08188326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815871560000001 meters Centerline goodness [0,1] 0.9998490468386095 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.09, Z:-0.31 [[ 9.99360336e-01 3.55133693e-02 4.20955174e-03 3.66659603e+00] [-3.55134818e-02 9.99369196e-01 -4.80344209e-05 -9.04621660e-02] [-4.20860220e-03 -1.01492144e-04 9.99991139e-01 -3.07046728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84587156 meters Centerline goodness [0,1] 0.999849199681165 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.09, Z:-0.31 [[ 9.99363913e-01 3.54212663e-02 4.13556646e-03 3.69833326e+00] [-3.54213715e-02 9.99372465e-01 -4.78300237e-05 -8.93484843e-02] [-4.13466545e-03 -9.86878363e-05 9.99991447e-01 -3.07345965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875871560000002 meters Centerline goodness [0,1] 0.9998500171408982 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.09, Z:-0.31 [[ 9.99354759e-01 3.56968048e-02 3.97531731e-03 3.73003902e+00] [-3.56968952e-02 9.99362662e-01 -4.82438100e-05 -8.56656830e-02] [-3.97450583e-03 -9.36938041e-05 9.99992097e-01 -3.08157337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905871560000001 meters Centerline goodness [0,1] 0.9998718551108453 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.08, Z:-0.31 [[ 9.99354955e-01 3.57627016e-02 3.27170011e-03 3.76133548e+00] [-3.57627684e-02 9.99360307e-01 -3.80950255e-05 -8.11482296e-02] [-3.27096961e-03 -7.89346008e-05 9.99994647e-01 -3.11883448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93587156 meters Centerline goodness [0,1] 0.9998280494357872 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.08, Z:-0.31 [[ 9.99348781e-01 3.60092376e-02 2.31273433e-03 3.79216474e+00] [-3.60092692e-02 9.99351456e-01 -2.79804859e-05 -7.99797222e-02] [-2.31224198e-03 -5.53176087e-05 9.99997325e-01 -3.13626447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965871560000002 meters Centerline goodness [0,1] 0.9998508512134319 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.08, Z:-0.31 [[ 9.99354820e-01 3.58346424e-02 2.41310860e-03 3.82393271e+00] [-3.58346750e-02 9.99357731e-01 -2.97139062e-05 -7.87710516e-02] [-2.41262353e-03 -5.67782272e-05 9.99997088e-01 -3.14661759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995871560000001 meters Centerline goodness [0,1] 0.9999123748603475 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.08, Z:-0.31 [[ 9.99359729e-01 3.57721128e-02 6.98768215e-04 3.85502143e+00] [-3.57721157e-02 9.99359973e-01 -8.34485984e-06 -7.81906279e-02] [-6.98619498e-04 -1.66569006e-05 9.99999756e-01 -3.14819625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02587156 meters Centerline goodness [0,1] 0.9997248851924746 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.07, Z:-0.32 [[ 9.99364070e-01 3.56257410e-02 1.50415928e-03 3.88471050e+00] [-3.56257528e-02 9.99365201e-01 -1.89558403e-05 -6.97224962e-02] [-1.50387975e-03 -3.46430208e-05 9.99998869e-01 -3.19233847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055871560000002 meters Centerline goodness [0,1] 0.9999350846063964 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.07, Z:-0.32 [[ 9.99368180e-01 3.55395953e-02 4.22865766e-04 3.91549600e+00] [-3.55395962e-02 9.99368269e-01 -5.27567372e-06 -7.49174601e-02] [-4.22786123e-04 -9.75613813e-06 9.99999911e-01 -3.16049558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085871560000001 meters Centerline goodness [0,1] 0.9999354810959611 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.07, Z:-0.32 [[ 9.99361339e-01 3.57199764e-02 9.98805393e-04 3.94513001e+00] [-3.57199820e-02 9.99361838e-01 -1.22525678e-05 -7.08297327e-02] [-9.98605655e-04 -2.34325681e-05 9.99999501e-01 -3.16802403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11587156 meters Centerline goodness [0,1] 0.9998713219524749 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.07, Z:-0.32 [[ 9.99346415e-01 3.61245009e-02 1.32802225e-03 3.97592843e+00] [-3.61245107e-02 9.99347297e-01 -1.65875746e-05 -6.93011594e-02] [-1.32775467e-03 -3.13974210e-05 9.99999118e-01 -3.16338425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145871560000002 meters Centerline goodness [0,1] 0.9998716989201326 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.07, Z:-0.32 [[ 9.99317282e-01 3.68971814e-02 1.88910068e-03 4.00592464e+00] [-3.68972024e-02 9.99319066e-01 -2.37603953e-05 -6.55602923e-02] [-1.88869102e-03 -4.59583565e-05 9.99998215e-01 -3.16227381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175871560000001 meters Centerline goodness [0,1] 0.9997861740115894 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.06, Z:-0.32 [[ 9.99212382e-01 3.96182543e-02 2.23798953e-03 4.03685471e+00] [-3.96182911e-02 9.99214887e-01 -2.79262726e-05 -5.64315847e-02] [-2.23733884e-03 -6.07610431e-05 9.99997495e-01 -3.15640217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205871560000002 meters Centerline goodness [0,1] 0.9996613971599687 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.05, Z:-0.32 [[ 9.99127827e-01 4.16813177e-02 2.50069377e-03 4.06724981e+00] [-4.16813700e-02 9.99130954e-01 -3.12043712e-05 -5.15368775e-02] [-2.49982119e-03 -7.30551869e-05 9.99996873e-01 -3.16369577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235871560000001 meters Centerline goodness [0,1] 0.9994494091736902 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.04, Z:-0.32 [[ 9.98953930e-01 4.57176622e-02 9.69815662e-04 4.09607985e+00] [-4.57176716e-02 9.98954401e-01 -1.24511119e-05 -3.64410844e-02] [-9.69370859e-04 -3.18996267e-05 9.99999530e-01 -3.20907600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26587156 meters Centerline goodness [0,1] 0.999655839965584 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.04, Z:-0.32 [[ 9.98879306e-01 4.73299137e-02 1.04555884e-04 4.12541463e+00] [-4.73299138e-02 9.98879312e-01 -1.85907309e-06 -3.52936275e-02] [-1.04526699e-04 -3.09163131e-06 9.99999995e-01 -3.20806305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295871560000002 meters Centerline goodness [0,1] 0.999632551604885 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.03, Z:-0.32 [[ 9.98821502e-01 4.85345001e-02 9.57637763e-05 4.15461083e+00] [-4.85345002e-02 9.98821507e-01 -1.76247622e-06 -3.35987897e-02] [-9.57364603e-05 -2.88744788e-06 9.99999995e-01 -3.20847816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325871560000001 meters Centerline goodness [0,1] 0.9993731898154152 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.02, Z:-0.32 [[ 9.98779661e-01 4.93777553e-02 1.01292522e-03 4.18264358e+00] [-4.93777670e-02 9.98780174e-01 -1.34344464e-05 -2.06548983e-02] [-1.01235299e-03 -3.65979337e-05 9.99999487e-01 -3.22526949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35587156 meters Centerline goodness [0,1] 0.9996973692743347 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.02, Z:-0.32 [[ 9.98801412e-01 4.89299342e-02 1.26510112e-03 4.21178608e+00] [-4.89299528e-02 9.98802212e-01 -1.62809119e-05 -2.27553125e-02] [-1.26438242e-03 -4.56399404e-05 9.99999200e-01 -3.20313532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385871560000002 meters Centerline goodness [0,1] 0.9995246326707001 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.02, Z:-0.32 [[ 9.98844439e-01 4.80361474e-02 1.52140369e-03 4.24011860e+00] [-4.80361739e-02 9.98845596e-01 -1.91764741e-05 -1.84844731e-02] [-1.52056854e-03 -5.39280976e-05 9.99998842e-01 -3.21224686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415871560000001 meters Centerline goodness [0,1] 0.9997192285263817 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.02, Z:-0.32 [[ 9.98905556e-01 4.67423445e-02 1.68638306e-03 4.26984582e+00] [-4.67423756e-02 9.98906978e-01 -2.09630685e-05 -1.74988848e-02] [-1.68551967e-03 -5.78854247e-05 9.99998578e-01 -3.21633715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44587156 meters Centerline goodness [0,1] 0.9996194664073401 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.01, Z:-0.32 [[ 9.99074882e-01 4.29521349e-02 2.12010262e-03 4.29864189e+00] [-4.29521759e-02 9.99077129e-01 -2.62061406e-05 -1.45824147e-02] [-2.11927165e-03 -6.48811238e-05 9.99997752e-01 -3.23868345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475871560000002 meters Centerline goodness [0,1] 0.999828432949452 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.02, Z:-0.32 [[ 9.99177695e-01 4.04849185e-02 2.21466584e-03 4.32856888e+00] [-4.04849577e-02 9.99180148e-01 -2.71448159e-05 -1.98274134e-02] [-2.21394910e-03 -6.25381585e-05 9.99997547e-01 -3.22009107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505871560000001 meters Centerline goodness [0,1] 0.9997837136368551 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.02, Z:-0.32 [[ 9.99281174e-01 3.78266136e-02 2.50661857e-03 4.35883188e+00] [-3.78266556e-02 9.99284315e-01 -3.06687555e-05 -2.07706634e-02] [-2.50598472e-03 -6.41702872e-05 9.99996858e-01 -3.21836861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535871560000002 meters Centerline goodness [0,1] 0.9998705250210397 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.02, Z:-0.32 [[ 9.99374959e-01 3.52678447e-02 2.42290837e-03 4.38911375e+00] [-3.52678769e-02 9.99377894e-01 -2.94626987e-05 -2.18267546e-02] [-2.42244016e-03 -5.60065509e-05 9.99997064e-01 -3.22793733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565871560000001 meters Centerline goodness [0,1] 0.9999782622872422 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.03, Z:-0.33 [[ 9.99557572e-01 2.96727100e-02 2.04726613e-03 4.41869566e+00] [-2.96727212e-02 9.99559668e-01 -2.48948685e-05 -2.66889357e-02] [-2.04710335e-03 -3.58641030e-05 9.99997904e-01 -3.25037808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59587156 meters Centerline goodness [0,1] 0.9999566329849516 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.03, Z:-0.33 [[ 9.99638238e-01 2.67994320e-02 2.27658383e-03 4.44825107e+00] [-2.67994381e-02 9.99640830e-01 -2.78424429e-05 -3.00686805e-02] [-2.27651231e-03 -3.31787968e-05 9.99997408e-01 -3.25809142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625871560000002 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.03, Z:-0.33 [[ 9.99707527e-01 2.40556499e-02 2.48722423e-03 4.47823981e+00] [-2.40556491e-02 9.99710621e-01 -3.02147450e-05 -3.29852472e-02] [-2.48723132e-03 -2.96258854e-05 9.99996906e-01 -3.25924766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.04, Z:-0.33 [[ 9.99809093e-01 1.94296010e-02 2.06592928e-03 4.50904950e+00] [-1.94295913e-02 9.99811227e-01 -2.47785434e-05 -3.53788582e-02] [-2.06602073e-03 -1.53663485e-05 9.99997866e-01 -3.26644584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68587156 meters Centerline goodness [0,1] 0.9998475476957923 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.04, Z:-0.33 [[ 9.99846017e-01 1.74043663e-02 2.24268193e-03 4.54007010e+00] [-1.74043492e-02 9.99848532e-01 -2.71409108e-05 -3.72200153e-02] [-2.24281461e-03 -1.18956879e-05 9.99997485e-01 -3.25041640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.04, Z:-0.33 [[ 9.99869011e-01 1.58518495e-02 3.26812874e-03 4.57033421e+00] [-1.58518045e-02 9.99874351e-01 -3.96737395e-05 -3.89408849e-02] [-3.26834701e-03 -1.21371951e-05 9.99994659e-01 -3.25583438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745871560000001 meters Centerline goodness [0,1] 0.9999566470856003 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.04, Z:-0.32 [[ 9.99890481e-01 1.44462497e-02 3.21447809e-03 4.60082642e+00] [-1.44461987e-02 9.99895647e-01 -3.90582128e-05 -4.05299908e-02] [-3.21470690e-03 -7.38305421e-06 9.99994833e-01 -3.24489424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.04, Z:-0.32 [[ 9.99890002e-01 1.42667717e-02 4.05509110e-03 4.63249507e+00] [-1.42666894e-02 9.99898224e-01 -4.92352314e-05 -3.92197079e-02] [-4.05538082e-03 -8.62290950e-06 9.99991777e-01 -3.24630516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.04, Z:-0.32 [[ 9.99879437e-01 1.46592789e-02 5.12018017e-03 4.66325706e+00] [-1.46591584e-02 9.99892547e-01 -6.10647848e-05 -3.84173046e-02] [-5.12052515e-03 -1.40001096e-05 9.99986890e-01 -3.23408301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.04, Z:-0.32 [[ 9.99861485e-01 1.51987842e-02 6.78285593e-03 4.69526870e+00] [-1.51985742e-02 9.99884492e-01 -8.24977757e-05 -3.82711650e-02] [-6.78332632e-03 -2.06033909e-05 9.99976993e-01 -3.19944223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.04, Z:-0.32 [[ 9.99855218e-01 1.54780416e-02 7.06917198e-03 4.72762696e+00] [-1.54778119e-02 9.99880208e-01 -8.72061854e-05 -3.69793260e-02] [-7.06967493e-03 -2.22217545e-05 9.99975009e-01 -3.21517709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895871560000002 meters Centerline goodness [0,1] 0.999957261304385 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.04, Z:-0.32 [[ 9.99843002e-01 1.61029860e-02 7.39363980e-03 4.76030486e+00] [-1.61027413e-02 9.99870338e-01 -9.26256900e-05 -3.59325002e-02] [-7.39417268e-03 -2.64467215e-05 9.99972662e-01 -3.19849061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.04, Z:-0.32 [[ 9.99844018e-01 1.63093111e-02 6.77832633e-03 4.79246362e+00] [-1.63091024e-02 9.99866994e-01 -8.60730002e-05 -3.52896607e-02] [-6.77882856e-03 -2.44888438e-05 9.99977023e-01 -3.24513320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.04, Z:-0.32 [[ 9.99847806e-01 1.63837900e-02 5.99467209e-03 4.82591923e+00] [-1.63836245e-02 9.99865776e-01 -7.67216946e-05 -3.73610531e-02] [-5.99512446e-03 -2.15044384e-05 9.99982029e-01 -3.24975532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.04, Z:-0.33 [[ 9.99848119e-01 1.64829816e-02 5.66123814e-03 4.85819119e+00] [-1.64828296e-02 9.99864146e-01 -7.35091946e-05 -3.74282174e-02] [-5.66168069e-03 -1.98151933e-05 9.99983972e-01 -3.28148111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.04, Z:-0.33 [[ 9.99855491e-01 1.63315170e-02 4.72009994e-03 4.88928104e+00] [-1.63314061e-02 9.99866632e-01 -6.20450944e-05 -3.83327534e-02] [-4.72048372e-03 -1.50497406e-05 9.99988858e-01 -3.30504161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.04, Z:-0.33 [[ 9.99861078e-01 1.60723045e-02 4.41655666e-03 4.92062364e+00] [-1.60721967e-02 9.99870832e-01 -5.99080333e-05 -4.03100123e-02] [-4.41694905e-03 -1.10840567e-05 9.99990245e-01 -3.29902068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.04, Z:-0.33 [[ 9.99868181e-01 1.56390573e-02 4.36362496e-03 4.95214834e+00] [-1.56389475e-02 9.99877702e-01 -5.92758458e-05 -4.20102928e-02] [-4.36401832e-03 -8.97446978e-06 9.99990478e-01 -3.29441018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.04, Z:-0.33 [[ 9.99871874e-01 1.53615457e-02 4.50099630e-03 4.98324004e+00] [-1.53614292e-02 9.99882004e-01 -6.04561976e-05 -4.28939262e-02] [-4.50139390e-03 -8.69328445e-06 9.99989869e-01 -3.30593399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.04, Z:-0.33 [[ 9.99878297e-01 1.49007946e-02 4.62138419e-03 5.01434090e+00] [-1.49006609e-02 9.99888977e-01 -6.33734985e-05 -4.48162100e-02] [-4.62181543e-03 -5.49589283e-06 9.99989319e-01 -3.31050561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.05, Z:-0.33 [[ 9.99872320e-01 1.51983172e-02 4.93496367e-03 5.04573635e+00] [-1.51981713e-02 9.99884499e-01 -6.70702391e-05 -4.65242085e-02] [-4.93541303e-03 -7.94074775e-06 9.99987821e-01 -3.31341277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.05, Z:-0.33 [[ 9.99854403e-01 1.65362417e-02 4.21011185e-03 5.07668092e+00] [-1.65361495e-02 9.99863267e-01 -5.67161117e-05 -4.69512635e-02] [-4.21047406e-03 -1.29111848e-05 9.99991136e-01 -3.33010014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225871560000002 meters Centerline goodness [0,1] 0.9999349156072374 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.05, Z:-0.33 [[ 9.99836115e-01 1.77299480e-02 3.65945830e-03 5.10808000e+00] [-1.77298853e-02 9.99842812e-01 -4.95641199e-05 -4.65276613e-02] [-3.65976185e-03 -1.53257790e-05 9.99993303e-01 -3.33583758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.05, Z:-0.34 [[ 9.99810111e-01 1.91776723e-02 3.45828654e-03 5.13950171e+00] [-1.91776181e-02 9.99816091e-01 -4.88342369e-05 -4.54968332e-02] [-3.45858706e-03 -1.74967349e-05 9.99994019e-01 -3.36028117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285871560000002 meters Centerline goodness [0,1] 0.9998492905892737 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.04, Z:-0.33 [[ 9.99729824e-01 2.29652951e-02 3.58800748e-03 5.17003464e+00] [-2.29652603e-02 9.99736262e-01 -5.09074325e-05 -4.04942699e-02] [-3.58823029e-03 -3.15058473e-05 9.99993562e-01 -3.34723496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.04, Z:-0.33 [[ 9.99676790e-01 2.50893310e-02 4.10382586e-03 5.20021220e+00] [-2.50893025e-02 9.99685212e-01 -5.84359204e-05 -3.82731950e-02] [-4.10400015e-03 -4.45450951e-05 9.99991578e-01 -3.34621261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.03, Z:-0.34 [[ 9.99617301e-01 2.72110428e-02 4.98095069e-03 5.22953847e+00] [-2.72110275e-02 9.99629709e-01 -7.08468863e-05 -3.31704470e-02] [-4.98103411e-03 -6.47170131e-05 9.99987592e-01 -3.35142106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375871560000002 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.03, Z:-0.33 [[ 9.99495169e-01 3.12315714e-02 5.83058845e-03 5.25966215e+00] [-3.12316174e-02 9.99512171e-01 -8.31812435e-05 -2.63540725e-02] [-5.83034199e-03 -9.89594564e-05 9.99982999e-01 -3.34147171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.03, Z:-0.33 [[ 9.99437316e-01 3.30738616e-02 5.58317513e-03 5.28961644e+00] [-3.30739328e-02 9.99452905e-01 -7.95995696e-05 -2.59193937e-02] [-5.58275327e-03 -1.05102779e-04 9.99984411e-01 -3.33581302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43587156 meters Centerline goodness [0,1] 0.9999783277707945 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.02, Z:-0.34 [[ 9.99380123e-01 3.47794997e-02 5.45493309e-03 5.31911150e+00] [-3.47795934e-02 9.99395004e-01 -7.77070670e-05 -2.16259660e-02] [-5.45433549e-03 -1.12061457e-04 9.99985119e-01 -3.35371073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465871560000002 meters Centerline goodness [0,1] 0.9999783277707945 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.02, Z:-0.34 [[ 9.99380123e-01 3.47794968e-02 5.45493580e-03 5.34911274e+00] [-3.47795915e-02 9.99395004e-01 -7.75165523e-05 -2.20524054e-02] [-5.45433157e-03 -1.12251937e-04 9.99985119e-01 -3.35834698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495871560000001 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.02, Z:-0.34 [[ 9.99322304e-01 3.65771381e-02 4.12872592e-03 5.37902463e+00] [-3.65772071e-02 9.99330828e-01 -5.88088811e-05 -1.84572749e-02] [-4.12811415e-03 -9.22482366e-05 9.99991475e-01 -3.38676120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52587156 meters Centerline goodness [0,1] 0.9998927521932176 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.02, Z:-0.34 [[ 9.99322122e-01 3.66522134e-02 3.45143052e-03 5.40784275e+00] [-3.66522611e-02 9.99328079e-01 -4.94418974e-05 -1.51655978e-02] [-3.45092359e-03 -7.70943509e-05 9.99994043e-01 -3.41854520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555871560000002 meters Centerline goodness [0,1] 0.9998069622289428 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.02, Z:-0.34 [[ 9.99338968e-01 3.61878869e-02 3.47334501e-03 5.43719264e+00] [-3.61879334e-02 9.99345001e-01 -4.94813777e-05 -1.83247539e-02] [-3.47286060e-03 -7.62445088e-05 9.99993967e-01 -3.39679407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585871560000001 meters Centerline goodness [0,1] 0.9999360477510125 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.02, Z:-0.34 [[ 9.99422209e-01 3.37857592e-02 3.71086643e-03 5.46576146e+00] [-3.37857957e-02 9.99429096e-01 -5.28904896e-05 -1.69659511e-02] [-3.71053483e-03 -7.25146451e-05 9.99993113e-01 -3.42225441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.02, Z:-0.34 [[ 9.99471458e-01 3.22992308e-02 3.68309813e-03 5.49548091e+00] [-3.22992575e-02 9.99478242e-01 -5.22344922e-05 -2.24633628e-02] [-3.68286357e-03 -6.67544509e-05 9.99993216e-01 -3.40606500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.02, Z:-0.34 [[ 9.99518159e-01 3.08556874e-02 3.37299565e-03 5.52466450e+00] [-3.08557018e-02 9.99523848e-01 -4.77818512e-05 -2.21004086e-02] [-3.37286393e-03 -5.63173200e-05 9.99994310e-01 -3.42171184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.02, Z:-0.34 [[ 9.99572998e-01 2.88849196e-02 4.41403172e-03 5.55381570e+00] [-2.88849261e-02 9.99582742e-01 -6.22851057e-05 -2.23136038e-02] [-4.41398903e-03 -6.52404704e-05 9.99990256e-01 -3.41594397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705871560000002 meters Centerline goodness [0,1] 0.9998924407348448 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.02, Z:-0.34 [[ 9.99596155e-01 2.80244180e-02 4.70735028e-03 5.58450600e+00] [-2.80244178e-02 9.99607237e-01 -6.60209375e-05 -2.27836883e-02] [-4.70735161e-03 -6.59264759e-05 9.99988918e-01 -3.40750726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.02, Z:-0.34 [[ 9.99616081e-01 2.72675429e-02 4.91638591e-03 5.61455838e+00] [-2.72675335e-02 9.99628169e-01 -6.89526777e-05 -2.48164571e-02] [-4.91643802e-03 -6.51315121e-05 9.99987912e-01 -3.39866114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76587156 meters Centerline goodness [0,1] 0.9999783470108048 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.03, Z:-0.34 [[ 9.99660128e-01 2.55772802e-02 5.04295725e-03 5.64511514e+00] [-2.55772488e-02 9.99672846e-01 -7.07278502e-05 -2.63469882e-02] [-5.04311646e-03 -5.82811606e-05 9.99987282e-01 -3.38920489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.03, Z:-0.34 [[ 9.99689702e-01 2.44054970e-02 4.98720147e-03 5.67579918e+00] [-2.44054551e-02 9.99702140e-01 -6.92657680e-05 -2.76459375e-02] [-4.98740645e-03 -5.24706465e-05 9.99987561e-01 -3.40700380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.03, Z:-0.34 [[ 9.99725738e-01 2.29109675e-02 4.85142040e-03 5.70629056e+00] [-2.29109061e-02 9.99737508e-01 -6.82288514e-05 -2.85497728e-02] [-4.85171014e-03 -4.29402986e-05 9.99988229e-01 -3.42039666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.04, Z:-0.34 [[ 9.99809774e-01 1.88986728e-02 4.82250341e-03 5.73774196e+00] [-1.88985659e-02 9.99821404e-01 -6.77486294e-05 -3.55066340e-02] [-4.82292249e-03 -2.34026565e-05 9.99988369e-01 -3.41346612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885871560000002 meters Centerline goodness [0,1] 0.9998937526561836 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.04, Z:-0.34 [[ 9.99842201e-01 1.70463860e-02 4.99930860e-03 5.76861480e+00] [-1.70462542e-02 9.99854700e-01 -6.89829652e-05 -3.86476508e-02] [-4.99975811e-03 -1.62474053e-05 9.99987501e-01 -3.41259132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915871560000001 meters Centerline goodness [0,1] 0.9998695510381563 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.04, Z:-0.34 [[ 9.99876486e-01 1.46604026e-02 5.66446883e-03 5.79955836e+00] [-1.46601809e-02 9.99892531e-01 -8.06732397e-05 -4.28599914e-02] [-5.66504278e-03 -2.37886216e-06 9.99983954e-01 -3.40028080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.05, Z:-0.34 [[ 9.99926302e-01 1.07663927e-02 5.61030878e-03 5.83012557e+00] [-1.07661164e-02 9.99942041e-01 -7.94446305e-05 -5.06564738e-02] [-5.61083894e-03 1.90375382e-05 9.99984259e-01 -3.41577728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.05, Z:-0.34 [[ 9.99941557e-01 9.20714315e-03 5.66665804e-03 5.86112039e+00] [-9.20683389e-03 9.99957613e-01 -8.06596637e-05 -5.43859701e-02] [-5.66716049e-03 2.84829704e-05 9.99983941e-01 -3.42307184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.06, Z:-0.34 [[ 9.99949555e-01 8.18574812e-03 5.82067502e-03 5.89432194e+00] [-8.18540674e-03 9.99966496e-01 -8.24693436e-05 -5.77526606e-02] [-5.82115507e-03 3.48205910e-05 9.99983056e-01 -3.42625402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.06, Z:-0.34 [[ 9.99963549e-01 6.94925366e-03 4.96072810e-03 5.92656672e+00] [-6.94898677e-03 9.99975853e-01 -7.10343928e-05 -6.31963314e-02] [-4.96110195e-03 3.65597695e-05 9.99987693e-01 -3.44093995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065871560000001 meters Centerline goodness [0,1] 0.9998498659517426 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.07, Z:-0.35 [[ 9.99966495e-01 6.81035565e-03 4.54190188e-03 5.95745803e+00] [-6.81012795e-03 9.99976809e-01 -6.55958402e-05 -6.65575279e-02] [-4.54224327e-03 3.46627094e-05 9.99989683e-01 -3.45263547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.07, Z:-0.35 [[ 9.99965786e-01 7.33805793e-03 3.81831487e-03 5.98976708e+00] [-7.33790008e-03 9.99973076e-01 -5.53470173e-05 -6.75144580e-02] [-3.81861821e-03 2.73267106e-05 9.99992709e-01 -3.46515219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.07, Z:-0.35 [[ 9.99959116e-01 8.29304860e-03 3.60436500e-03 6.02112594e+00] [-8.29291194e-03 9.99965612e-01 -5.28585962e-05 -6.86114714e-02] [-3.60467941e-03 2.29657536e-05 9.99993503e-01 -3.48009700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.06, Z:-0.35 [[ 9.99918673e-01 1.23363279e-02 3.23460660e-03 6.05199288e+00] [-1.23362330e-02 9.99923905e-01 -4.93015808e-05 -6.42363440e-02] [-3.23496866e-03 9.39471066e-06 9.99994767e-01 -3.48716605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.06, Z:-0.35 [[ 9.99883041e-01 1.49516838e-02 3.21731316e-03 6.08330274e+00] [-1.49516033e-02 9.99888217e-01 -4.90894975e-05 -6.11669271e-02] [-3.21768749e-03 9.79765988e-07 9.99994823e-01 -3.46509588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.05, Z:-0.35 [[ 9.99766904e-01 2.11696166e-02 4.24096166e-03 6.11420278e+00] [-2.11695311e-02 9.99775898e-01 -6.50725754e-05 -5.28578671e-02] [-4.24138882e-03 -2.47217624e-05 9.99991005e-01 -3.48116378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.05, Z:-0.35 [[ 9.99697663e-01 2.41493490e-02 4.62513109e-03 6.14452797e+00] [-2.41492782e-02 9.99708361e-01 -7.11744684e-05 -4.87188047e-02] [-4.62550104e-03 -4.05406276e-05 9.99989301e-01 -3.47672392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.05, Z:-0.35 [[ 9.99624539e-01 2.69219211e-02 5.09814406e-03 6.17536927e+00] [-2.69218711e-02 9.99637538e-01 -7.84534938e-05 -4.65299540e-02] [-5.09840830e-03 -5.88275396e-05 9.99987001e-01 -3.46218515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.04, Z:-0.35 [[ 9.99484577e-01 3.16599127e-02 5.31313198e-03 6.20607633e+00] [-3.16599253e-02 9.99498696e-01 -8.17618651e-05 -4.08301477e-02] [-5.31305706e-03 -8.64936383e-05 9.99985882e-01 -3.45776045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.04, Z:-0.35 [[ 9.99424765e-01 3.35181699e-02 5.16448279e-03 6.23536999e+00] [-3.35182060e-02 9.99438104e-01 -7.95991227e-05 -3.61003024e-02] [-5.16424890e-03 -9.35508634e-05 9.99986661e-01 -3.47466460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.04, Z:-0.35 [[ 9.99368336e-01 3.52163381e-02 4.76853050e-03 6.26533828e+00] [-3.52163883e-02 9.99379708e-01 -7.34549726e-05 -3.55249670e-02] [-4.76815943e-03 -9.45218479e-05 9.99988628e-01 -3.47193564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395871560000002 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.02, Z:-0.35 [[ 9.99238598e-01 3.87563022e-02 4.49140283e-03 6.29456862e+00] [-3.87563821e-02 9.99248687e-01 -6.92758082e-05 -2.24186609e-02] [-4.49071326e-03 -1.04847463e-04 9.99989911e-01 -3.50096196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425871560000001 meters Centerline goodness [0,1] 0.9999568193104044 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.02, Z:-0.35 [[ 9.99184579e-01 4.01286763e-02 4.45724892e-03 6.32402553e+00] [-4.01287691e-02 9.99194514e-01 -6.86284881e-05 -2.09970608e-02] [-4.45641264e-03 -1.10291386e-04 9.99990064e-01 -3.49766084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455871560000002 meters Centerline goodness [0,1] 0.9999355697779305 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.02, Z:-0.35 [[ 9.99135438e-01 4.13188171e-02 4.59699699e-03 6.35328170e+00] [-4.13189284e-02 9.99146006e-01 -7.07968476e-05 -2.04466611e-02] [-4.59599642e-03 -1.19207350e-04 9.99989431e-01 -3.49738657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485871560000001 meters Centerline goodness [0,1] 0.9998715973292245 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.02, Z:-0.35 [[ 9.99072985e-01 4.27850816e-02 4.75481949e-03 6.38172383e+00] [-4.27852183e-02 9.99084291e-01 -7.30086002e-05 -1.54406434e-02] [-4.75358914e-03 -1.30495070e-04 9.99988693e-01 -3.50859613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51587156 meters Centerline goodness [0,1] 0.9998926946519014 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.01, Z:-0.35 [[ 9.99066791e-01 4.29190676e-02 4.84778245e-03 6.41098207e+00] [-4.29192114e-02 9.99078543e-01 -7.44183237e-05 -1.30609626e-02] [-4.84650940e-03 -1.33714124e-04 9.99988247e-01 -3.51017570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545871560000002 meters Centerline goodness [0,1] 0.9999351393423129 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.01, Z:-0.35 [[ 9.99058340e-01 4.30929171e-02 5.04328810e-03 6.44017890e+00] [-4.30930763e-02 9.99071059e-01 -7.71513574e-05 -1.13257338e-02] [-5.04192786e-03 -1.40252092e-04 9.99987280e-01 -3.51330762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575871560000001 meters Centerline goodness [0,1] 0.9999355268530657 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.01, Z:-0.35 [[ 9.99120145e-01 4.15818922e-02 5.46639021e-03 6.46875794e+00] [-4.15820589e-02 9.99135089e-01 -8.31849739e-05 -9.68516691e-03] [-5.46512126e-03 -1.44191977e-04 9.99985056e-01 -3.52034767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60587156 meters Centerline goodness [0,1] 0.9999787089081928 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.01, Z:-0.35 [[ 9.99177641e-01 4.01128308e-02 5.91637190e-03 6.49799625e+00] [-4.01130026e-02 9.99195146e-01 -8.96722887e-05 -1.27911077e-02] [-5.91520710e-03 -1.47724896e-04 9.99982494e-01 -3.50890943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.01, Z:-0.35 [[ 9.99301424e-01 3.68337568e-02 6.31964814e-03 6.52836947e+00] [-3.68338897e-02 9.99321397e-01 -9.53868734e-05 -1.38603337e-02] [-6.31887307e-03 -1.37456984e-04 9.99980026e-01 -3.50115030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665871560000001 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.01, Z:-0.35 [[ 9.99360774e-01 3.52186018e-02 6.13950429e-03 6.55818489e+00] [-3.52186962e-02 9.99379625e-01 -9.27795703e-05 -1.48094922e-02] [-6.13896306e-03 -1.23505073e-04 9.99981149e-01 -3.50863217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695871560000002 meters Centerline goodness [0,1] 0.9998705389893411 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.02, Z:-0.35 [[ 9.99424750e-01 3.34809549e-02 5.40323078e-03 6.58840228e+00] [-3.34810035e-02 9.99439351e-01 -8.14898810e-05 -1.66209297e-02] [-5.40292982e-03 -9.94625849e-05 9.99985399e-01 -3.51816675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.02, Z:-0.36 [[ 9.99507534e-01 3.11976359e-02 3.37601400e-03 6.61779979e+00] [-3.11976413e-02 9.99513234e-01 -5.10611843e-05 -1.73319213e-02] [-3.37596366e-03 -5.42876355e-05 9.99994300e-01 -3.56928596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.02, Z:-0.36 [[ 9.99522032e-01 3.07685134e-02 3.00093383e-03 6.64742072e+00] [-3.07685153e-02 9.99526536e-01 -4.55190536e-05 -1.63573291e-02] [-3.00091355e-03 -4.68369817e-05 9.99995496e-01 -3.57568903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.01, Z:-0.36 [[ 9.99528310e-01 3.05799112e-02 2.83306516e-03 6.67729328e+00] [-3.05799123e-02 9.99532324e-01 -4.29248796e-05 -1.41086149e-02] [-2.83305284e-03 -4.37302517e-05 9.99995986e-01 -3.58462356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815871560000001 meters Centerline goodness [0,1] 0.999892431478852 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.01, Z:-0.36 [[ 9.99532535e-01 3.04430288e-02 2.81646671e-03 6.70657060e+00] [-3.04430296e-02 9.99536503e-01 -4.26245616e-05 -1.38627920e-02] [-2.81645891e-03 -4.31371433e-05 9.99996033e-01 -3.56339673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.01, Z:-0.36 [[ 9.99540475e-01 3.01441738e-02 3.18871589e-03 6.73520603e+00] [-3.01441731e-02 9.99545560e-01 -4.82792068e-05 -7.51286314e-03] [-3.18872215e-03 -4.78641825e-05 9.99994915e-01 -3.59164282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.01, Z:-0.36 [[ 9.99571327e-01 2.90851026e-02 3.34939809e-03 6.76458630e+00] [-2.90850969e-02 9.99576938e-01 -5.04006489e-05 -8.38302604e-03] [-3.34944700e-03 -4.70385247e-05 9.99994389e-01 -3.58334593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.01, Z:-0.36 [[ 9.99614953e-01 2.74973795e-02 3.72028491e-03 6.79418467e+00] [-2.74973621e-02 9.99621874e-01 -5.58513967e-05 -9.16182077e-03] [-3.72041394e-03 -4.64681298e-05 9.99993078e-01 -3.57549949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.01, Z:-0.35 [[ 9.99746730e-01 2.17941012e-02 5.61193785e-03 6.82419368e+00] [-2.17939733e-02 9.99762480e-01 -8.39447110e-05 -1.29384552e-02] [-5.61243440e-03 -3.83829734e-05 9.99984249e-01 -3.54758190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.02, Z:-0.36 [[ 9.99817705e-01 1.80564946e-02 6.20640308e-03 6.85426375e+00] [-1.80562697e-02 9.99836968e-01 -9.22665007e-05 -1.67536426e-02] [-6.20705725e-03 -1.98148072e-05 9.99980736e-01 -3.55276225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.02, Z:-0.35 [[ 9.99876178e-01 1.42427966e-02 6.69118332e-03 6.88552518e+00] [-1.42424499e-02 9.99898566e-01 -9.94669724e-05 -2.18858899e-02] [-6.69192129e-03 4.15581296e-06 9.99977609e-01 -3.54295797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025871560000002 meters Centerline goodness [0,1] 0.9999146265980834 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.03, Z:-0.36 [[ 9.99958669e-01 7.23176972e-03 5.51022010e-03 6.91734228e+00] [-7.23143556e-03 9.99973850e-01 -8.05653758e-05 -3.08726529e-02] [-5.51065863e-03 4.07152444e-05 9.99984815e-01 -3.56151524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.04, Z:-0.36 [[ 9.99978700e-01 4.67621592e-03 4.55340353e-03 6.94878972e+00] [-4.67595917e-03 9.99989065e-01 -6.70310300e-05 -3.50159645e-02] [-4.55366719e-03 4.57380732e-05 9.99989631e-01 -3.59233580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.04, Z:-0.36 [[ 9.99993627e-01 -1.01218065e-04 3.56866071e-03 6.98104586e+00] [ 1.01410801e-04 9.99999993e-01 -5.38271848e-05 -4.27891170e-02] [-3.56865524e-03 5.41887425e-05 9.99993631e-01 -3.61886701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.05, Z:-0.36 [[ 9.99993572e-01 -2.09751577e-03 2.90810949e-03 7.01323965e+00] [ 2.09764796e-03 9.99997799e-01 -4.24068852e-05 -4.75194644e-02] [-2.90801414e-03 4.85068026e-05 9.99995771e-01 -3.63267373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145871560000002 meters Centerline goodness [0,1] 0.9999132640891645 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.05, Z:-0.36 [[ 9.99989635e-01 -3.65774149e-03 2.71129895e-03 7.04453580e+00] [ 3.65786329e-03 9.99993309e-01 -3.99666747e-05 -5.16905480e-02] [-2.71113462e-03 4.98838214e-05 9.99996324e-01 -3.62872133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175871560000001 meters Centerline goodness [0,1] 0.9997827314995872 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.05, Z:-0.36 [[ 9.99982948e-01 -5.22355025e-03 2.61104995e-03 7.07699177e+00] [ 5.22367284e-03 9.99986356e-01 -4.01324075e-05 -5.45287756e-02] [-2.61080469e-03 5.37709939e-05 9.99996590e-01 -3.63558912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.06, Z:-0.36 [[ 9.99970533e-01 -7.23187308e-03 2.57529650e-03 7.10813094e+00] [ 7.23199966e-03 9.99973848e-01 -3.98437776e-05 -5.89160753e-02] [-2.57494101e-03 5.84671470e-05 9.99996683e-01 -3.63898467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235871560000001 meters Centerline goodness [0,1] 0.9998712860667167 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.06, Z:-0.36 [[ 9.99964362e-01 -7.80359032e-03 3.22153936e-03 7.13889850e+00] [ 7.80379056e-03 9.99969549e-01 -4.95928474e-05 -6.25089511e-02] [-3.22105425e-03 7.47312985e-05 9.99994810e-01 -3.62936219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26587156 meters Centerline goodness [0,1] 0.9998708761056233 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.07, Z:-0.36 [[ 9.99960462e-01 -8.17554176e-03 3.49785442e-03 7.17123923e+00] [ 8.17578262e-03 9.99966576e-01 -5.45672423e-05 -6.57061990e-02] [-3.49729139e-03 8.31627822e-05 9.99993881e-01 -3.62999435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295871560000002 meters Centerline goodness [0,1] 0.9999353754685278 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.07, Z:-0.36 [[ 9.99964059e-01 -7.78713920e-03 3.35279745e-03 7.20208599e+00] [ 7.78735921e-03 9.99969677e-01 -5.25692505e-05 -7.11813470e-02] [-3.35228642e-03 7.86767993e-05 9.99994378e-01 -3.63400845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325871560000001 meters Centerline goodness [0,1] 0.9999784147815576 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.07, Z:-0.37 [[ 9.99969965e-01 -7.15241939e-03 2.98516017e-03 7.23215488e+00] [ 7.15259153e-03 9.99974419e-01 -4.69937941e-05 -7.44744688e-02] [-2.98474768e-03 6.83440140e-05 9.99995543e-01 -3.66197260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355871560000002 meters Centerline goodness [0,1] 0.9999784147815576 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.08, Z:-0.37 [[ 9.99970285e-01 -7.10764080e-03 2.98516352e-03 7.26383070e+00] [ 7.10781212e-03 9.99974738e-01 -4.67834314e-05 -7.50669614e-02] [-2.98475559e-03 6.80000227e-05 9.99995543e-01 -3.66686755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.08, Z:-0.37 [[ 9.99979736e-01 -5.90154825e-03 2.38730533e-03 7.29507968e+00] [ 5.90165501e-03 9.99982584e-01 -3.76763758e-05 -7.53238140e-02] [-2.38704141e-03 5.17646648e-05 9.99997150e-01 -3.68067678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.07, Z:-0.37 [[ 9.99996378e-01 -2.50359888e-03 9.87992942e-04 7.32626499e+00] [ 2.50361514e-03 9.99996866e-01 -1.52239867e-05 -7.14569202e-02] [-9.87951731e-04 1.76974856e-05 9.99999512e-01 -3.68870460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.07, Z:-0.37 [[ 9.99999800e-01 -4.79839595e-04 4.12668624e-04 7.35672183e+00] [ 4.79842282e-04 9.99999885e-01 -6.41014470e-06 -7.31128899e-02] [-4.12665500e-04 6.60815926e-06 9.99999915e-01 -3.71800968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475871560000002 meters Centerline goodness [0,1] 0.9998493230298986 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.07, Z:-0.37 [[ 9.99999043e-01 1.36135924e-03 2.47147273e-04 7.38698327e+00] [-1.36135847e-03 9.99999073e-01 -3.28489466e-06 -7.32280818e-02] [-2.47151516e-04 2.94843549e-06 9.99999969e-01 -3.72120042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505871560000001 meters Centerline goodness [0,1] 0.9997625420948104 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.07, Z:-0.37 [[ 9.99984456e-01 5.43065541e-03 1.26297960e-03 7.41720131e+00] [-5.43063419e-03 9.99985254e-01 -2.02288098e-05 -7.06269029e-02] [-1.26307083e-03 1.33697152e-05 9.99999202e-01 -3.68408663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.07, Z:-0.37 [[ 9.99968741e-01 7.70405989e-03 1.77863813e-03 7.44734541e+00] [-7.70402169e-03 9.99970323e-01 -2.83293005e-05 -7.04822805e-02] [-1.77880360e-03 1.46257482e-05 9.99998418e-01 -3.69955124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.07, Z:-0.37 [[ 9.99938222e-01 1.10473111e-02 1.22818169e-03 7.47750249e+00] [-1.10472953e-02 9.99938977e-01 -1.96857199e-05 -6.91356645e-02] [-1.22832422e-03 6.11641794e-06 9.99999246e-01 -3.69469672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.07, Z:-0.37 [[ 9.99916620e-01 1.28523912e-02 1.25253488e-03 7.50736922e+00] [-1.28523764e-02 9.99917405e-01 -1.98607413e-05 -6.93507471e-02] [-1.25268668e-03 3.76103554e-06 9.99999215e-01 -3.70869093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.07, Z:-0.37 [[ 9.99894128e-01 1.45100650e-02 1.09133891e-03 7.53762574e+00] [-1.45100545e-02 9.99894723e-01 -1.75089126e-05 -6.91550140e-02] [-1.09147808e-03 1.67167172e-06 9.99999404e-01 -3.70833660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.07, Z:-0.38 [[ 9.99869953e-01 1.60808115e-02 1.21878836e-03 7.56715657e+00] [-1.60807994e-02 9.99870695e-01 -1.97267666e-05 -6.95557815e-02] [-1.21894799e-03 1.25110151e-07 9.99999257e-01 -3.75767924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.07, Z:-0.38 [[ 9.99821459e-01 1.88847185e-02 6.46099410e-04 7.59641315e+00] [-1.88847156e-02 9.99821668e-01 -1.05181284e-05 -6.91827197e-02] [-6.46182821e-04 -1.68515307e-06 9.99999791e-01 -3.76788571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.07, Z:-0.37 [[ 9.99792576e-01 2.03400468e-02 1.04235658e-03 7.62569287e+00] [-2.03400401e-02 9.99793120e-01 -1.70512569e-05 -6.95987591e-02] [-1.04248776e-03 -4.15385462e-06 9.99999457e-01 -3.71642274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.07, Z:-0.37 [[ 9.99770891e-01 2.13762825e-02 1.10484651e-03 7.65549860e+00] [-2.13762756e-02 9.99771501e-01 -1.80238369e-05 -6.92007678e-02] [-1.10497934e-03 -5.59779611e-06 9.99999389e-01 -3.71616768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.07, Z:-0.37 [[ 9.99728110e-01 2.32542556e-02 1.71636231e-03 7.68385986e+00] [-2.32542421e-02 9.99729583e-01 -2.77904044e-05 -6.79487401e-02] [-1.71654443e-03 -1.21298563e-05 9.99998527e-01 -3.73452481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.07, Z:-0.38 [[ 9.99722717e-01 2.34648628e-02 1.97225537e-03 7.71291549e+00] [-2.34648461e-02 9.99724662e-01 -3.16027269e-05 -6.76179945e-02] [-1.97245389e-03 -1.46847048e-05 9.99998055e-01 -3.77113299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835871560000001 meters Centerline goodness [0,1] 0.999935824758808 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.07, Z:-0.38 [[ 9.99733620e-01 2.29979227e-02 1.94544799e-03 7.74364780e+00] [-2.29979059e-02 9.99735513e-01 -3.09958432e-05 -7.07772866e-02] [-1.94564629e-03 -1.37536433e-05 9.99998107e-01 -3.77723878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865871560000002 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.08, Z:-0.38 [[ 9.99769390e-01 2.13934921e-02 1.86694800e-03 7.77301774e+00] [-2.13934736e-02 9.99771133e-01 -2.98885308e-05 -7.63214703e-02] [-1.86716013e-03 -1.00588644e-05 9.99998257e-01 -3.78106559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.08, Z:-0.37 [[ 9.99788489e-01 2.05100669e-02 1.52115475e-03 7.80326995e+00] [-2.05100538e-02 9.99789646e-01 -2.42197301e-05 -8.10044682e-02] [-1.52133151e-03 -6.98435833e-06 9.99998843e-01 -3.72800283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.08, Z:-0.37 [[ 9.99812528e-01 1.92932470e-02 1.63693859e-03 7.83311646e+00] [-1.92932300e-02 9.99813868e-01 -2.62331696e-05 -8.46902091e-02] [-1.63714003e-03 -5.35358114e-06 9.99998660e-01 -3.73413554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.09, Z:-0.38 [[ 9.99813835e-01 1.91453781e-02 2.39782011e-03 7.86269772e+00] [-1.91453413e-02 9.99816710e-01 -3.83065729e-05 -8.57000487e-02] [-2.39811400e-03 -7.60764278e-06 9.99997124e-01 -3.79133977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.09, Z:-0.37 [[ 9.99815056e-01 1.91162738e-02 2.10292067e-03 7.89333187e+00] [-1.91162457e-02 9.99817267e-01 -3.34312055e-05 -8.92362634e-02] [-2.10317548e-03 -6.77492567e-06 9.99997788e-01 -3.73691760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.09, Z:-0.37 [[ 9.99815232e-01 1.91261933e-02 1.92092665e-03 7.92397716e+00] [-1.91261699e-02 9.99817078e-01 -3.05379536e-05 -9.03894532e-02] [-1.92115935e-03 -6.20765838e-06 9.99998155e-01 -3.74322210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.09, Z:-0.38 [[ 9.99799891e-01 1.99601714e-02 1.33048453e-03 7.95312646e+00] [-1.99601607e-02 9.99800776e-01 -2.13228323e-05 -9.01948426e-02] [-1.33064508e-03 -5.23811980e-06 9.99999115e-01 -3.76789740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.09, Z:-0.38 [[ 9.99786586e-01 2.06077152e-02 1.45077324e-03 7.98278201e+00] [-2.06077030e-02 9.99787638e-01 -2.33838075e-05 -9.01835692e-02] [-1.45094704e-03 -6.51828705e-06 9.99998947e-01 -3.75890509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105871560000002 meters Centerline goodness [0,1] 0.9999569549964488 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.09, Z:-0.38 [[ 9.99777510e-01 2.10312995e-02 1.61692781e-03 8.01217868e+00] [-2.10312852e-02 9.99778818e-01 -2.58130510e-05 -8.92422225e-02] [-1.61711306e-03 -8.19876208e-06 9.99998692e-01 -3.75680309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.09, Z:-0.37 [[ 9.99740012e-01 2.24877818e-02 3.76943025e-03 8.04155945e+00] [-2.24877153e-02 9.99747118e-01 -6.00194538e-05 -8.69197441e-02] [-3.76982673e-03 -2.47620250e-05 9.99992894e-01 -3.72836174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.09, Z:-0.37 [[ 9.99736320e-01 2.24946843e-02 4.61303523e-03 8.07224116e+00] [-2.24945875e-02 9.99746962e-01 -7.28757588e-05 -8.70868592e-02] [-4.61350727e-03 -3.09117817e-05 9.99989357e-01 -3.72508130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.09, Z:-0.37 [[ 9.99750452e-01 2.17927622e-02 4.91004061e-03 8.10352505e+00] [-2.17926443e-02 9.99762509e-01 -7.75162537e-05 -8.96222321e-02] [-4.91056381e-03 -2.95058588e-05 9.99987943e-01 -3.72572507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.10, Z:-0.37 [[ 9.99817465e-01 1.85353579e-02 4.63442673e-03 8.13514263e+00] [-1.85352175e-02 9.99828205e-01 -7.32421719e-05 -9.80055271e-02] [-4.63498813e-03 -1.26713049e-05 9.99989258e-01 -3.72520445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.10, Z:-0.37 [[ 9.99850473e-01 1.66569432e-02 4.64524100e-03 8.16672536e+00] [-1.66567880e-02 9.99861263e-01 -7.20964481e-05 -1.02311960e-01] [-4.64579744e-03 -5.28912673e-06 9.99989208e-01 -3.74189776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285871560000002 meters Centerline goodness [0,1] 0.9998926923489645 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.11, Z:-0.37 [[ 9.99881562e-01 1.48802404e-02 3.92954517e-03 8.19919950e+00] [-1.48801152e-02 9.99889283e-01 -6.11038527e-05 -1.06251512e-01] [-3.93001934e-03 2.62453110e-06 9.99992277e-01 -3.74090859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.12, Z:-0.38 [[ 9.99924468e-01 1.18183864e-02 3.37393814e-03 8.23056566e+00] [-1.18182728e-02 9.99930160e-01 -5.35928795e-05 -1.15138906e-01] [-3.37433589e-03 1.37147102e-05 9.99994307e-01 -3.78368592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34587156 meters Centerline goodness [0,1] 0.99989296112348 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.12, Z:-0.38 [[ 9.99941016e-01 1.04556867e-02 2.93987522e-03 8.26213910e+00] [-1.04555919e-02 9.99945338e-01 -4.76171919e-05 -1.18970278e-01] [-2.94021239e-03 1.68762477e-05 9.99995677e-01 -3.77346754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.12, Z:-0.38 [[ 9.99946125e-01 9.81635983e-03 3.37438535e-03 8.29319483e+00] [-9.81623083e-03 9.99951818e-01 -5.47887541e-05 -1.22697457e-01] [-3.37476059e-03 2.16620568e-05 9.99994305e-01 -3.78366329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.13, Z:-0.38 [[ 9.99946225e-01 9.79696775e-03 3.40090310e-03 8.32582523e+00] [-9.79684229e-03 9.99952008e-01 -5.35476698e-05 -1.25824221e-01] [-3.40126449e-03 2.02266790e-05 9.99994215e-01 -3.78568611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.13, Z:-0.38 [[ 9.99941619e-01 1.03176258e-02 3.21026851e-03 8.35676478e+00] [-1.03175149e-02 9.99946772e-01 -5.11080569e-05 -1.27385480e-01] [-3.21062494e-03 1.79830801e-05 9.99994846e-01 -3.80658016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.13, Z:-0.38 [[ 9.99931920e-01 1.11532461e-02 3.42933863e-03 8.38827584e+00] [-1.11531165e-02 9.99937800e-01 -5.69048020e-05 -1.28082951e-01] [-3.42976000e-03 1.86531145e-05 9.99994118e-01 -3.81187465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.13, Z:-0.38 [[ 9.99895447e-01 1.40587890e-02 3.38307417e-03 8.41923982e+00] [-1.40586793e-02 9.99901170e-01 -5.62055440e-05 -1.28733041e-01] [-3.38353000e-03 8.63811294e-06 9.99994276e-01 -3.80835619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.13, Z:-0.38 [[ 9.99860976e-01 1.62983839e-02 3.52022337e-03 8.45024211e+00] [-1.62982841e-02 9.99867173e-01 -5.70108009e-05 -1.28557560e-01] [-3.52068497e-03 -3.70725739e-07 9.99993802e-01 -3.81702786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.13, Z:-0.38 [[ 9.99774123e-01 2.08588533e-02 4.07564701e-03 8.48177710e+00] [-2.08587473e-02 9.99782430e-01 -6.85201566e-05 -1.25130408e-01] [-4.07618952e-03 -1.65082116e-05 9.99991692e-01 -3.80121840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.12, Z:-0.38 [[ 9.99722515e-01 2.31478862e-02 4.36663956e-03 8.51287067e+00] [-2.31477858e-02 9.99732051e-01 -7.35448875e-05 -1.23297810e-01] [-4.36717194e-03 -2.75535572e-05 9.99990463e-01 -3.80413303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.12, Z:-0.38 [[ 9.99674133e-01 2.52213760e-02 3.93832435e-03 8.54446871e+00] [-2.52213102e-02 9.99681890e-01 -6.63862573e-05 -1.21572323e-01] [-3.93874589e-03 -3.29650760e-05 9.99992243e-01 -3.80761609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.12, Z:-0.38 [[ 9.99591166e-01 2.82792095e-02 4.21757724e-03 8.57491451e+00] [-2.82791600e-02 9.99600062e-01 -7.13621858e-05 -1.16527446e-01] [-4.21790853e-03 -4.79365312e-05 9.99991103e-01 -3.81331482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.12, Z:-0.38 [[ 9.99560589e-01 2.91895741e-02 5.15726787e-03 8.60571893e+00] [-2.91895111e-02 9.99573892e-01 -8.74925889e-05 -1.15476351e-01] [-5.15762418e-03 -6.30839841e-05 9.99986697e-01 -3.81224426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705871560000002 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.11, Z:-0.38 [[ 9.99539794e-01 2.98526265e-02 5.38717315e-03 8.63576267e+00] [-2.98525704e-02 9.99554309e-01 -9.08422882e-05 -1.14124323e-01] [-5.38748402e-03 -7.00204836e-05 9.99985485e-01 -3.82775909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.12, Z:-0.38 [[ 9.99521153e-01 3.04422000e-02 5.54406660e-03 8.66749489e+00] [-3.04421461e-02 9.99536526e-01 -9.41182390e-05 -1.17305977e-01] [-5.54436224e-03 -7.47001149e-05 9.99984627e-01 -3.81813988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76587156 meters Centerline goodness [0,1] 0.9999786489025536 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.12, Z:-0.38 [[ 9.99518845e-01 3.05076285e-02 5.60031561e-03 8.69770351e+00] [-3.05075731e-02 9.99534531e-01 -9.53323380e-05 -1.17845252e-01] [-5.60061720e-03 -7.55655696e-05 9.99984314e-01 -3.82739334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.12, Z:-0.38 [[ 9.99513967e-01 3.06282094e-02 5.80882313e-03 8.72878575e+00] [-3.06281521e-02 9.99530843e-01 -9.88408376e-05 -1.17765221e-01] [-5.80912520e-03 -7.91207204e-05 9.99983124e-01 -3.82657961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.11, Z:-0.38 [[ 9.99503693e-01 3.09312080e-02 5.96899570e-03 8.75893410e+00] [-3.09311538e-02 9.99521512e-01 -1.01422202e-04 -1.14600242e-01] [-5.96927672e-03 -8.32560586e-05 9.99982180e-01 -3.83344360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.11, Z:-0.38 [[ 9.99499190e-01 3.09653465e-02 6.52045405e-03 8.78998764e+00] [-3.09652853e-02 9.99520454e-01 -1.10366685e-04 -1.14425512e-01] [-6.52074474e-03 -9.15963079e-05 9.99978736e-01 -3.83374724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885871560000002 meters Centerline goodness [0,1] 0.9999786283687034 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.12, Z:-0.38 [[ 9.99503829e-01 3.07738310e-02 6.71327103e-03 8.82121166e+00] [-3.07737468e-02 9.99526369e-01 -1.15861896e-04 -1.15344114e-01] [-6.71365693e-03 -9.07880943e-05 9.99977459e-01 -3.83805678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915871560000001 meters Centerline goodness [0,1] 0.9998473082628043 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.12, Z:-0.38 [[ 9.99557494e-01 2.91254511e-02 6.04347457e-03 8.85305427e+00] [-2.91253536e-02 9.99575761e-01 -1.04156181e-04 -1.18032347e-01] [-6.04394429e-03 -7.19082425e-05 9.99981733e-01 -3.82561300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.12, Z:-0.39 [[ 9.99591730e-01 2.78345979e-02 6.45040576e-03 8.88425569e+00] [-2.78344639e-02 9.99612540e-01 -1.10559835e-04 -1.19816182e-01] [-6.45098388e-03 -6.90288893e-05 9.99979190e-01 -3.85493835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975871560000002 meters Centerline goodness [0,1] 0.9999140154772141 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.12, Z:-0.39 [[ 9.99643902e-01 2.60662313e-02 5.71137688e-03 8.91527994e+00] [-2.60660936e-02 9.99660217e-01 -9.85538661e-05 -1.21780898e-01] [-5.71200518e-03 -5.03545129e-05 9.99983685e-01 -3.86636987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005871560000001 meters Centerline goodness [0,1] 0.9998264152580988 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.13, Z:-0.39 [[ 9.99733499e-01 2.22346485e-02 6.20897026e-03 8.94704980e+00] [-2.22343981e-02 9.99752779e-01 -1.09355578e-04 -1.28247859e-01] [-6.20986675e-03 -2.87262822e-05 9.99980718e-01 -3.85036555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.13, Z:-0.39 [[ 9.99767217e-01 2.06537239e-02 6.23986124e-03 8.97876590e+00] [-2.06534456e-02 9.99786689e-01 -1.09040686e-04 -1.31302346e-01] [-6.24078231e-03 -1.98593313e-05 9.99980526e-01 -3.86278713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065871560000001 meters Centerline goodness [0,1] 0.9998931601102587 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.13, Z:-0.39 [[ 9.99808403e-01 1.86777272e-02 5.85666630e-03 9.01025515e+00] [-1.86774438e-02 9.99825556e-01 -1.03077090e-04 -1.34578049e-01] [-5.85756989e-03 -6.33021499e-06 9.99982844e-01 -3.86698590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09587156 meters Centerline goodness [0,1] 0.9999568863308111 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.14, Z:-0.39 [[ 9.99859950e-01 1.56545564e-02 5.91743361e-03 9.04301595e+00] [-1.56542083e-02 9.99877460e-01 -1.05132484e-04 -1.41831530e-01] [-5.91835429e-03 1.24850213e-05 9.99982486e-01 -3.86584896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.15, Z:-0.39 [[ 9.99875085e-01 1.45085944e-02 6.27016743e-03 9.07519282e+00] [-1.45081716e-02 9.99894745e-01 -1.12914935e-04 -1.46038104e-01] [-6.27114570e-03 2.19321652e-05 9.99980336e-01 -3.89304939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.15, Z:-0.39 [[ 9.99886036e-01 1.37890055e-02 6.14635202e-03 9.10825557e+00] [-1.37885796e-02 9.99904927e-01 -1.11666015e-04 -1.50066944e-01] [-6.14730743e-03 2.69038253e-05 9.99981105e-01 -3.90434356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.15, Z:-0.39 [[ 9.99894419e-01 1.27384226e-02 6.99170429e-03 9.14173298e+00] [-1.27378341e-02 9.99918862e-01 -1.28698529e-04 -1.54007752e-01] [-6.99277642e-03 3.96257714e-05 9.99975549e-01 -3.89031696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215871560000002 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.15, Z:-0.39 [[ 9.99894445e-01 1.29294517e-02 6.62782401e-03 9.17352839e+00] [-1.29289153e-02 9.99916410e-01 -1.23777609e-04 -1.54696582e-01] [-6.62887037e-03 3.80739686e-05 9.99978028e-01 -3.89051347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.15, Z:-0.39 [[ 9.99878195e-01 1.39819961e-02 6.93533969e-03 9.20558839e+00] [-1.39814305e-02 9.99902247e-01 -1.30038296e-04 -1.54348457e-01] [-6.93647993e-03 3.30564871e-05 9.99975942e-01 -3.90770715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.16, Z:-0.39 [[ 9.99875506e-01 1.41729653e-02 6.93532157e-03 9.23809957e+00] [-1.41723976e-02 9.99899558e-01 -1.30994185e-04 -1.55153841e-01] [-6.93648155e-03 3.26877428e-05 9.99975942e-01 -3.91273138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305871560000002 meters Centerline goodness [0,1] 0.9999351673762237 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.15, Z:-0.39 [[ 9.99844439e-01 1.65226787e-02 6.17250776e-03 9.27110781e+00] [-1.65222688e-02 9.99863491e-01 -1.17405282e-04 -1.53696991e-01] [-6.17360501e-03 1.54031859e-05 9.99980943e-01 -3.91635843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.15, Z:-0.39 [[ 9.99816474e-01 1.79425212e-02 6.71442340e-03 9.30224043e+00] [-1.79420554e-02 9.99839020e-01 -1.29606995e-04 -1.53925929e-01] [-6.71566798e-03 9.11265172e-06 9.99977450e-01 -3.93939097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.15, Z:-0.39 [[ 9.99789110e-01 1.94245712e-02 6.66499747e-03 9.33509481e+00] [-1.94241404e-02 9.99811325e-01 -1.29371503e-04 -1.54073811e-01] [-6.66625294e-03 -1.17626855e-07 9.99977780e-01 -3.93798345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.16, Z:-0.40 [[ 9.99766254e-01 2.06831730e-02 6.29627886e-03 9.36717200e+00] [-2.06828061e-02 9.99786080e-01 -1.23387023e-04 -1.55249747e-01] [-6.29748400e-03 -6.86653286e-06 9.99980171e-01 -3.95642560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.16, Z:-0.40 [[ 9.99723248e-01 2.26740604e-02 6.27007385e-03 9.40051606e+00] [-2.26737290e-02 9.99742910e-01 -1.23938363e-04 -1.55152673e-01] [-6.27127206e-03 -1.82618926e-05 9.99980335e-01 -3.96687929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455871560000002 meters Centerline goodness [0,1] 0.9998702309888399 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.15, Z:-0.40 [[ 9.99697123e-01 2.39621808e-02 5.61042650e-03 9.43133768e+00] [-2.39619296e-02 9.99712865e-01 -1.12003495e-04 -1.54057744e-01] [-5.61149940e-03 -2.24670733e-05 9.99984255e-01 -3.95994255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485871560000001 meters Centerline goodness [0,1] 0.9999782934294211 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.15, Z:-0.40 [[ 9.99613420e-01 2.71282094e-02 6.08855069e-03 9.46395451e+00] [-2.71279662e-02 9.99631961e-01 -1.22541679e-04 -1.51137795e-01] [-6.08963421e-03 -4.26756910e-05 9.99981457e-01 -3.95862605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.15, Z:-0.40 [[ 9.99561734e-01 2.87995499e-02 6.85022397e-03 9.49517749e+00] [-2.87992705e-02 9.99585205e-01 -1.39446747e-04 -1.50005345e-01] [-6.85139853e-03 -5.78958207e-05 9.99976527e-01 -3.97348141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.15, Z:-0.40 [[ 9.99475838e-01 3.15986710e-02 7.04085362e-03 9.52630794e+00] [-3.15984370e-02 9.99500634e-01 -1.44498333e-04 -1.45306775e-01] [-7.04190362e-03 -7.80573778e-05 9.99975202e-01 -3.98795090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.15, Z:-0.40 [[ 9.99442124e-01 3.27147348e-02 6.72208766e-03 9.55833857e+00] [-3.27145409e-02 9.99464727e-01 -1.38828802e-04 -1.45011846e-01] [-6.72303125e-03 -8.11586591e-05 9.99977397e-01 -4.00218301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.15, Z:-0.40 [[ 9.99421607e-01 3.32645290e-02 7.06554997e-03 9.59017637e+00] [-3.32643205e-02 9.99446579e-01 -1.47059976e-04 -1.48293460e-01] [-7.06653162e-03 -8.80558011e-05 9.99975028e-01 -3.98183687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.15, Z:-0.40 [[ 9.99401132e-01 3.35026323e-02 8.65742115e-03 9.62145481e+00] [-3.35023056e-02 9.99438623e-01 -1.82804703e-04 -1.48611216e-01] [-8.65868551e-03 -1.07348342e-04 9.99962507e-01 -3.97207837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.15, Z:-0.40 [[ 9.99415357e-01 3.30790532e-02 8.64414034e-03 9.65253342e+00] [-3.30787078e-02 9.99452733e-01 -1.82958605e-04 -1.49053436e-01] [-8.64546179e-03 -1.03085353e-04 9.99962622e-01 -3.98950274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.15, Z:-0.40 [[ 9.99432177e-01 3.25538065e-02 8.69334509e-03 9.68449672e+00] [-3.25534256e-02 9.99469980e-01 -1.85361009e-04 -1.51571849e-01] [-8.69477165e-03 -9.77424059e-05 9.99962195e-01 -3.98946768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725871560000002 meters Centerline goodness [0,1] 0.9998492743637225 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.16, Z:-0.40 [[ 9.99472020e-01 3.13745081e-02 8.44523022e-03 9.71638386e+00] [-3.13740962e-02 9.99507695e-01 -1.81288491e-04 -1.56077779e-01] [-8.44676043e-03 -8.37686909e-05 9.99964322e-01 -3.96524825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755871560000001 meters Centerline goodness [0,1] 0.9998917280207882 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.16, Z:-0.40 [[ 9.99488835e-01 3.10504725e-02 7.61169164e-03 9.74891740e+00] [-3.10501220e-02 9.99517815e-01 -1.64237358e-04 -1.58193792e-01] [-7.61312105e-03 -7.21905485e-05 9.99971017e-01 -3.97953350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785871560000002 meters Centerline goodness [0,1] 0.9999138951673663 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.16, Z:-0.40 [[ 9.99512623e-01 3.05022292e-02 6.64308232e-03 9.78052365e+00] [-3.05019431e-02 9.99534697e-01 -1.44394140e-04 -1.59713375e-01] [-6.64439562e-03 -5.83031531e-05 9.99977924e-01 -4.01998918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.17, Z:-0.40 [[ 9.99546086e-01 2.93362902e-02 6.85594524e-03 9.81215329e+00] [-2.93359479e-02 9.99569597e-01 -1.50521346e-04 -1.66495381e-01] [-6.85741015e-03 -5.06726292e-05 9.99976486e-01 -4.03655227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84587156 meters Centerline goodness [0,1] 0.999978286830963 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.17, Z:-0.40 [[ 9.99551874e-01 2.91273133e-02 6.90302644e-03 9.84410808e+00] [-2.91269536e-02 9.99575709e-01 -1.52658190e-04 -1.68130706e-01] [-6.90454407e-03 -4.84743517e-05 9.99976162e-01 -4.02493367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875871560000002 meters Centerline goodness [0,1] 0.9999785149535922 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.17, Z:-0.40 [[ 9.99567411e-01 2.86266469e-02 6.74581896e-03 9.87576200e+00] [-2.86262840e-02 9.99590173e-01 -1.50371401e-04 -1.69155582e-01] [-6.74735897e-03 -4.28013776e-05 9.99977235e-01 -4.04842721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905871560000001 meters Centerline goodness [0,1] 0.9998027699859747 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.17, Z:-0.40 [[ 9.99583823e-01 2.81648767e-02 6.23867648e-03 9.90903963e+00] [-2.81645523e-02 9.99603291e-01 -1.39859498e-04 -1.73012699e-01] [-6.24014067e-03 -3.59082388e-05 9.99980529e-01 -4.02956492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935871560000002 meters Centerline goodness [0,1] 0.9999355088352896 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.17, Z:-0.41 [[ 9.99586532e-01 2.80656207e-02 6.25184777e-03 9.94143934e+00] [-2.80652845e-02 9.99606082e-01 -1.41517535e-04 -1.73943949e-01] [-6.25335684e-03 -3.40008642e-05 9.99980447e-01 -4.06506097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.17, Z:-0.41 [[ 9.99571862e-01 2.85793548e-02 6.27003014e-03 9.97351079e+00] [-2.85790188e-02 9.99591526e-01 -1.43198930e-04 -1.74390660e-01] [-6.27156153e-03 -3.60536880e-05 9.99980333e-01 -4.07197707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995871560000001 meters Centerline goodness [0,1] 0.9999348152010951 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.18, Z:-0.41 [[ 9.99555691e-01 2.92496173e-02 5.73416946e-03 1.00052753e+01] [-2.92493430e-02 9.99572138e-01 -1.31707882e-04 -1.75833740e-01] [-5.73556843e-03 -3.60713264e-05 9.99983551e-01 -4.05967205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025871560000002 meters Centerline goodness [0,1] 0.9999782428963057 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.18, Z:-0.41 [[ 9.99521601e-01 3.01879778e-02 6.72719735e-03 1.00371784e+01] [-3.01876105e-02 9.99544238e-01 -1.56145246e-04 -1.78859898e-01] [-6.72884506e-03 -4.70074676e-05 9.99977360e-01 -4.05778882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055871560000002 meters Centerline goodness [0,1] 0.9999784245614792 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.18, Z:-0.41 [[ 9.99486110e-01 3.11572369e-02 7.53275022e-03 1.00690053e+01] [-3.11567925e-02 9.99514494e-01 -1.76371399e-04 -1.79238879e-01] [-7.53458826e-03 -5.84155716e-05 9.99971613e-01 -4.05045556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085871560000001 meters Centerline goodness [0,1] 0.999869746439736 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.18, Z:-0.40 [[ 9.99390478e-01 3.38920158e-02 8.36684897e-03 1.01006870e+01] [-3.38915461e-02 9.99425497e-01 -1.97955655e-04 -1.75914191e-01] [-8.36875130e-03 -8.57304513e-05 9.99964978e-01 -4.02277534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115871560000002 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.17, Z:-0.40 [[ 9.99328189e-01 3.54814808e-02 9.17802250e-03 1.01319800e+01] [-3.54809674e-02 9.99370328e-01 -2.18818220e-04 -1.73325836e-01] [-9.18000735e-03 -1.06973901e-04 9.99957857e-01 -4.03568003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145871560000002 meters Centerline goodness [0,1] 0.9999347457258451 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.17, Z:-0.40 [[ 9.99146087e-01 4.00925070e-02 9.98432447e-03 1.01638526e+01] [-4.00921122e-02 9.99195959e-01 -2.39772509e-04 -1.68567913e-01] [-9.98590974e-03 -1.60724893e-04 9.99950127e-01 -4.02444078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175871560000001 meters Centerline goodness [0,1] 0.99989092495637 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.17, Z:-0.40 [[ 9.99047732e-01 4.26117238e-02 9.37386130e-03 1.01956463e+01] [-4.26114742e-02 9.99091693e-01 -2.26444337e-04 -1.66148406e-01] [-9.37499614e-03 -1.73205348e-04 9.99956039e-01 -4.03113375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205871560000002 meters Centerline goodness [0,1] 0.9998921902626245 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.16, Z:-0.40 [[ 9.98932844e-01 4.52620452e-02 9.19349407e-03 1.02281015e+01] [-4.52619047e-02 9.98975130e-01 -2.23444925e-04 -1.62550380e-01] [-9.19418551e-03 -1.92908578e-04 9.99957714e-01 -4.03824518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235871560000001 meters Centerline goodness [0,1] 0.9998708872199866 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.16, Z:-0.40 [[ 9.98820954e-01 4.76413641e-02 9.32755244e-03 1.02594813e+01] [-4.76413070e-02 9.98864482e-01 -2.28437437e-04 -1.56512787e-01] [-9.32784391e-03 -2.16208691e-04 9.99956471e-01 -4.04907763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265871560000003 meters Centerline goodness [0,1] 0.9998699243393241 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.15, Z:-0.41 [[ 9.98667529e-01 5.09249896e-02 8.35531817e-03 1.02910640e+01] [-5.09250417e-02 9.98702457e-01 -2.06652090e-04 -1.52276610e-01] [-8.35500054e-03 -2.19118195e-04 9.99965072e-01 -4.06692580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.15, Z:-0.41 [[ 9.98607099e-01 5.22515770e-02 7.32352740e-03 1.03217515e+01] [-5.22516553e-02 9.98633933e-01 -1.80774730e-04 -1.48356800e-01] [-7.32296873e-03 -2.02143501e-04 9.99973166e-01 -4.09026562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325871560000001 meters Centerline goodness [0,1] 0.9999131435519945 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.15, Z:-0.41 [[ 9.98573565e-01 5.29161929e-02 7.12124356e-03 1.03526036e+01] [-5.29162747e-02 9.98598937e-01 -1.77055487e-04 -1.48205457e-01] [-7.12063535e-03 -2.00026752e-04 9.99974628e-01 -4.09070660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355871560000002 meters Centerline goodness [0,1] 0.9997635425623388 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.14, Z:-0.41 [[ 9.98579860e-01 5.27641630e-02 7.36252743e-03 1.03823376e+01] [-5.27642473e-02 9.98606980e-01 -1.82932301e-04 -1.40743786e-01] [-7.36192356e-03 -2.05805706e-04 9.99972879e-01 -4.08932951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385871560000002 meters Centerline goodness [0,1] 0.9997396737244012 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.14, Z:-0.41 [[ 9.98601440e-01 5.23434036e-02 7.43851346e-03 1.04126907e+01] [-5.23434762e-02 9.98629123e-01 -1.85056268e-04 -1.44152651e-01] [-7.43800265e-03 -2.04560196e-04 9.99972317e-01 -4.08243312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415871560000001 meters Centerline goodness [0,1] 0.9998489588952422 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.14, Z:-0.41 [[ 9.98690107e-01 5.06231842e-02 7.44061513e-03 1.04420459e+01] [-5.06232084e-02 9.98717806e-01 -1.85204876e-04 -1.39269894e-01] [-7.44045048e-03 -1.91705533e-04 9.99972301e-01 -4.11437540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445871560000002 meters Centerline goodness [0,1] 0.9998913846287527 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.14, Z:-0.41 [[ 9.98723562e-01 4.99112324e-02 7.75342477e-03 1.04721661e+01] [-4.99112388e-02 9.98753639e-01 -1.92797360e-04 -1.41243329e-01] [-7.75338396e-03 -1.94431768e-04 9.99969923e-01 -4.10833021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475871560000002 meters Centerline goodness [0,1] 0.9998705334023822 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.14, Z:-0.41 [[ 9.98743971e-01 4.94133772e-02 8.29447047e-03 1.05029873e+01] [-4.94133673e-02 9.98778392e-01 -2.06251052e-04 -1.41372271e-01] [-8.29452944e-03 -2.03865722e-04 9.99965579e-01 -4.08610101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505871560000001 meters Centerline goodness [0,1] 0.9997177900792359 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.14, Z:-0.41 [[ 9.98824013e-01 4.78450009e-02 7.83876083e-03 1.05340138e+01] [-4.78449441e-02 9.98854756e-01 -1.94879542e-04 -1.39615665e-01] [-7.83910755e-03 -1.80394707e-04 9.99969257e-01 -4.09950893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535871560000002 meters Centerline goodness [0,1] 0.9999566358058152 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.14, Z:-0.41 [[ 9.98896856e-01 4.63662945e-02 7.43222393e-03 1.05641316e+01] [-4.63662027e-02 9.98924492e-01 -1.84749594e-04 -1.38255116e-01] [-7.43279667e-03 -1.60058213e-04 9.99972364e-01 -4.12663499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565871560000001 meters Centerline goodness [0,1] 0.9999346874795898 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.14, Z:-0.41 [[ 9.98997153e-01 4.42051911e-02 7.11266954e-03 1.05949580e+01] [-4.42050509e-02 9.99022463e-01 -1.76989956e-04 -1.38986916e-01] [-7.11354052e-03 -1.37603458e-04 9.99974689e-01 -4.14957608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595871560000003 meters Centerline goodness [0,1] 0.9999135621056271 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.14, Z:-0.41 [[ 9.99087252e-01 4.21698863e-02 6.80912012e-03 1.06249458e+01] [-4.21697106e-02 9.99110448e-01 -1.69436505e-04 -1.39459632e-01] [-6.81020817e-03 -1.17856773e-04 9.99976803e-01 -4.14833026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625871560000002 meters Centerline goodness [0,1] 0.9999784612733695 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.15, Z:-0.42 [[ 9.99306159e-01 3.67995006e-02 5.74438138e-03 1.06559757e+01] [-3.67992882e-02 9.99322667e-01 -1.42703847e-04 -1.45030292e-01] [-5.74574195e-03 -6.87843125e-05 9.99983491e-01 -4.18816267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.15, Z:-0.42 [[ 9.99403007e-01 3.40749599e-02 5.70329504e-03 1.06866023e+01] [-3.40747080e-02 9.99419279e-01 -1.41370514e-04 -1.47343727e-01] [-5.70480021e-03 -5.30519959e-05 9.99983726e-01 -4.19985311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685871560000002 meters Centerline goodness [0,1] 0.9999134217874072 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.15, Z:-0.42 [[ 9.99580009e-01 2.84432156e-02 5.54879692e-03 1.07180693e+01] [-2.84428858e-02 9.99595410e-01 -1.38360410e-04 -1.54103101e-01] [-5.55048734e-03 -1.95214970e-05 9.99984596e-01 -4.17821257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715871560000002 meters Centerline goodness [0,1] 0.999956610404825 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.16, Z:-0.42 [[ 9.99651033e-01 2.58598032e-02 5.39287722e-03 1.07493506e+01] [-2.58594607e-02 9.99665579e-01 -1.33249856e-04 -1.57516805e-01] [-5.39451955e-03 -6.25353975e-06 9.99985449e-01 -4.19224807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.16, Z:-0.42 [[ 9.99713976e-01 2.32929975e-02 5.42248175e-03 1.07805390e+01] [-2.32926014e-02 9.99728681e-01 -1.36200010e-04 -1.60624912e-01] [-5.42418304e-03 9.85734737e-06 9.99985289e-01 -4.20898634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775871560000002 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.16, Z:-0.42 [[ 9.99785169e-01 1.99391767e-02 5.66087740e-03 1.08127707e+01] [-1.99386987e-02 9.99801194e-01 -1.40867874e-04 -1.64913607e-01] [-5.66256078e-03 2.79670828e-05 9.99983967e-01 -4.18280423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805871560000002 meters Centerline goodness [0,1] 0.99987002296261 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.17, Z:-0.42 [[ 9.99811653e-01 1.85806617e-02 5.60521894e-03 1.08439498e+01] [-1.85801656e-02 9.99827364e-01 -1.40565336e-04 -1.68443918e-01] [-5.60686307e-03 3.63929643e-05 9.99984281e-01 -4.21389960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835871560000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.17, Z:-0.42 [[ 9.99836454e-01 1.72861703e-02 5.31548311e-03 1.08748936e+01] [-1.72857015e-02 9.99850582e-01 -1.34119468e-04 -1.70789097e-01] [-5.31700729e-03 4.22156791e-05 9.99985864e-01 -4.24222524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865871560000002 meters Centerline goodness [0,1] 0.9998697577494139 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.17, Z:-0.42 [[ 9.99850756e-01 1.59505996e-02 6.63656208e-03 1.09068457e+01] [-1.59498297e-02 9.99872779e-01 -1.68925802e-04 -1.73614316e-01] [-6.63841224e-03 6.30485562e-05 9.99977964e-01 -4.20543812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895871560000002 meters Centerline goodness [0,1] 0.9998707008016551 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.18, Z:-0.42 [[ 9.99846517e-01 1.58323611e-02 7.50192249e-03 1.09402271e+01] [-1.58313637e-02 9.99874658e-01 -1.92322015e-04 -1.75275942e-01] [-7.50402709e-03 7.35268339e-05 9.99971842e-01 -4.19592995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.18, Z:-0.42 [[ 9.99842796e-01 1.58779270e-02 7.89145336e-03 1.09721183e+01] [-1.58768074e-02 9.99873935e-01 -2.04513211e-04 -1.77754807e-01] [-7.89370577e-03 7.91899762e-05 9.99968841e-01 -4.21537923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955871560000002 meters Centerline goodness [0,1] 0.9999784101213351 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.18, Z:-0.42 [[ 9.99819140e-01 1.72892961e-02 7.92255194e-03 1.10045429e+01] [-1.72882074e-02 9.99850527e-01 -2.05877411e-04 -1.76851557e-01] [-7.92492720e-03 6.88734546e-05 9.99968595e-01 -4.18703222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985871560000001 meters Centerline goodness [0,1] 0.9998925932290772 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.18, Z:-0.42 [[ 9.99795678e-01 1.84692223e-02 8.21522474e-03 1.10355417e+01] [-1.84680786e-02 9.99829427e-01 -2.15068070e-04 -1.77234174e-01] [-8.21779559e-03 6.33047110e-05 9.99966231e-01 -4.18629989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.18, Z:-0.42 [[ 9.99757796e-01 2.04694076e-02 8.08407448e-03 1.10668719e+01] [-2.04683518e-02 9.99790479e-01 -2.13319322e-04 -1.77316482e-01] [-8.08674722e-03 4.77999747e-05 9.99967301e-01 -4.22829611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.18, Z:-0.42 [[ 9.99727082e-01 2.21666704e-02 7.37565921e-03 1.11004000e+01] [-2.21658392e-02 9.99754289e-01 -1.94427288e-04 -1.75324100e-01] [-7.37815673e-03 3.08865492e-05 9.99972781e-01 -4.22468688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07587156 meters Centerline goodness [0,1] 0.9998920948701902 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.17, Z:-0.42 [[ 9.99673584e-01 2.44943489e-02 7.26303573e-03 1.11331415e+01] [-2.44935886e-02 9.99699968e-01 -1.93638216e-04 -1.74068550e-01] [-7.26559963e-03 1.56772008e-05 9.99973605e-01 -4.21873884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.17, Z:-0.43 [[ 9.99581700e-01 2.82282376e-02 6.29215007e-03 1.11645807e+01] [-2.82277428e-02 9.99601504e-01 -1.67443004e-04 -1.70094849e-01] [-6.29436929e-03 -1.02402316e-05 9.99980190e-01 -4.26513144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135871560000002 meters Centerline goodness [0,1] 0.9998267348176384 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.17, Z:-0.43 [[ 9.99521834e-01 3.03872918e-02 5.71981397e-03 1.11959626e+01] [-3.03869135e-02 9.99538199e-01 -1.53050175e-04 -1.68883279e-01] [-5.72182334e-03 -2.08305005e-05 9.99983630e-01 -4.26470074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16587156 meters Centerline goodness [0,1] 0.9998267348176384 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.17, Z:-0.43 [[ 9.99521113e-01 3.04110128e-02 5.71975533e-03 1.12267850e+01] [-3.04106226e-02 9.99537478e-01 -1.55208358e-04 -1.69764660e-01] [-5.72182986e-03 -1.88072894e-05 9.99983630e-01 -4.26946360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.16, Z:-0.43 [[ 9.99434674e-01 3.33213158e-02 4.47467639e-03 1.12570520e+01] [-3.33211048e-02 9.99444690e-01 -1.21709083e-04 -1.63860717e-01] [-4.47624707e-03 -2.74608834e-05 9.99989981e-01 -4.31210483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22587156 meters Centerline goodness [0,1] 0.99982720262652 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.16, Z:-0.43 [[ 9.99384985e-01 3.47603210e-02 4.62293305e-03 1.12879141e+01] [-3.47601112e-02 9.99395677e-01 -1.25741594e-04 -1.62054017e-01] [-4.62451012e-03 -3.50294058e-05 9.99989306e-01 -4.29203836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.16, Z:-0.43 [[ 9.99351863e-01 3.56416441e-02 5.05253573e-03 1.13178788e+01] [-3.56414042e-02 9.99364634e-01 -1.37551038e-04 -1.59477849e-01] [-5.05422806e-03 -4.26175816e-05 9.99987226e-01 -4.32031238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.28587156 meters Centerline goodness [0,1] 0.9998259507440606 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.16, Z:-0.43 [[ 9.99297561e-01 3.69828163e-02 6.05440761e-03 1.13481240e+01] [-3.69824977e-02 9.99315900e-01 -1.64604507e-04 -1.57819570e-01] [-6.05635333e-03 -5.94182332e-05 9.99981658e-01 -4.27482411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.16, Z:-0.43 [[ 9.99296951e-01 3.68242512e-02 7.04114588e-03 1.13795961e+01] [-3.68238178e-02 9.99321755e-01 -1.91230765e-04 -1.58077630e-01] [-7.04341218e-03 -6.81855525e-05 9.99975193e-01 -4.28347347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.16, Z:-0.43 [[ 9.99307219e-01 3.64440829e-02 7.54399219e-03 1.14107084e+01] [-3.64435730e-02 9.99335691e-01 -2.05087170e-04 -1.59623958e-01] [-7.54645486e-03 -6.99849411e-05 9.99971523e-01 -4.26681556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.37587156 meters Centerline goodness [0,1] 0.99991305103904 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.16, Z:-0.43 [[ 9.99350997e-01 3.51794477e-02 7.74542969e-03 1.14420367e+01] [-3.51788707e-02 9.99381010e-01 -2.10767131e-04 -1.61583054e-01] [-7.74805002e-03 -6.18451271e-05 9.99969981e-01 -4.25416373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.16, Z:-0.43 [[ 9.99386794e-01 3.41476583e-02 7.74427521e-03 1.14720928e+01] [-3.41470483e-02 9.99416797e-01 -2.11020696e-04 -1.60672378e-01] [-7.74696459e-03 -5.35528429e-05 9.99969990e-01 -4.30460037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43587156 meters Centerline goodness [0,1] 0.9999136348915039 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.16, Z:-0.43 [[ 9.99426911e-01 3.32185853e-02 6.50963242e-03 1.15034714e+01] [-3.32181349e-02 9.99448110e-01 -1.77322006e-04 -1.62952405e-01] [-6.51193021e-03 -3.90174635e-05 9.99978796e-01 -4.28846082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.46587156 meters Centerline goodness [0,1] 0.9999347783551101 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.16, Z:-0.43 [[ 9.99474554e-01 3.19270119e-02 5.59302304e-03 1.15344410e+01] [-3.19266588e-02 9.99490203e-01 -1.52432273e-04 -1.64203644e-01] [-5.59503844e-03 -2.62143599e-05 9.99984347e-01 -4.30608124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.49587156 meters Centerline goodness [0,1] 0.9998491541859713 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.17, Z:-0.43 [[ 9.99585771e-01 2.84016556e-02 4.65105929e-03 1.15654085e+01] [-2.84013730e-02 9.99596592e-01 -1.26810704e-04 -1.70369891e-01] [-4.65278465e-03 -5.33829387e-06 9.99989176e-01 -4.33496214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.18, Z:-0.44 [[ 9.99654427e-01 2.59899315e-02 3.94341799e-03 1.15953224e+01] [-2.59897089e-02 9.99662205e-01 -1.07697369e-04 -1.75145024e-01] [-3.94488497e-03 5.17186588e-06 9.99992219e-01 -4.39495528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.18, Z:-0.44 [[ 9.99755460e-01 2.18385480e-02 3.47827884e-03 1.16264922e+01] [-2.18383501e-02 9.99761510e-01 -9.48763929e-05 -1.80232916e-01] [-3.47952127e-03 1.88933208e-05 9.99993946e-01 -4.38709681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.18, Z:-0.44 [[ 9.99790493e-01 2.00760997e-02 3.99014854e-03 1.16572066e+01] [-2.00758259e-02 9.99798454e-01 -1.08642558e-04 -1.82822013e-01] [-3.99152546e-03 2.85142686e-05 9.99992033e-01 -4.38149466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61587156 meters Centerline goodness [0,1] 0.99993549080744 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.19, Z:-0.44 [[ 9.99824145e-01 1.82050299e-02 4.50063953e-03 1.16881176e+01] [-1.82046597e-02 9.99834274e-01 -1.23214693e-04 -1.85967096e-01] [-4.50213678e-03 4.12604139e-05 9.99989864e-01 -4.36731794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64587156 meters Centerline goodness [0,1] 0.9999352289656066 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.19, Z:-0.44 [[ 9.99870997e-01 1.54216321e-02 4.49034550e-03 1.17187989e+01] [-1.54212415e-02 9.99881078e-01 -1.21598798e-04 -1.93293552e-01] [-4.49168676e-03 5.23364086e-05 9.99989911e-01 -4.36567477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.20, Z:-0.44 [[ 9.99883037e-01 1.45966978e-02 4.56613266e-03 1.17504436e+01] [-1.45962824e-02 9.99893461e-01 -1.24284323e-04 -1.96349886e-01] [-4.56746033e-03 5.76212242e-05 9.99989567e-01 -4.36700700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70587156 meters Centerline goodness [0,1] 0.999935107073329 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.20, Z:-0.44 [[ 9.99892451e-01 1.38134342e-02 4.92709583e-03 1.17824406e+01] [-1.38129362e-02 9.99904588e-01 -1.35079053e-04 -2.00499356e-01] [-4.92849163e-03 6.70068650e-05 9.99987853e-01 -4.35146138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73587156 meters Centerline goodness [0,1] 0.9997845106236263 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.20, Z:-0.43 [[ 9.99879213e-01 1.43891975e-02 5.87448903e-03 1.18137147e+01] [-1.43884899e-02 9.99896467e-01 -1.62701120e-04 -2.02403294e-01] [-5.87622197e-03 7.81564411e-05 9.99982732e-01 -4.32161380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76587156 meters Centerline goodness [0,1] 0.9998470045680065 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.20, Z:-0.43 [[ 9.99865139e-01 1.51388197e-02 6.36555498e-03 1.18456071e+01] [-1.51379970e-02 9.99885398e-01 -1.77400377e-04 -2.01768486e-01] [-6.36751111e-03 8.10147005e-05 9.99979724e-01 -4.30675587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79587156 meters Centerline goodness [0,1] 0.999848103463241 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.20, Z:-0.43 [[ 9.99818524e-01 1.78634405e-02 6.61945969e-03 1.18783620e+01] [-1.78625968e-02 9.99840434e-01 -1.86555371e-04 -1.99582277e-01] [-6.62173596e-03 6.82807763e-05 9.99978074e-01 -4.30143953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82587156 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.20, Z:-0.43 [[ 9.99790148e-01 1.95288192e-02 6.18752509e-03 1.19094617e+01] [-1.95281165e-02 9.99809293e-01 -1.73967321e-04 -1.99984566e-01] [-6.18974246e-03 5.31001026e-05 9.99980842e-01 -4.33283499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.20, Z:-0.43 [[ 9.99754014e-01 2.14824685e-02 5.51498598e-03 1.19407939e+01] [-2.14819365e-02 9.99769224e-01 -1.55695958e-04 -2.00176022e-01] [-5.51705798e-03 3.71850804e-05 9.99984780e-01 -4.34896617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885871560000002 meters Centerline goodness [0,1] 0.9998923457853375 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.20, Z:-0.43 [[ 9.99662384e-01 2.55568939e-02 4.68645836e-03 1.19718848e+01] [-2.55565466e-02 9.99673369e-01 -1.33984021e-04 -1.96848981e-01] [-4.68835183e-03 1.41690946e-05 9.99989010e-01 -4.34455240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.19, Z:-0.44 [[ 9.99606418e-01 2.76460235e-02 4.76503023e-03 1.20024719e+01] [-2.76456861e-02 9.99617776e-01 -1.36672473e-04 -1.94719939e-01] [-4.76698737e-03 4.88615104e-06 9.99988638e-01 -4.37706141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.94587156 meters Centerline goodness [0,1] 0.9999351351351351 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.19, Z:-0.44 [[ 9.99543755e-01 2.98854210e-02 4.37522373e-03 1.20332718e+01] [-2.98851572e-02 9.99553331e-01 -1.25664127e-04 -1.92364493e-01] [-4.37702498e-03 -5.14745530e-06 9.99990421e-01 -4.37097844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97587156 meters Centerline goodness [0,1] 0.9999345063965419 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.19, Z:-0.44 [[ 9.99380627e-01 3.49910385e-02 3.74031932e-03 1.20638960e+01] [-3.49908815e-02 9.99387626e-01 -1.07428555e-04 -1.86701559e-01] [-3.74178788e-03 -2.35150535e-05 9.99992999e-01 -4.36631245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00587156 meters Centerline goodness [0,1] 0.9998261134175234 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.19, Z:-0.44 [[ 9.99309971e-01 3.69768489e-02 3.50648665e-03 1.20945459e+01] [-3.69767231e-02 9.99316122e-01 -1.00712469e-04 -1.85651615e-01] [-3.50781267e-03 -2.90154113e-05 9.99993847e-01 -4.38028990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.18, Z:-0.44 [[ 9.99179561e-01 4.04385210e-02 2.22038453e-03 1.21234276e+01] [-4.04384780e-02 9.99182028e-01 -6.42674558e-05 -1.81647589e-01] [-2.22116719e-03 -2.55742425e-05 9.99997533e-01 -4.44172689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.18, Z:-0.45 [[ 9.99133811e-01 4.15796513e-02 1.66159457e-03 1.21516794e+01] [-4.15796288e-02 9.99135192e-01 -4.80961650e-05 -1.80725263e-01] [-1.66215743e-03 -2.10339809e-05 9.99998618e-01 -4.45941924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.18, Z:-0.45 [[ 9.99114889e-01 4.20344832e-02 1.59420172e-03 1.21803777e+01] [-4.20344627e-02 9.99116160e-01 -4.63634701e-05 -1.81317084e-01] [-1.59474157e-03 -2.06889795e-05 9.99998728e-01 -4.45498266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.12587156 meters Centerline goodness [0,1] 0.9998922831660132 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.18, Z:-0.44 [[ 9.99134545e-01 4.15091739e-02 2.67395121e-03 1.22093547e+01] [-4.15091166e-02 9.99138122e-01 -7.69552580e-05 -1.80120415e-01] [-2.67484094e-03 -3.41046958e-05 9.99996422e-01 -4.43289935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.18, Z:-0.44 [[ 9.99186758e-01 4.01982386e-02 3.15031085e-03 1.22389849e+01] [-4.01981537e-02 9.99191723e-01 -9.02968848e-05 -1.83616184e-01] [-3.15139430e-03 -3.64132280e-05 9.99995034e-01 -4.43042600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.19, Z:-0.44 [[ 9.99245648e-01 3.86811690e-02 3.45008562e-03 1.22673669e+01] [-3.86810580e-02 9.99251603e-01 -9.89120007e-05 -1.85928702e-01] [-3.45132962e-03 -3.46155759e-05 9.99994044e-01 -4.43763891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.19, Z:-0.44 [[ 9.99362079e-01 3.54413349e-02 4.39851331e-03 1.22973148e+01] [-3.54411257e-02 9.99371758e-01 -1.25513651e-04 -1.92291019e-01] [-4.40019836e-03 -3.04546799e-05 9.99990319e-01 -4.42573004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24587156 meters Centerline goodness [0,1] 0.9999351337326212 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.20, Z:-0.44 [[ 9.99398804e-01 3.43850687e-02 4.43814204e-03 1.23278806e+01] [-3.43848461e-02 9.99408658e-01 -1.26455913e-04 -1.95934433e-01] [-4.43986577e-03 -2.62249424e-05 9.99990143e-01 -4.40773537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27587156 meters Centerline goodness [0,1] 0.9999783853885227 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.20, Z:-0.44 [[ 9.99424957e-01 3.36079183e-02 4.50152653e-03 1.23584021e+01] [-3.36076821e-02 9.99435094e-01 -1.28128493e-04 -1.97812792e-01] [-4.50328972e-03 -2.32310588e-05 9.99989860e-01 -4.43557493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30587156 meters Centerline goodness [0,1] 0.9999567847882455 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.20, Z:-0.44 [[ 9.99397903e-01 3.44575547e-02 4.06299475e-03 1.23882399e+01] [-3.44573691e-02 9.99406162e-01 -1.15697973e-04 -1.96945434e-01] [-4.06456866e-03 -2.43717981e-05 9.99991739e-01 -4.43459220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33587156 meters Centerline goodness [0,1] 0.999956315663019 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.20, Z:-0.44 [[ 9.99362768e-01 3.55423036e-02 3.28661518e-03 1.24183232e+01] [-3.55421871e-02 9.99368172e-01 -9.38692832e-05 -1.95639828e-01] [-3.28787494e-03 -2.30040249e-05 9.99994595e-01 -4.43743379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36587156 meters Centerline goodness [0,1] 0.999978483518375 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.19, Z:-0.45 [[ 9.99302083e-01 3.71994140e-02 3.39853750e-03 1.24474502e+01] [-3.71993012e-02 9.99307862e-01 -9.64264133e-05 -1.91945599e-01] [-3.39977224e-03 -3.00641043e-05 9.99994220e-01 -4.45913445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.18, Z:-0.45 [[ 9.99160962e-01 4.08229911e-02 3.29486369e-03 1.24772158e+01] [-4.08229020e-02 9.99166393e-01 -9.43339405e-05 -1.84098246e-01] [-3.29596806e-03 -4.02511066e-05 9.99994567e-01 -4.46316456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.18, Z:-0.45 [[ 9.99088473e-01 4.25399679e-02 3.54609260e-03 1.25069054e+01] [-4.25398758e-02 9.99094765e-01 -1.01411508e-04 -1.81155556e-01] [-3.54719659e-03 -4.95312698e-05 9.99993707e-01 -4.46414126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.18, Z:-0.45 [[ 9.99030719e-01 4.38504841e-02 3.84154371e-03 1.25357482e+01] [-4.38503857e-02 9.99038103e-01 -1.09875694e-04 -1.77905403e-01] [-3.84266664e-03 -5.86839799e-05 9.99992615e-01 -4.47497789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.17, Z:-0.45 [[ 9.98956882e-01 4.54007731e-02 4.89064169e-03 1.25651004e+01] [-4.54006339e-02 9.98968850e-01 -1.39533790e-04 -1.72933965e-01] [-4.89193364e-03 -8.26499935e-05 9.99988031e-01 -4.46052111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51587156 meters Centerline goodness [0,1] 0.999978453383896 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.17, Z:-0.45 [[ 9.98926979e-01 4.60146995e-02 5.24763904e-03 1.25950412e+01] [-4.60145495e-02 9.98940758e-01 -1.49372297e-04 -1.70057225e-01] [-5.24895385e-03 -9.22557291e-05 9.99986220e-01 -4.45520816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545871560000002 meters Centerline goodness [0,1] 0.9998275081394596 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.17, Z:-0.45 [[ 9.98879796e-01 4.71272256e-02 4.26361964e-03 1.26250462e+01] [-4.71271369e-02 9.98888892e-01 -1.21336056e-04 -1.65806354e-01] [-4.26460053e-03 -7.97320512e-05 9.99990903e-01 -4.45523214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57587156 meters Centerline goodness [0,1] 0.999934503536809 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.16, Z:-0.45 [[ 9.98873238e-01 4.72950741e-02 3.92823274e-03 1.26540570e+01] [-4.72949992e-02 9.98880959e-01 -1.12007951e-04 -1.64411184e-01] [-3.92913431e-03 -7.39040194e-05 9.99992278e-01 -4.46569215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.16, Z:-0.45 [[ 9.98880767e-01 4.71296534e-02 4.00113428e-03 1.26818737e+01] [-4.71295746e-02 9.98888778e-01 -1.14012359e-04 -1.62527969e-01] [-4.00206149e-03 -7.46870042e-05 9.99991989e-01 -4.49250967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635871560000002 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.16, Z:-0.45 [[ 9.98949863e-01 4.56315473e-02 4.11495993e-03 1.27102959e+01] [-4.56314531e-02 9.98958336e-01 -1.16840204e-04 -1.60933277e-01] [-4.11600512e-03 -7.10540948e-05 9.99991527e-01 -4.50717599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.16, Z:-0.45 [[ 9.99029125e-01 4.38211013e-02 4.52976061e-03 1.27401713e+01] [-4.38209709e-02 9.99039392e-01 -1.28061655e-04 -1.64514871e-01] [-4.53102108e-03 -7.05611847e-05 9.99989732e-01 -4.50382821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.69587156 meters Centerline goodness [0,1] 0.9999569197630587 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.17, Z:-0.45 [[ 9.99122174e-01 4.16209188e-02 4.75180000e-03 1.27697720e+01] [-4.16207511e-02 9.99133472e-01 -1.34207027e-04 -1.67138440e-01] [-4.75326825e-03 -6.36842685e-05 9.99988701e-01 -4.49988605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72587156 meters Centerline goodness [0,1] 0.9998933629073536 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.17, Z:-0.45 [[ 9.99327957e-01 3.62858126e-02 5.19359745e-03 1.27988733e+01] [-3.62855411e-02 9.99341452e-01 -1.46523591e-04 -1.70998662e-01] [-5.19549395e-03 -4.20273730e-05 9.99986502e-01 -4.50413792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75587156 meters Centerline goodness [0,1] 0.9999786552828175 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.17, Z:-0.45 [[ 9.99425371e-01 3.34583248e-02 5.42845682e-03 1.28280891e+01] [-3.34579873e-02 9.99440113e-01 -1.52995259e-04 -1.74314403e-01] [-5.43053647e-03 -2.87178959e-05 9.99985254e-01 -4.50975798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.78587156 meters Centerline goodness [0,1] 0.9998085635887946 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.18, Z:-0.45 [[ 9.99591453e-01 2.81599635e-02 4.89326669e-03 1.28581854e+01] [-2.81596280e-02 9.99603430e-01 -1.37464536e-04 -1.81825041e-01] [-4.89519716e-03 -3.84194504e-07 9.99988018e-01 -4.51599896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81587156 meters Centerline goodness [0,1] 0.999978728835191 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.19, Z:-0.45 [[ 9.99667407e-01 2.54687511e-02 4.05183244e-03 1.28894002e+01] [-2.54684994e-02 9.99675619e-01 -1.13711609e-04 -1.85883840e-01] [-4.05341419e-03 1.04796973e-05 9.99991785e-01 -4.54319824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.19, Z:-0.46 [[ 9.99732267e-01 2.28702080e-02 3.51397669e-03 1.29197887e+01] [-2.28700020e-02 9.99738442e-01 -9.87898344e-05 -1.90200140e-01] [-3.51531692e-03 1.83987313e-05 9.99993821e-01 -4.56659599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.87587156 meters Centerline goodness [0,1] 0.999743381378042 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.20, Z:-0.45 [[ 9.99845490e-01 1.72524581e-02 3.36880200e-03 1.29504772e+01] [-1.72522368e-02 9.99851165e-01 -9.47335711e-05 -1.99242307e-01] [-3.36993499e-03 3.65995639e-05 9.99994321e-01 -4.54606077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90587156 meters Centerline goodness [0,1] 0.9998506443628915 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.21, Z:-0.46 [[ 9.99880156e-01 1.50366793e-02 3.68400520e-03 1.29802183e+01] [-1.50363994e-02 9.99886942e-01 -1.03660357e-04 -2.05439533e-01] [-3.68514740e-03 4.82537604e-05 9.99993209e-01 -4.57354942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93587156 meters Centerline goodness [0,1] 0.999723498383529 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.21, Z:-0.45 [[ 9.99902892e-01 1.33042829e-02 4.14771841e-03 1.30115117e+01] [-1.33039135e-02 9.99911492e-01 -1.16651579e-04 -2.07799391e-01] [-4.14890327e-03 6.14593638e-05 9.99991391e-01 -4.54337765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.96587156 meters Centerline goodness [0,1] 0.9999146193088433 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.21, Z:-0.45 [[ 9.99926943e-01 1.06972999e-02 5.62826991e-03 1.30429726e+01] [-1.06965803e-02 9.99942777e-01 -1.57933692e-04 -2.13923660e-01] [-5.62963731e-03 9.77189122e-05 9.99984149e-01 -4.53783541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99587156 meters Centerline goodness [0,1] 0.9998707147320562 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.21, Z:-0.45 [[ 9.99931748e-01 9.90677324e-03 6.19311700e-03 1.30752603e+01] [-9.90588754e-03 9.99950920e-01 -1.73672219e-04 -2.13974072e-01] [-6.19453358e-03 1.12312045e-04 9.99980807e-01 -4.51224719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02587156 meters Centerline goodness [0,1] 0.9998479582971329 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.22, Z:-0.45 [[ 9.99939536e-01 8.70363792e-03 6.72098014e-03 1.31064907e+01] [-8.70255768e-03 9.99962114e-01 -1.89954915e-04 -2.21175866e-01] [-6.72237881e-03 1.31453712e-04 9.99977396e-01 -4.50886092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.05587156 meters Centerline goodness [0,1] 0.9998479582971329 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.22, Z:-0.45 [[ 9.99937898e-01 8.88986229e-03 6.72095744e-03 1.31390066e+01] [-8.88878089e-03 9.99960476e-01 -1.90753373e-04 -2.22287259e-01] [-6.72238757e-03 1.31000409e-04 9.99977396e-01 -4.51388629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08587156 meters Centerline goodness [0,1] 0.9998913445031185 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.22, Z:-0.45 [[ 9.99942676e-01 8.29661612e-03 6.76843816e-03 1.31710352e+01] [-8.29549620e-03 9.99965573e-01 -1.93520275e-04 -2.22505682e-01] [-6.76981071e-03 1.37361629e-04 9.99977075e-01 -4.51355663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11587156 meters Centerline goodness [0,1] 0.9998929863236522 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.23, Z:-0.45 [[ 9.99939335e-01 8.22373270e-03 7.32778995e-03 1.32033221e+01] [-8.22240799e-03 9.99966173e-01 -2.10886932e-04 -2.28769316e-01] [-7.32927635e-03 1.50622060e-04 9.99973129e-01 -4.52531355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14587156 meters Centerline goodness [0,1] 0.9998054811100545 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.23, Z:-0.45 [[ 9.99937047e-01 7.89624205e-03 7.97185068e-03 1.32364859e+01] [-7.89465076e-03 9.99968810e-01 -2.31061498e-04 -2.31525058e-01] [-7.97342656e-03 1.68111975e-04 9.99968198e-01 -4.50204408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17587156 meters Centerline goodness [0,1] 0.9999135266013792 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.24, Z:-0.45 [[ 9.99948114e-01 7.16360041e-03 7.24235383e-03 1.32677853e+01] [-7.16225760e-03 9.99974328e-01 -2.11329187e-04 -2.40227173e-01] [-7.24368178e-03 1.59446618e-04 9.99973751e-01 -4.53007145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20587156 meters Centerline goodness [0,1] 0.999825430423113 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.24, Z:-0.45 [[ 9.99954392e-01 6.93229993e-03 6.56940294e-03 1.33001361e+01] [-6.93118570e-03 9.99975961e-01 -1.92361502e-04 -2.41764089e-01] [-6.57057852e-03 1.46818977e-04 9.99978403e-01 -4.53081789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23587156 meters Centerline goodness [0,1] 0.9998058587514561 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.25, Z:-0.46 [[ 9.99956709e-01 7.22682410e-03 5.86115115e-03 1.33326396e+01] [-7.22593947e-03 9.99973878e-01 -1.72094120e-04 -2.45086945e-01] [-5.86224174e-03 1.29734346e-04 9.99982808e-01 -4.55667248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26587156 meters Centerline goodness [0,1] 0.9996966413867823 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.25, Z:-0.46 [[ 9.99957869e-01 7.46250207e-03 5.34515400e-03 1.33643325e+01] [-7.46176493e-03 9.99972148e-01 -1.57837880e-04 -2.53070890e-01] [-5.34618299e-03 1.17946947e-04 9.99985702e-01 -4.57279896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295871560000002 meters Centerline goodness [0,1] 0.9997844966920242 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.26, Z:-0.46 [[ 9.99950920e-01 8.32787282e-03 5.36703857e-03 1.33959403e+01] [-8.32713627e-03 9.99965316e-01 -1.59566239e-04 -2.56638984e-01] [-5.36818126e-03 1.14866346e-04 9.99985585e-01 -4.58455335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32587156 meters Centerline goodness [0,1] 0.9999129829446571 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.26, Z:-0.46 [[ 9.99941940e-01 9.43321965e-03 5.20878790e-03 1.34285463e+01] [-9.43253714e-03 9.99955501e-01 -1.55582249e-04 -2.56513534e-01] [-5.21002375e-03 1.06441131e-04 9.99986422e-01 -4.59328820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.35587156 meters Centerline goodness [0,1] 0.9998700567418893 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.26, Z:-0.46 [[ 9.99905330e-01 1.26526377e-02 5.40756262e-03 1.34595685e+01] [-1.26519359e-02 9.99919948e-01 -1.63982043e-04 -2.58353426e-01] [-5.40920454e-03 9.55503834e-05 9.99985366e-01 -4.57749159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385871560000002 meters Centerline goodness [0,1] 0.9999130642672405 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.26, Z:-0.46 [[ 9.99875676e-01 1.48404686e-02 5.32841877e-03 1.34906904e+01] [-1.48398248e-02 9.99889871e-01 -1.60353928e-04 -2.60076293e-01] [-5.33021169e-03 8.12611916e-05 9.99985791e-01 -4.60565735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41587156 meters Centerline goodness [0,1] 0.999827582491002 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.26, Z:-0.46 [[ 9.99769441e-01 2.08160213e-02 5.26852670e-03 1.35214435e+01] [-2.08154626e-02 9.99783322e-01 -1.60848313e-04 -2.55606352e-01] [-5.27073334e-03 5.11444074e-05 9.99986108e-01 -4.59889417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.44587156 meters Centerline goodness [0,1] 0.9997619614377529 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.25, Z:-0.46 [[ 9.99679360e-01 2.46733501e-02 5.69239333e-03 1.35535127e+01] [-2.46727683e-02 9.99695566e-01 -1.72426260e-04 -2.52401411e-01] [-5.69491470e-03 3.19238721e-05 9.99983783e-01 -4.60183072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47587156 meters Centerline goodness [0,1] 0.9997425555650905 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.25, Z:-0.46 [[ 9.99566171e-01 2.88004627e-02 6.16464412e-03 1.35854830e+01] [-2.87998443e-02 9.99585181e-01 -1.89094082e-04 -2.48525898e-01] [-6.16753290e-03 1.14712570e-05 9.99980981e-01 -4.60267998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50587156 meters Centerline goodness [0,1] 0.9999355531686359 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.24, Z:-0.46 [[ 9.99276528e-01 3.76130159e-02 5.62871107e-03 1.36158105e+01] [-3.76126380e-02 9.99292379e-01 -1.73025645e-04 -2.37328736e-01] [-5.63123610e-03 -3.88102061e-05 9.99984144e-01 -4.62120023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.53587156 meters Centerline goodness [0,1] 0.9998705585399004 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.23, Z:-0.46 [[ 9.99115708e-01 4.16804261e-02 5.52661594e-03 1.36461240e+01] [-4.16801229e-02 9.99130992e-01 -1.70059728e-04 -2.32243213e-01] [-5.52890142e-03 -6.04406858e-05 9.99984714e-01 -4.63309273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.22, Z:-0.46 [[ 9.98789608e-01 4.89416677e-02 4.90232814e-03 1.36761022e+01] [-4.89415164e-02 9.98801635e-01 -1.50885875e-04 -2.24866962e-01] [-4.90383796e-03 -8.92241295e-05 9.99987972e-01 -4.64629131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59587156 meters Centerline goodness [0,1] 0.9999782990820512 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.22, Z:-0.47 [[ 9.98654397e-01 5.16882705e-02 4.20934658e-03 1.37054499e+01] [-5.16881818e-02 9.98663264e-01 -1.29932551e-04 -2.21349025e-01] [-4.21043579e-03 -8.78157581e-05 9.99991132e-01 -4.66201209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.62587156 meters Centerline goodness [0,1] 0.999978427354115 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.22, Z:-0.47 [[ 9.98543144e-01 5.38316074e-02 3.70768645e-03 1.37341829e+01] [-5.38315536e-02 9.98550024e-01 -1.14374703e-04 -2.16645271e-01] [-3.70846737e-03 -8.53824468e-05 9.99993120e-01 -4.68456647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65587156 meters Centerline goodness [0,1] 0.9998282524688707 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.21, Z:-0.47 [[ 9.98432486e-01 5.58679196e-02 3.36855188e-03 1.37625213e+01] [-5.58678880e-02 9.98438165e-01 -1.03526629e-04 -2.12816960e-01] [-3.36907458e-03 -8.48295303e-05 9.99994321e-01 -4.67681383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68587156 meters Centerline goodness [0,1] 0.9999782196763444 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.21, Z:-0.47 [[ 9.98293765e-01 5.82464292e-02 4.11239122e-03 1.37923247e+01] [-5.82464021e-02 9.98302229e-01 -1.26459508e-04 -2.09732642e-01] [-4.11277513e-03 -1.13288254e-04 9.99991536e-01 -4.67641695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.71587156 meters Centerline goodness [0,1] 0.9998498466290568 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.21, Z:-0.47 [[ 9.98262013e-01 5.87568244e-02 4.53752739e-03 1.38202670e+01] [-5.87567955e-02 9.98272317e-01 -1.39783684e-04 -2.06960513e-01] [-4.53790123e-03 -1.27069827e-04 9.99989696e-01 -4.67725461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74587156 meters Centerline goodness [0,1] 0.9998053717399766 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.20, Z:-0.47 [[ 9.98247162e-01 5.89466309e-02 5.28188564e-03 1.38484318e+01] [-5.89465977e-02 9.98261124e-01 -1.62084912e-04 -1.99565603e-01] [-5.28225546e-03 -1.49548385e-04 9.99986038e-01 -4.69292524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77587156 meters Centerline goodness [0,1] 0.9999568006566301 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.21, Z:-0.46 [[ 9.98306800e-01 5.77919194e-02 6.60513213e-03 1.38774874e+01] [-5.77918456e-02 9.98328634e-01 -2.02194381e-04 -2.06094743e-01] [-6.60577774e-03 -1.79870751e-04 9.99978165e-01 -4.64750480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.80587156 meters Centerline goodness [0,1] 0.9998498756112207 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.20, Z:-0.46 [[ 9.98353343e-01 5.69787200e-02 6.63540313e-03 1.39063303e+01] [-5.69786305e-02 9.98375378e-01 -2.02679995e-04 -2.04005378e-01] [-6.63617156e-03 -1.75729933e-04 9.99977965e-01 -4.64639233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.21, Z:-0.47 [[ 9.98417495e-01 5.58248436e-02 6.78915772e-03 1.39356678e+01] [-5.58247258e-02 9.98440563e-01 -2.07009950e-04 -2.05809503e-01] [-6.79012675e-03 -1.72320512e-04 9.99976932e-01 -4.65770247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86587156 meters Centerline goodness [0,1] 0.9999137596481393 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.21, Z:-0.46 [[ 9.98570797e-01 5.30773305e-02 6.25780694e-03 1.39656496e+01] [-5.30771768e-02 9.98590395e-01 -1.90756582e-04 -2.07603206e-01] [-6.25911076e-03 -1.41662773e-04 9.99980402e-01 -4.64978039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.21, Z:-0.47 [[ 9.98654860e-01 5.14832420e-02 6.16000358e-03 1.39957786e+01] [-5.14830650e-02 9.98673850e-01 -1.87407147e-04 -2.08106065e-01] [-6.16148282e-03 -1.29980806e-04 9.99981009e-01 -4.67247850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92587156 meters Centerline goodness [0,1] 0.9999572722611519 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.21, Z:-0.47 [[ 9.98856458e-01 4.74784384e-02 5.61903686e-03 1.40244855e+01] [-4.74782267e-02 9.98872258e-01 -1.71139709e-04 -2.08419699e-01] [-5.62082548e-03 -9.58379018e-05 9.99984198e-01 -4.70326776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95587156 meters Centerline goodness [0,1] 0.9999133767893107 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.21, Z:-0.47 [[ 9.98972635e-01 4.50096181e-02 5.27345829e-03 1.40537373e+01] [-4.50093988e-02 9.98986551e-01 -1.60323130e-04 -2.12815459e-01] [-5.27532999e-03 -7.71967678e-05 9.99986082e-01 -4.68759274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98587156 meters Centerline goodness [0,1] 0.9998294643047473 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.21, Z:-0.47 [[ 9.99080097e-01 4.25139826e-02 5.61439476e-03 1.40832892e+01] [-4.25136981e-02 9.99095870e-01 -1.70071458e-04 -2.13918381e-01] [-5.61654903e-03 -6.87736754e-05 9.99984225e-01 -4.69377338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01587156 meters Centerline goodness [0,1] 0.9998923527385464 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.22, Z:-0.47 [[ 9.99192798e-01 3.97932973e-02 5.49957083e-03 1.41137356e+01] [-3.97929813e-02 9.99207932e-01 -1.66922884e-04 -2.16999262e-01] [-5.50185721e-03 -5.20561758e-05 9.99984863e-01 -4.69328328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045871560000002 meters Centerline goodness [0,1] 0.999871668734226 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.22, Z:-0.47 [[ 9.99400868e-01 3.42298900e-02 5.12047754e-03 1.41439839e+01] [-3.42295429e-02 9.99413985e-01 -1.55416650e-04 -2.22033374e-01] [-5.12279676e-03 -1.99480705e-05 9.99986878e-01 -4.70143149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07587156 meters Centerline goodness [0,1] 0.9999781930784831 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.23, Z:-0.47 [[ 9.99503065e-01 3.10731998e-02 5.29890776e-03 1.41748697e+01] [-3.10727845e-02 9.99517112e-01 -1.60703599e-04 -2.26233110e-01] [-5.30134255e-03 -4.02807901e-06 9.99985948e-01 -4.70048115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.10587156 meters Centerline goodness [0,1] 0.9998486453761163 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.24, Z:-0.47 [[ 9.99670751e-01 2.51071317e-02 5.29352823e-03 1.42046066e+01] [-2.51066332e-02 9.99684766e-01 -1.60608742e-04 -2.35102326e-01] [-5.29589196e-03 2.76531900e-05 9.99985976e-01 -4.72544948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135871560000002 meters Centerline goodness [0,1] 0.9998704355524844 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.24, Z:-0.47 [[ 9.99744385e-01 2.20682509e-02 4.91493819e-03 1.42359456e+01] [-2.20677849e-02 9.99756466e-01 -1.49044900e-04 -2.39400470e-01] [-4.91703039e-03 4.05450033e-05 9.99987911e-01 -4.71714112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.25, Z:-0.47 [[ 9.99814215e-01 1.86775578e-02 4.76282962e-03 1.42662062e+01] [-1.86770805e-02 9.99825558e-01 -1.44668535e-04 -2.45159865e-01] [-4.76470084e-03 5.56859057e-05 9.99988647e-01 -4.73962158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.19587156 meters Centerline goodness [0,1] 0.9999131397798093 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.26, Z:-0.47 [[ 9.99914238e-01 1.15685695e-02 6.13872272e-03 1.42974285e+01] [-1.15676426e-02 9.99933075e-01 -1.86476906e-04 -2.56857021e-01] [-6.14046916e-03 1.15450364e-04 9.99981140e-01 -4.70928699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22587156 meters Centerline goodness [0,1] 0.9998926232148609 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.27, Z:-0.47 [[ 9.99941866e-01 8.23077998e-03 6.96559339e-03 1.43281122e+01] [-8.22951189e-03 9.99966115e-01 -2.10693472e-04 -2.66697032e-01] [-6.96709153e-03 1.53357790e-04 9.99975718e-01 -4.71535612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25587156 meters Centerline goodness [0,1] 0.9998048568950564 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.28, Z:-0.47 [[ 9.99968679e-01 2.03247677e-03 7.64914550e-03 1.43589207e+01] [-2.03074677e-03 9.99997911e-01 -2.33929375e-04 -2.75809307e-01] [-7.64960498e-03 2.18388571e-04 9.99970717e-01 -4.69542054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.28587156 meters Centerline goodness [0,1] 0.9997615744754639 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.28, Z:-0.47 [[ 9.99970921e-01 1.33375964e-04 7.62486681e-03 1.43911720e+01] [-1.31603258e-04 9.99999964e-01 -2.32991350e-04 -2.81559222e-01] [-7.62489761e-03 2.31981118e-04 9.99970903e-01 -4.70377426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31587156 meters Centerline goodness [0,1] 0.9996544276457884 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.29, Z:-0.47 [[ 9.99972694e-01 -6.74071982e-04 7.35919646e-03 1.44221309e+01] [ 6.75741172e-04 9.99999747e-01 -2.24332760e-04 -2.86400485e-01] [-7.35904338e-03 2.29299546e-04 9.99972896e-01 -4.71546969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34587156 meters Centerline goodness [0,1] 0.9999568770348649 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.29, Z:-0.47 [[ 9.99980120e-01 8.69154537e-04 6.24530279e-03 1.44546992e+01] [-8.67973171e-04 9.99999605e-01 -1.91868589e-04 -2.88786673e-01] [-6.24546708e-03 1.86444020e-04 9.99980479e-01 -4.73356473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.37587156 meters Centerline goodness [0,1] 0.9997828353022933 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.29, Z:-0.47 [[ 9.99974602e-01 2.81095130e-03 6.54936145e-03 1.44854147e+01] [-2.80968876e-03 9.99996032e-01 -2.01966270e-04 -2.90652957e-01] [-6.54990318e-03 1.83559473e-04 9.99978532e-01 -4.74375984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40587156 meters Centerline goodness [0,1] 0.9999138488046522 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.29, Z:-0.47 [[ 9.99965910e-01 5.46033900e-03 6.19389578e-03 1.45171294e+01] [-5.45926111e-03 9.99985080e-01 -1.90917766e-04 -2.88979413e-01] [-6.19484584e-03 1.57097163e-04 9.99980799e-01 -4.74799515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43587156 meters Centerline goodness [0,1] 0.9999129185352897 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.28, Z:-0.48 [[ 9.99922296e-01 1.10863478e-02 5.70043616e-03 1.45477373e+01] [-1.10855224e-02 9.99938538e-01 -1.76377335e-04 -2.83835063e-01] [-5.70204118e-03 1.13171317e-04 9.99983737e-01 -4.75665982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.46587156 meters Centerline goodness [0,1] 0.9999137354698182 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.28, Z:-0.48 [[ 9.99886143e-01 1.41202496e-02 5.32160171e-03 1.45789847e+01] [-1.41195817e-02 9.99900300e-01 -1.63065931e-04 -2.83999711e-01] [-5.32337368e-03 8.79085746e-05 9.99985827e-01 -4.76939700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.29, Z:-0.48 [[ 9.99850538e-01 1.65128246e-02 5.12135452e-03 1.46100967e+01] [-1.65122336e-02 9.99863651e-01 -1.57655778e-04 -2.85176146e-01] [-5.12325957e-03 7.30672126e-05 9.99986873e-01 -4.79081197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52587156 meters Centerline goodness [0,1] 0.9999783235428001 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.28, Z:-0.48 [[ 9.99814629e-01 1.84383696e-02 5.54384367e-03 1.46420007e+01] [-1.84376950e-02 9.99829996e-01 -1.72780419e-04 -2.84405521e-01] [-5.54608699e-03 7.05326922e-05 9.99984618e-01 -4.78478281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.55587156 meters Centerline goodness [0,1] 0.9998274932614555 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.28, Z:-0.48 [[ 9.99766237e-01 2.08270558e-02 5.80556736e-03 1.46744193e+01] [-2.08263610e-02 9.99783092e-01 -1.80114923e-04 -2.84833531e-01] [-5.80805935e-03 5.91639779e-05 9.99983131e-01 -4.78368567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.29, Z:-0.48 [[ 9.99741505e-01 2.19529513e-02 5.91540494e-03 1.47067059e+01] [-2.19522435e-02 9.99759003e-01 -1.84559102e-04 -2.86177885e-01] [-5.91803096e-03 5.46549843e-05 9.99982487e-01 -4.78798106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61587156 meters Centerline goodness [0,1] 0.9998696672169607 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.29, Z:-0.48 [[ 9.99709368e-01 2.31957483e-02 6.56789514e-03 1.47389835e+01] [-2.31948935e-02 9.99730941e-01 -2.06301210e-04 -2.87247907e-01] [-6.57091330e-03 5.38996232e-05 9.99978410e-01 -4.77884303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64587156 meters Centerline goodness [0,1] 0.999912736157773 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.29, Z:-0.48 [[ 9.99620352e-01 2.68658575e-02 6.11378184e-03 1.47713066e+01] [-2.68651805e-02 9.99639047e-01 -1.92854187e-04 -2.86746231e-01] [-6.11675624e-03 2.85331179e-05 9.99981292e-01 -4.78695564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67587156 meters Centerline goodness [0,1] 0.9999567604963895 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.29, Z:-0.48 [[ 9.99547989e-01 2.94521891e-02 6.03204768e-03 1.48022188e+01] [-2.94515703e-02 9.99566190e-01 -1.91408965e-04 -2.85822490e-01] [-6.03506833e-03 1.36691696e-05 9.99981789e-01 -4.80183383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.28, Z:-0.48 [[ 9.99370715e-01 3.51689826e-02 4.61698329e-03 1.48334372e+01] [-3.51686735e-02 9.99381380e-01 -1.48139207e-04 -2.79668254e-01] [-4.61933704e-03 -1.43271932e-05 9.99989331e-01 -4.81673745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73587156 meters Centerline goodness [0,1] 0.999956455475724 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.28, Z:-0.49 [[ 9.99273324e-01 3.79152015e-02 3.90656013e-03 1.48632177e+01] [-3.79149999e-02 9.99280960e-01 -1.25670026e-04 -2.75902657e-01] [-3.90851596e-03 -2.25385226e-05 9.99992361e-01 -4.85890290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.27, Z:-0.49 [[ 9.99181016e-01 4.03546931e-02 2.96592099e-03 1.48932465e+01] [-4.03545868e-02 9.99185417e-01 -9.57106300e-05 -2.73845732e-01] [-2.96736738e-03 -2.40562715e-05 9.99995597e-01 -4.87730319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.27, Z:-0.49 [[ 9.99101989e-01 4.22811068e-02 2.74290187e-03 1.49232448e+01] [-4.22810232e-02 9.99105754e-01 -8.84750654e-05 -2.71892085e-01] [-2.74418986e-03 -2.75770837e-05 9.99996234e-01 -4.88563071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.27, Z:-0.49 [[ 9.98996650e-01 4.46848167e-02 2.99331947e-03 1.49524766e+01] [-4.46847278e-02 9.99001134e-01 -9.65957149e-05 -2.67374274e-01] [-2.99464591e-03 -3.72568701e-05 9.99995515e-01 -4.89736217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.27, Z:-0.49 [[ 9.98997911e-01 4.46353405e-02 3.29540943e-03 1.49816642e+01] [-4.46352336e-02 9.99003346e-01 -1.06017803e-04 -2.67969562e-01] [-3.29685719e-03 -4.11798061e-05 9.99994565e-01 -4.89972476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.27, Z:-0.49 [[ 9.99017837e-01 4.41367412e-02 3.91259997e-03 1.50111923e+01] [-4.41365873e-02 9.99025498e-01 -1.25716285e-04 -2.69896710e-01] [-3.91433584e-03 -4.70959991e-05 9.99992338e-01 -4.89039058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.28, Z:-0.49 [[ 9.99141937e-01 4.10356589e-02 5.60930604e-03 1.50418373e+01] [-4.10352966e-02 9.99157681e-01 -1.79710435e-04 -2.76932159e-01] [-5.61195575e-03 -5.06233043e-05 9.99984252e-01 -4.85348387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.28, Z:-0.49 [[ 9.99141937e-01 4.10356589e-02 5.60930604e-03 1.50718210e+01] [-4.10352966e-02 9.99157681e-01 -1.79710435e-04 -2.77892774e-01] [-5.61195575e-03 -5.06233043e-05 9.99984252e-01 -4.85811913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.28, Z:-0.49 [[ 9.99225587e-01 3.88383875e-02 6.30916829e-03 1.51018000e+01] [-3.88378854e-02 9.99245504e-01 -2.02132559e-04 -2.82153429e-01] [-6.31225855e-03 -4.30587304e-05 9.99980077e-01 -4.85163795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.29, Z:-0.48 [[ 9.99402880e-01 3.37423548e-02 7.43882686e-03 1.51324751e+01] [-3.37415250e-02 9.99430565e-01 -2.37064213e-04 -2.91234384e-01] [-7.44259003e-03 -1.40747050e-05 9.99972303e-01 -4.84367615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.03587156 meters Centerline goodness [0,1] 0.9999567474048443 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.30, Z:-0.48 [[ 9.99491441e-01 3.09442318e-02 7.70157490e-03 1.51643256e+01] [-3.09432499e-02 9.99521113e-01 -2.46640672e-04 -2.98214960e-01] [-7.70551882e-03 8.20348386e-06 9.99970312e-01 -4.83939991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06587156 meters Centerline goodness [0,1] 0.9999130113302742 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.31, Z:-0.48 [[ 9.99638066e-01 2.58096406e-02 7.58942809e-03 1.51961764e+01] [-2.58085297e-02 9.99666875e-01 -2.44297424e-04 -3.09925147e-01] [-7.59320509e-03 4.83370245e-05 9.99971170e-01 -4.84226017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09587156 meters Centerline goodness [0,1] 0.9998910722844321 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.32, Z:-0.49 [[ 9.99688520e-01 2.38592660e-02 7.32115441e-03 1.52283831e+01] [-2.38581714e-02 9.99715325e-01 -2.36821650e-04 -3.15299000e-01] [-7.32472065e-03 6.20785284e-05 9.99973172e-01 -4.85471483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.12587156 meters Centerline goodness [0,1] 0.9998709011102505 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.32, Z:-0.49 [[ 9.99724771e-01 2.24861540e-02 6.68992294e-03 1.52605889e+01] [-2.24852031e-02 9.99747152e-01 -2.17323864e-04 -3.19819807e-01] [-6.69311819e-03 6.68397741e-05 9.99977599e-01 -4.87080369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15587156 meters Centerline goodness [0,1] 0.9998918685121108 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.32, Z:-0.49 [[ 9.99745719e-01 2.17415312e-02 5.98355964e-03 1.52930884e+01] [-2.17407531e-02 9.99763623e-01 -1.95068026e-04 -3.23255493e-01] [-5.98638634e-03 6.49313315e-05 9.99982079e-01 -4.87836365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18587156 meters Centerline goodness [0,1] 0.999956519848689 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.33, Z:-0.49 [[ 9.99745978e-01 2.18469180e-02 5.54002646e-03 1.53247068e+01] [-2.18462490e-02 9.99761326e-01 -1.81259615e-04 -3.29650330e-01] [-5.54266416e-03 6.01847734e-05 9.99984638e-01 -4.89772888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.21587156 meters Centerline goodness [0,1] 0.9997628339190617 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.33, Z:-0.49 [[ 9.99727179e-01 2.25993583e-02 5.90217407e-03 1.53565938e+01] [-2.25986037e-02 9.99744600e-01 -1.94527888e-04 -3.32255560e-01] [-5.90506286e-03 6.10939238e-05 9.99982563e-01 -4.89970833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.34, Z:-0.49 [[ 9.99668910e-01 2.49566216e-02 6.26405676e-03 1.53881765e+01] [-2.49558102e-02 9.99688534e-01 -2.07663399e-04 -3.36141340e-01] [-6.26728829e-03 5.12700323e-05 9.99980359e-01 -4.91961438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27587156 meters Centerline goodness [0,1] 0.9997830708490607 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.34, Z:-0.49 [[ 9.99633409e-01 2.64277713e-02 5.88384826e-03 1.54200164e+01] [-2.64270700e-02 9.99650725e-01 -1.96925977e-04 -3.36306808e-01] [-5.88699749e-03 4.13609164e-05 9.99982671e-01 -4.92308580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.30587156 meters Centerline goodness [0,1] 0.9999784287501617 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.33, Z:-0.49 [[ 9.99570701e-01 2.88778382e-02 4.94808756e-03 1.54522181e+01] [-2.88773772e-02 9.99582948e-01 -1.64602145e-04 -3.33435423e-01] [-4.95077731e-03 2.16436908e-05 9.99987745e-01 -4.93047094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.33587156 meters Centerline goodness [0,1] 0.9999350086655112 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.33, Z:-0.49 [[ 9.99430984e-01 3.34490275e-02 4.34408527e-03 1.54835546e+01] [-3.34487074e-02 9.99440425e-01 -1.46341066e-04 -3.27972304e-01] [-4.34654939e-03 9.53759034e-07 9.99990554e-01 -4.93659810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.33, Z:-0.50 [[ 9.99336832e-01 3.62168678e-02 3.77290095e-03 1.55143613e+01] [-3.62166442e-02 9.99343954e-01 -1.27585320e-04 -3.26596377e-01] [-3.77504650e-03 -9.14110199e-06 9.99992874e-01 -4.95948665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39587156 meters Centerline goodness [0,1] 0.999978471474704 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.33, Z:-0.50 [[ 9.99254426e-01 3.84543110e-02 3.44351207e-03 1.55447173e+01] [-3.84541380e-02 9.99260359e-01 -1.16446627e-04 -3.26428211e-01] [-3.44544298e-03 -1.60574810e-05 9.99994064e-01 -4.96163102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.33, Z:-0.50 [[ 9.99166133e-01 4.06749881e-02 3.54744912e-03 1.55753601e+01] [-4.06748185e-02 9.99172430e-01 -1.19961387e-04 -3.25791977e-01] [-3.54939278e-03 -2.44304941e-05 9.99993701e-01 -4.97041258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455871560000002 meters Centerline goodness [0,1] 0.9999784519910361 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.32, Z:-0.49 [[ 9.98972799e-01 4.49727589e-02 5.54958933e-03 1.56064732e+01] [-4.49724102e-02 9.98988212e-01 -1.87666239e-04 -3.22083857e-01] [-5.55241419e-03 -6.21049403e-05 9.99984583e-01 -4.92565147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.32, Z:-0.49 [[ 9.98873905e-01 4.70128879e-02 6.38053657e-03 1.56365142e+01] [-4.70124693e-02 9.98894279e-01 -2.15653617e-04 -3.20105498e-01] [-6.38361998e-03 -8.45540091e-05 9.99979621e-01 -4.91999198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.32, Z:-0.49 [[ 9.98743702e-01 4.95189483e-02 7.67412330e-03 1.56667989e+01] [-4.95184157e-02 9.98773177e-01 -2.59510015e-04 -3.16363331e-01] [-7.67755918e-03 -1.20826435e-04 9.99970520e-01 -4.91266272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545871560000002 meters Centerline goodness [0,1] 0.9999787301924917 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.32, Z:-0.49 [[ 9.98710048e-01 5.02226421e-02 7.47832320e-03 1.56984366e+01] [-5.02221561e-02 9.98738039e-01 -2.52885489e-04 -3.16703650e-01] [-7.48158643e-03 -1.23018236e-04 9.99972005e-01 -4.92171239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.32, Z:-0.49 [[ 9.98679208e-01 5.09500601e-02 6.62801746e-03 1.57290374e+01] [-5.09496922e-02 9.98701196e-01 -2.24453602e-04 -3.16593902e-01] [-6.63084489e-03 -1.13538304e-04 9.99978009e-01 -4.93809120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.31, Z:-0.49 [[ 9.98593259e-01 5.25725037e-02 6.90186429e-03 1.57599493e+01] [-5.25721435e-02 9.98617101e-01 -2.33727251e-04 -3.14906129e-01] [-6.90460734e-03 -1.29447343e-04 9.99976155e-01 -4.94275539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635871560000002 meters Centerline goodness [0,1] 0.9998700285937094 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.32, Z:-0.49 [[ 9.98548565e-01 5.33291211e-02 7.53449742e-03 1.57900575e+01] [-5.33287134e-02 9.98576979e-01 -2.55150970e-04 -3.16007993e-01] [-7.53738265e-03 -1.47024419e-04 9.99971583e-01 -4.92390195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.31, Z:-0.49 [[ 9.98394325e-01 5.60427855e-02 8.24489016e-03 1.58205125e+01] [-5.60423898e-02 9.98428351e-01 -2.79207969e-04 -3.12300535e-01] [-8.24757968e-03 -1.83303697e-04 9.99965971e-01 -4.91269314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.69587156 meters Centerline goodness [0,1] 0.9999782674838092 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.31, Z:-0.49 [[ 9.98321844e-01 5.73264478e-02 8.19604242e-03 1.58504249e+01] [-5.73260993e-02 9.98355468e-01 -2.77641865e-04 -3.09198481e-01] [-8.19847999e-03 -1.92671203e-04 9.99966373e-01 -4.91975016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72587156 meters Centerline goodness [0,1] 0.9999145372190411 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.30, Z:-0.49 [[ 9.98168435e-01 6.00158109e-02 7.60770234e-03 1.58802161e+01] [-6.00155900e-02 9.98197407e-01 -2.57528743e-04 -3.01650153e-01] [-7.60944455e-03 -1.99523682e-04 9.99971028e-01 -4.94347453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75587156 meters Centerline goodness [0,1] 0.9999346931667283 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.30, Z:-0.50 [[ 9.98050681e-01 6.22586613e-02 4.32409744e-03 1.59104550e+01] [-6.22586109e-02 9.98060040e-01 -1.46401712e-04 -2.98994018e-01] [-4.32482364e-03 -1.23095972e-04 9.99990640e-01 -4.98898566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.78587156 meters Centerline goodness [0,1] 0.999957033599725 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.29, Z:-0.50 [[ 9.98021595e-01 6.27839885e-02 3.32671842e-03 1.59395014e+01] [-6.27839603e-02 9.98027135e-01 -1.12989836e-04 -2.93498308e-01] [-3.32724920e-03 -9.60982613e-05 9.99994460e-01 -5.02498308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81587156 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.29, Z:-0.50 [[ 9.98060005e-01 6.21621167e-02 3.47809142e-03 1.59681694e+01] [-6.21620819e-02 9.98066061e-01 -1.18219888e-04 -2.93602634e-01] [-3.47871380e-03 -9.82148617e-05 9.99993944e-01 -5.02915107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.29, Z:-0.50 [[ 9.98124368e-01 6.11115578e-02 3.62274476e-03 1.59965110e+01] [-6.11115139e-02 9.98130937e-01 -1.22924033e-04 -2.91356190e-01] [-3.62348570e-03 -9.86979442e-05 9.99993430e-01 -5.03505278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.29, Z:-0.50 [[ 9.98127274e-01 6.10640765e-02 3.62275123e-03 1.60248321e+01] [-6.10640330e-02 9.98133843e-01 -1.22732528e-04 -2.92222299e-01] [-3.62348516e-03 -9.87171169e-05 9.99993430e-01 -5.03943149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90587156 meters Centerline goodness [0,1] 0.9999571348964807 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.29, Z:-0.50 [[ 9.98198609e-01 5.98791812e-02 3.74451437e-03 1.60533827e+01] [-5.98791271e-02 9.98205627e-01 -1.26663870e-04 -2.92837618e-01] [-3.74537985e-03 -9.77825535e-05 9.99992981e-01 -5.03563797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93587156 meters Centerline goodness [0,1] 0.999978339506574 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.29, Z:-0.50 [[ 9.98311632e-01 5.79316182e-02 4.22050598e-03 1.60818067e+01] [-5.79315333e-02 9.98320548e-01 -1.42465303e-04 -2.92315144e-01] [-4.22167109e-03 -1.02275613e-04 9.99991083e-01 -5.03371501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.30, Z:-0.50 [[ 9.98637136e-01 5.19713770e-02 4.77981592e-03 1.61106454e+01] [-5.19712027e-02 9.98648571e-01 -1.60751184e-04 -2.97711545e-01] [-4.78171080e-03 -8.78806807e-05 9.99988564e-01 -5.03897994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.99587156 meters Centerline goodness [0,1] 0.9998275304516546 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.30, Z:-0.50 [[ 9.98842273e-01 4.78926472e-02 4.51757907e-03 1.61401816e+01] [-4.78924501e-02 9.98852487e-01 -1.51851652e-04 -3.04658188e-01] [-4.51966767e-03 -6.46820810e-05 9.99989784e-01 -5.02732753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02587156 meters Centerline goodness [0,1] 0.9998280863865907 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.31, Z:-0.50 [[ 9.99049776e-01 4.33299355e-02 4.69691712e-03 1.61697352e+01] [-4.33296733e-02 9.99060816e-01 -1.57620026e-04 -3.10628155e-01] [-4.69933552e-03 -4.60456329e-05 9.99988957e-01 -5.03088717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.05587156 meters Centerline goodness [0,1] 0.9998715478484265 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.32, Z:-0.50 [[ 9.99414602e-01 3.38433474e-02 5.00815781e-03 1.61997338e+01] [-3.38429311e-02 9.99427150e-01 -1.67866035e-04 -3.23017963e-01] [-5.01097004e-03 -1.72297345e-06 9.99987445e-01 -5.02193922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.08587156 meters Centerline goodness [0,1] 0.9998709038879445 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.33, Z:-0.50 [[ 9.99568865e-01 2.89795004e-02 4.71948804e-03 1.62307562e+01] [-2.89790778e-02 9.99580006e-01 -1.57927823e-04 -3.30051148e-01] [-4.72208255e-03 2.10933242e-05 9.99988851e-01 -5.03402558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.34, Z:-0.51 [[ 9.99699235e-01 2.41185036e-02 4.44265513e-03 1.62611154e+01] [-2.41180801e-02 9.99709106e-01 -1.48886223e-04 -3.36693752e-01] [-4.44495370e-03 4.16931310e-05 9.99990120e-01 -5.05215520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.14587156 meters Centerline goodness [0,1] 0.9999136963838785 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.35, Z:-0.50 [[ 9.99862528e-01 1.59283646e-02 4.60576690e-03 1.62910725e+01] [-1.59278222e-02 9.99873132e-01 -1.54416969e-04 -3.49230420e-01] [-4.60764218e-03 8.10359051e-05 9.99989381e-01 -5.04930747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.36, Z:-0.51 [[ 9.99907429e-01 1.26435702e-02 5.02728486e-03 1.63218571e+01] [-1.26428896e-02 9.99920062e-01 -1.67140099e-04 -3.57935908e-01] [-5.02899624e-03 1.03565219e-04 9.99987349e-01 -5.06491115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205871560000002 meters Centerline goodness [0,1] 0.9999784761084805 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.37, Z:-0.50 [[ 9.99952662e-01 7.93011130e-03 5.63803636e-03 1.63530618e+01] [-7.92916658e-03 9.99968546e-01 -1.89894734e-04 -3.65307446e-01] [-5.63936491e-03 1.45180815e-04 9.99984088e-01 -5.03846071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23587156 meters Centerline goodness [0,1] 0.999956917907072 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.37, Z:-0.50 [[ 9.99958683e-01 7.49263643e-03 5.14714205e-03 1.63855828e+01] [-7.49185038e-03 9.99971921e-01 -1.71981062e-04 -3.67487636e-01] [-5.14828611e-03 1.33412339e-04 9.99986739e-01 -5.04101978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.37, Z:-0.51 [[ 9.99960180e-01 7.63303195e-03 4.62325279e-03 1.64181658e+01] [-7.63239836e-03 9.99970861e-01 -1.54672492e-04 -3.67301677e-01] [-4.62429869e-03 1.19379826e-04 9.99989301e-01 -5.05417382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295871560000002 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.37, Z:-0.51 [[ 9.99940939e-01 9.87512169e-03 4.53870048e-03 1.64492635e+01] [-9.87452848e-03 9.99951234e-01 -1.53090026e-04 -3.71367001e-01] [-4.53999093e-03 1.08263457e-04 9.99989688e-01 -5.07513815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.37, Z:-0.51 [[ 9.99926206e-01 1.11158217e-02 4.90121144e-03 1.64814066e+01] [-1.11151350e-02 9.99938211e-01 -1.67328143e-04 -3.71396096e-01] [-4.90276859e-03 1.12838168e-04 9.99987975e-01 -5.07302047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.35587156 meters Centerline goodness [0,1] 0.9999784226993204 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.37, Z:-0.51 [[ 9.99910671e-01 1.23365807e-02 5.14377482e-03 1.65134477e+01] [-1.23358445e-02 9.99923895e-01 -1.74814745e-04 -3.69443770e-01] [-5.14553997e-03 1.11346322e-04 9.99986755e-01 -5.05368767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.38, Z:-0.51 [[ 9.99895856e-01 1.32048878e-02 5.82310021e-03 1.65448293e+01] [-1.32039506e-02 9.99912804e-01 -1.99349954e-04 -3.75380213e-01] [-5.82522485e-03 1.22441265e-04 9.99983026e-01 -5.06489781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.38, Z:-0.51 [[ 9.99895049e-01 1.32504350e-02 5.85810851e-03 1.65781264e+01] [-1.32494842e-02 9.99912202e-01 -2.01083036e-04 -3.76371400e-01] [-5.86025862e-03 1.23445016e-04 9.99982821e-01 -5.05709882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.38, Z:-0.51 [[ 9.99906637e-01 1.29383176e-02 4.39522827e-03 1.66090340e+01] [-1.29377771e-02 9.99916292e-01 -1.51387091e-04 -3.82881005e-01] [-4.39681905e-03 9.45084731e-05 9.99990329e-01 -5.08903436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.39, Z:-0.51 [[ 9.99914777e-01 1.25840912e-02 3.47547182e-03 1.66400823e+01] [-1.25837509e-02 9.99920814e-01 -1.19758236e-04 -3.88928983e-01] [-3.47670366e-03 7.60135583e-05 9.99993953e-01 -5.11517765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.39, Z:-0.51 [[ 9.99918588e-01 1.23371182e-02 3.25786519e-03 1.66716534e+01] [-1.23368167e-02 9.99923892e-01 -1.12621366e-04 -3.92156373e-01] [-3.25900667e-03 7.24205112e-05 9.99994687e-01 -5.11824677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.40, Z:-0.51 [[ 9.99924832e-01 1.17311687e-02 3.56497625e-03 1.67025424e+01] [-1.17308010e-02 9.99931184e-01 -1.24028030e-04 -4.01108183e-01] [-3.56618591e-03 8.21986799e-05 9.99993638e-01 -5.12478243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.40, Z:-0.51 [[ 9.99925908e-01 1.15335246e-02 3.89310525e-03 1.67344955e+01] [-1.15330820e-02 9.99933483e-01 -1.36136728e-04 -4.04556332e-01] [-3.89441643e-03 9.12271396e-05 9.99992413e-01 -5.12175485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59587156 meters Centerline goodness [0,1] 0.9999786283687034 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.41, Z:-0.51 [[ 9.99920975e-01 1.18680435e-02 4.14638050e-03 1.67654807e+01] [-1.18675401e-02 9.99929568e-01 -1.45991580e-04 -4.09695297e-01] [-4.14782110e-03 9.67727058e-05 9.99991393e-01 -5.12855502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.62587156 meters Centerline goodness [0,1] 0.9997843340234644 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.41, Z:-0.51 [[ 9.99907844e-01 1.28787527e-02 4.29427130e-03 1.67973885e+01] [-1.28782193e-02 9.99917061e-01 -1.51831641e-04 -4.11947982e-01] [-4.29587054e-03 9.65150809e-05 9.99990768e-01 -5.11156817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.41, Z:-0.51 [[ 9.99859945e-01 1.60241028e-02 4.82896155e-03 1.68286121e+01] [-1.60234531e-02 9.99871601e-01 -1.73203666e-04 -4.13007224e-01] [-4.83111695e-03 9.58027691e-05 9.99988325e-01 -5.11170271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.42, Z:-0.51 [[ 9.99817504e-01 1.85394374e-02 4.60950039e-03 1.68595826e+01] [-1.85388775e-02 9.99828127e-01 -1.64165057e-04 -4.15856856e-01] [-4.61175166e-03 7.86801351e-05 9.99989363e-01 -5.13521103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.71587156 meters Centerline goodness [0,1] 0.9999137708027939 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.41, Z:-0.51 [[ 9.99692472e-01 2.45251347e-02 3.67134169e-03 1.68915634e+01] [-2.45248150e-02 9.99699213e-01 -1.32084596e-04 -4.12549030e-01] [-3.67347679e-03 4.20050006e-05 9.99993252e-01 -5.12738942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.41, Z:-0.52 [[ 9.99606183e-01 2.77966586e-02 3.85034678e-03 1.69227019e+01] [-2.77963350e-02 9.99613598e-01 -1.37529832e-04 -4.11120187e-01] [-3.85268186e-03 3.04501414e-05 9.99992578e-01 -5.15207039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.41, Z:-0.52 [[ 9.99509353e-01 3.11026586e-02 3.69829501e-03 1.69541532e+01] [-3.11023808e-02 9.99516195e-01 -1.32597595e-04 -4.09712038e-01] [-3.70062990e-03 1.75067566e-05 9.99993152e-01 -5.16796512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.41, Z:-0.52 [[ 9.99328044e-01 3.64571422e-02 3.78644816e-03 1.69855501e+01] [-3.64568812e-02 9.99335217e-01 -1.37944144e-04 -4.05123062e-01] [-3.78896004e-03 -1.90639309e-07 9.99992822e-01 -5.15359213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.41, Z:-0.52 [[ 9.99244985e-01 3.86320613e-02 4.12609740e-03 1.70155560e+01] [-3.86317688e-02 9.99253503e-01 -1.50590999e-04 -4.05231572e-01] [-4.12883493e-03 -8.92114061e-06 9.99991476e-01 -5.15840183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.41, Z:-0.52 [[ 9.99174568e-01 4.03678477e-02 4.54085230e-03 1.70459232e+01] [-4.03675111e-02 9.99184886e-01 -1.65804652e-04 -4.05563075e-01] [-4.54384417e-03 -1.76351136e-05 9.99989677e-01 -5.16227690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.41, Z:-0.52 [[ 9.99173603e-01 4.03917208e-02 4.54085507e-03 1.70767353e+01] [-4.03913848e-02 9.99183921e-01 -1.65729129e-04 -4.06734570e-01] [-4.54384345e-03 -1.78192535e-05 9.99989677e-01 -5.16704117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.41, Z:-0.52 [[ 9.99091229e-01 4.23491266e-02 4.82361695e-03 1.71078350e+01] [-4.23487695e-02 9.99102873e-01 -1.76188242e-04 -4.07465278e-01] [-4.82675097e-03 -2.82461149e-05 9.99988351e-01 -5.17095443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.41, Z:-0.52 [[ 9.99083433e-01 4.25088982e-02 5.02865510e-03 1.71387817e+01] [-4.25085115e-02 9.99096088e-01 -1.83812955e-04 -4.09633936e-01] [-5.03192332e-03 -3.01161646e-05 9.99987339e-01 -5.17493195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.42, Z:-0.52 [[ 9.99092897e-01 4.21370447e-02 6.15246252e-03 1.71694594e+01] [-4.21364648e-02 9.99111840e-01 -2.23907409e-04 -4.15228911e-01] [-6.15643294e-03 -3.55387181e-05 9.99981048e-01 -5.17783145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.42, Z:-0.52 [[ 9.99089819e-01 4.21297473e-02 6.67973367e-03 1.72014149e+01] [-4.21290563e-02 9.99112147e-01 -2.44192125e-04 -4.19910843e-01] [-6.68409080e-03 -3.74410092e-05 9.99977661e-01 -5.15852956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.42, Z:-0.52 [[ 9.99084715e-01 4.21984696e-02 7.00149448e-03 1.72332138e+01] [-4.21977035e-02 9.99109247e-01 -2.57174227e-04 -4.23195058e-01] [-7.00611024e-03 -3.85081495e-05 9.99975456e-01 -5.16038217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.43, Z:-0.52 [[ 9.99097900e-01 4.18940060e-02 6.94820151e-03 1.72646025e+01] [-4.18932354e-02 9.99122060e-01 -2.56483774e-04 -4.28469508e-01] [-6.95284654e-03 -3.48302409e-05 9.99975828e-01 -5.18316530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.43, Z:-0.52 [[ 9.99084285e-01 4.23331671e-02 6.20439977e-03 1.72975193e+01] [-4.23325567e-02 9.99103549e-01 -2.29728398e-04 -4.32625659e-01] [-6.20856296e-03 -3.31300730e-05 9.99980726e-01 -5.18542932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.43, Z:-0.52 [[ 9.99059009e-01 4.30258707e-02 5.46537254e-03 1.73281667e+01] [-4.30254002e-02 9.99073958e-01 -2.03681134e-04 -4.33502625e-01] [-5.46907493e-03 -3.16603687e-05 9.99985044e-01 -5.22025214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.43, Z:-0.53 [[ 9.98982137e-01 4.49657993e-02 3.57301359e-03 1.73601372e+01] [-4.49656128e-02 9.98988527e-01 -1.32549446e-04 -4.34963156e-01] [-3.57535977e-03 -2.82482166e-05 9.99993608e-01 -5.25042737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.19587156 meters Centerline goodness [0,1] 0.9997638978321528 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.44, Z:-0.53 [[ 9.98932702e-01 4.61035352e-02 2.81424598e-03 1.73923062e+01] [-4.61034243e-02 9.98936666e-01 -1.04303199e-04 -4.37597477e-01] [-2.81606225e-03 -2.55545006e-05 9.99996035e-01 -5.25506286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22587156 meters Centerline goodness [0,1] 0.9999354963555441 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.44, Z:-0.53 [[ 9.98849823e-01 4.78949752e-02 2.25892294e-03 1.74238137e+01] [-4.78949044e-02 9.98852377e-01 -8.54537639e-05 -4.40329576e-01] [-2.26042335e-03 -2.28354213e-05 9.99997445e-01 -5.25047199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.44, Z:-0.53 [[ 9.98805968e-01 4.87935039e-02 2.41503662e-03 1.74544427e+01] [-4.87934250e-02 9.98808887e-01 -9.16052516e-05 -4.39339234e-01] [-2.41662978e-03 -2.63420363e-05 9.99997080e-01 -5.27801886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.44, Z:-0.53 [[ 9.98750041e-01 4.99425572e-02 2.02383464e-03 1.74857019e+01] [-4.99425045e-02 9.98752092e-01 -7.66001315e-05 -4.39598214e-01] [-2.02513468e-03 -2.45709860e-05 9.99997949e-01 -5.28441389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.44, Z:-0.53 [[ 9.98674081e-01 5.14405272e-02 1.98793024e-03 1.75159121e+01] [-5.14404789e-02 9.98676059e-01 -7.54446276e-05 -4.39494200e-01] [-1.98917925e-03 -2.69154894e-05 9.99998021e-01 -5.29901127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.44, Z:-0.53 [[ 9.98641796e-01 5.20580602e-02 2.12660461e-03 1.75468127e+01] [-5.20580060e-02 9.98644059e-01 -8.09060782e-05 -4.43069521e-01] [-2.12793287e-03 -2.99106041e-05 9.99997736e-01 -5.27282077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.37587156 meters Centerline goodness [0,1] 0.999870737014456 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.44, Z:-0.53 [[ 9.98614812e-01 5.25727826e-02 2.13522286e-03 1.75767646e+01] [-5.25727294e-02 9.98617095e-01 -8.10684384e-05 -4.41103189e-01] [-2.13653204e-03 -3.12983502e-05 9.99997717e-01 -5.28405246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.44, Z:-0.53 [[ 9.98602763e-01 5.27674399e-02 2.84942190e-03 1.76073723e+01] [-5.27673452e-02 9.98606827e-01 -1.08440917e-04 -4.43328259e-01] [-2.85117431e-03 -4.20670300e-05 9.99995935e-01 -5.28636697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43587156 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.44, Z:-0.53 [[ 9.98587295e-01 5.30330738e-02 3.30250528e-03 1.76376149e+01] [-5.30329505e-02 9.98592755e-01 -1.24938434e-04 -4.41937529e-01] [-3.30448372e-03 -5.03796660e-05 9.99994539e-01 -5.27456003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.44, Z:-0.53 [[ 9.98583896e-01 5.30631022e-02 3.80926764e-03 1.76694127e+01] [-5.30629353e-02 9.98591160e-01 -1.44928891e-04 -4.42142125e-01] [-3.81159136e-03 -5.74072660e-05 9.99992734e-01 -5.28520496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.49587156 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.44, Z:-0.53 [[ 9.98625549e-01 5.22753397e-02 3.78178629e-03 1.77001858e+01] [-5.22751692e-02 9.98632708e-01 -1.43972053e-04 -4.42890161e-01] [-3.78414167e-03 -5.39193483e-05 9.99992839e-01 -5.30039237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.45, Z:-0.53 [[ 9.98666178e-01 5.14870528e-02 3.86621871e-03 1.77316735e+01] [-5.14868684e-02 9.98673661e-01 -1.47283934e-04 -4.46222851e-01] [-3.86867401e-03 -5.19720108e-05 9.99992515e-01 -5.29672515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.45, Z:-0.53 [[ 9.98713179e-01 5.05586691e-02 3.97571659e-03 1.77624762e+01] [-5.05584663e-02 9.98721091e-01 -1.51551154e-04 -4.49588130e-01] [-3.97829423e-03 -4.96499983e-05 9.99992085e-01 -5.28682653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.45, Z:-0.53 [[ 9.98817378e-01 4.84145432e-02 4.45851942e-03 1.77948267e+01] [-4.84142733e-02 9.98827327e-01 -1.68494120e-04 -4.53328261e-01] [-4.46144861e-03 -4.75611227e-05 9.99990047e-01 -5.27867643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.46, Z:-0.53 [[ 9.98873891e-01 4.71862271e-02 4.94069465e-03 1.78259899e+01] [-4.71858744e-02 9.98886109e-01 -1.87984065e-04 -4.56073496e-01] [-4.94406151e-03 -4.53586224e-05 9.99987777e-01 -5.27867491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.46, Z:-0.53 [[ 9.98949018e-01 4.55121369e-02 5.43177860e-03 1.78571312e+01] [-4.55116798e-02 9.98963785e-01 -2.07789146e-04 -4.59489790e-01] [-5.43560704e-03 -3.96386056e-05 9.99985226e-01 -5.28336977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.47, Z:-0.53 [[ 9.99110087e-01 4.17252610e-02 6.16734217e-03 1.78890259e+01] [-4.17245925e-02 9.99129122e-01 -2.37077585e-04 -4.67917443e-01] [-6.17186329e-03 -2.04632318e-05 9.99980954e-01 -5.26296037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.47, Z:-0.53 [[ 9.99182279e-01 3.99932277e-02 5.94266580e-03 1.79212402e+01] [-3.99925715e-02 9.99199951e-01 -2.29262770e-04 -4.72149263e-01] [-5.94708033e-03 -8.58718967e-06 9.99982316e-01 -5.28334324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.48, Z:-0.53 [[ 9.99315330e-01 3.66468319e-02 5.08735617e-03 1.79535208e+01] [-3.66463043e-02 9.99328279e-01 -1.96924464e-04 -4.79044205e-01] [-5.09115555e-03 1.03568333e-05 9.99987040e-01 -5.28806959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.76587156 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.48, Z:-0.53 [[ 9.99360709e-01 3.54525137e-02 4.61444530e-03 1.79859184e+01] [-3.54520643e-02 9.99371362e-01 -1.79177947e-04 -4.83321289e-01] [-4.61789679e-03 1.54717891e-05 9.99989337e-01 -5.29200239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.49, Z:-0.53 [[ 9.99382387e-01 3.48298495e-02 4.66120969e-03 1.80187126e+01] [-3.48293815e-02 9.99393257e-01 -1.81559767e-04 -4.86806354e-01] [-4.66470524e-03 1.91005831e-05 9.99989120e-01 -5.30575762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.49, Z:-0.53 [[ 9.99378463e-01 3.48669493e-02 5.19451105e-03 1.80499360e+01] [-3.48663562e-02 9.99391963e-01 -2.04707374e-04 -4.89454949e-01] [-5.19849012e-03 2.34664675e-05 9.99986487e-01 -5.31231968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.49, Z:-0.53 [[ 9.99361977e-01 3.52959825e-02 5.46194868e-03 1.80827947e+01] [-3.52953352e-02 9.99376902e-01 -2.14887523e-04 -4.90843493e-01] [-5.46613002e-03 2.19691101e-05 9.99985060e-01 -5.31011949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.49, Z:-0.53 [[ 9.99352399e-01 3.56475006e-02 4.90288449e-03 1.81156384e+01] [-3.56469801e-02 9.99364426e-01 -1.93529401e-04 -4.93957626e-01] [-4.90666718e-03 1.86310455e-05 9.99987962e-01 -5.32206802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.50, Z:-0.53 [[ 9.99343325e-01 3.59565444e-02 4.47714327e-03 1.81489398e+01] [-3.59561109e-02 9.99353354e-01 -1.77314487e-04 -4.95547031e-01] [-4.48062376e-03 1.62173895e-05 9.99989962e-01 -5.33769039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.94587156 meters Centerline goodness [0,1] 0.9998921484037964 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.50, Z:-0.53 [[ 9.99335731e-01 3.62645120e-02 3.60313519e-03 1.81815049e+01] [-3.62642320e-02 9.99342226e-01 -1.43052641e-04 -4.97171469e-01] [-3.60595288e-03 1.22926851e-05 9.99993498e-01 -5.33435188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.50, Z:-0.54 [[ 9.99338625e-01 3.62351019e-02 3.05447405e-03 1.82129685e+01] [-3.62349005e-02 9.99343293e-01 -1.21245793e-04 -5.01872125e-01] [-3.05686151e-03 1.04870410e-05 9.99995328e-01 -5.37823228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.50, Z:-0.54 [[ 9.99329100e-01 3.65099691e-02 2.89328996e-03 1.82447908e+01] [-3.65097880e-02 9.99333289e-01 -1.15390410e-04 -5.04431619e-01] [-2.89557387e-03 9.67959121e-06 9.99995808e-01 -5.37772021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.51, Z:-0.54 [[ 9.99322970e-01 3.66874753e-02 2.76229837e-03 1.82764785e+01] [-3.66873100e-02 9.99326788e-01 -1.10528016e-04 -5.05960325e-01] [-2.76449376e-03 9.11188888e-06 9.99996179e-01 -5.38344124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.51, Z:-0.54 [[ 9.99306784e-01 3.71290090e-02 2.71826247e-03 1.83081283e+01] [-3.71288489e-02 9.99310481e-01 -1.09348874e-04 -5.06536927e-01] [-2.72044819e-03 8.34711476e-06 9.99996300e-01 -5.39710774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.51, Z:-0.54 [[ 9.99295328e-01 3.74409803e-02 2.64973953e-03 1.83406562e+01] [-3.74408288e-02 9.99298841e-01 -1.06777152e-04 -5.08059612e-01] [-2.65187948e-03 7.49346534e-06 9.99996484e-01 -5.38843924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.51, Z:-0.54 [[ 9.99284993e-01 3.76690468e-02 3.24729384e-03 1.83716958e+01] [-3.76688162e-02 9.99290270e-01 -1.32161760e-04 -5.10858198e-01] [-3.24996754e-03 9.74554843e-06 9.99994719e-01 -5.40259330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.51, Z:-0.54 [[ 9.99266251e-01 3.80806804e-02 4.10133023e-03 1.84034231e+01] [-3.80803114e-02 9.99274668e-01 -1.68046326e-04 -5.12479112e-01] [-4.10475472e-03 1.17430896e-05 9.99991575e-01 -5.37005693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.51, Z:-0.54 [[ 9.99254786e-01 3.83566095e-02 4.31774141e-03 1.84353036e+01] [-3.83561998e-02 9.99264114e-01 -1.77666685e-04 -5.14079027e-01] [-4.32137874e-03 1.19221325e-05 9.99990663e-01 -5.37304638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.52, Z:-0.54 [[ 9.99215643e-01 3.92719220e-02 5.08081905e-03 1.84679646e+01] [-3.92713547e-02 9.99228560e-01 -2.11409614e-04 -5.15969265e-01] [-5.08520196e-03 1.17131465e-05 9.99987070e-01 -5.36446025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.52, Z:-0.54 [[ 9.99188692e-01 3.99305155e-02 5.24522176e-03 1.85003414e+01] [-3.99299220e-02 9.99202459e-01 -2.17872927e-04 -5.17681251e-01] [-5.24973826e-03 8.25486919e-06 9.99986220e-01 -5.36989972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.52, Z:-0.54 [[ 9.99144764e-01 4.10037777e-02 5.33212037e-03 1.85321424e+01] [-4.10031741e-02 9.99158991e-01 -2.22516715e-04 -5.18381438e-01] [-5.33676003e-03 3.69255142e-06 9.99985759e-01 -5.38758706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.52, Z:-0.54 [[ 9.99100527e-01 4.21165073e-02 4.93329939e-03 1.85651489e+01] [-4.21160018e-02 9.99112706e-01 -2.06354074e-04 -5.18175469e-01] [-4.93761302e-03 -1.60238214e-06 9.99987810e-01 -5.37603940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.52, Z:-0.54 [[ 9.98994776e-01 4.45348070e-02 5.10768664e-03 1.85976165e+01] [-4.45342903e-02 9.99007833e-01 -2.14913779e-04 -5.17343049e-01] [-5.11219011e-03 -1.27694571e-05 9.99986933e-01 -5.39671903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.52, Z:-0.54 [[ 9.98941773e-01 4.57171902e-02 5.02710019e-03 1.86292331e+01] [-4.57166966e-02 9.98954423e-01 -2.13118697e-04 -5.17885242e-01] [-5.03158715e-03 -1.69292444e-05 9.99987341e-01 -5.40925951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.52, Z:-0.54 [[ 9.98870853e-01 4.73208670e-02 4.21359050e-03 1.86606234e+01] [-4.73205352e-02 9.98879740e-01 -1.78462720e-04 -5.16379220e-01] [-4.21731520e-03 -2.11281478e-05 9.99991107e-01 -5.42976718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.52, Z:-0.54 [[ 9.98853226e-01 4.77171554e-02 3.91221485e-03 1.86929748e+01] [-4.77168714e-02 9.98860888e-01 -1.65954020e-04 -5.17093741e-01] [-3.91567725e-03 -2.09149437e-05 9.99992333e-01 -5.43135769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.52, Z:-0.54 [[ 9.98844833e-01 4.78773599e-02 4.09356418e-03 1.87249418e+01] [-4.78770471e-02 9.98853221e-01 -1.74438143e-04 -5.18191605e-01] [-4.09722141e-03 -2.17511277e-05 9.99991606e-01 -5.43261550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48587156 meters Centerline goodness [0,1] 0.9998708510913082 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.52, Z:-0.54 [[ 9.98876266e-01 4.71955597e-02 4.33420495e-03 1.87558829e+01] [-4.71951981e-02 9.98885669e-01 -1.85707943e-04 -5.20292806e-01] [-4.33813980e-03 -1.90544044e-05 9.99990590e-01 -5.42296051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.52, Z:-0.54 [[ 9.98891770e-01 4.68547292e-02 4.45708476e-03 1.87882527e+01] [-4.68543411e-02 9.98901714e-01 -1.91522153e-04 -5.23465217e-01] [-4.46116332e-03 -1.75238665e-05 9.99990049e-01 -5.43004095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.53, Z:-0.54 [[ 9.98912627e-01 4.63555825e-02 4.97225375e-03 1.88195553e+01] [-4.63550868e-02 9.98925002e-01 -2.14958088e-04 -5.25929744e-01] [-4.97687310e-03 -1.57649055e-05 9.99987615e-01 -5.43458385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.53, Z:-0.54 [[ 9.98904794e-01 4.65172073e-02 5.03605577e-03 1.88529670e+01] [-4.65166987e-02 9.98917489e-01 -2.18134488e-04 -5.27898825e-01] [-5.04075119e-03 -1.63651031e-05 9.99987295e-01 -5.42559901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.53, Z:-0.54 [[ 9.98884192e-01 4.69074792e-02 5.48268155e-03 1.88849384e+01] [-4.69068741e-02 9.98899238e-01 -2.38963220e-04 -5.28664652e-01] [-5.48785559e-03 -1.84788708e-05 9.99984941e-01 -5.44526641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.53, Z:-0.54 [[ 9.98858586e-01 4.74842613e-02 5.17396231e-03 1.89176489e+01] [-4.74837267e-02 9.98871986e-01 -2.26178071e-04 -5.31371569e-01] [-5.17886590e-03 -1.97591039e-05 9.99986589e-01 -5.44076874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.53, Z:-0.54 [[ 9.98852332e-01 4.76243516e-02 5.09305187e-03 1.89501610e+01] [-4.76238306e-02 9.98865317e-01 -2.23600894e-04 -5.33909459e-01] [-5.09792171e-03 -1.92063644e-05 9.99987005e-01 -5.44497046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.54, Z:-0.55 [[ 9.98867003e-01 4.73070732e-02 5.17216895e-03 1.89822843e+01] [-4.73065222e-02 9.98880394e-01 -2.28897016e-04 -5.35959411e-01] [-5.17720660e-03 -1.60396486e-05 9.99986598e-01 -5.46869500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72587156 meters Centerline goodness [0,1] 0.9999573778876482 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.54, Z:-0.55 [[ 9.98932679e-01 4.59436579e-02 4.76258639e-03 1.90150013e+01] [-4.59431761e-02 9.98944033e-01 -2.10572822e-04 -5.41017401e-01] [-4.76723174e-03 -8.46027156e-06 9.99988637e-01 -5.47302762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75587156 meters Centerline goodness [0,1] 0.9999573778876482 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.54, Z:-0.55 [[ 9.98924335e-01 4.61247372e-02 4.76254795e-03 1.90474697e+01] [-4.61242533e-02 9.98935688e-01 -2.11434797e-04 -5.42680496e-01] [-4.76723148e-03 -8.46160431e-06 9.99988637e-01 -5.47805177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.55, Z:-0.55 [[ 9.98962017e-01 4.53358615e-02 4.42140061e-03 1.90798746e+01] [-4.53354349e-02 9.98971801e-01 -1.96713317e-04 -5.47841477e-01] [-4.42577270e-03 -3.93698791e-06 9.99990206e-01 -5.48245903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.55, Z:-0.55 [[ 9.98993908e-01 4.46319076e-02 4.37764740e-03 1.91121520e+01] [-4.46314783e-02 9.99003500e-01 -1.95751428e-04 -5.53041072e-01] [-4.38202183e-03 1.73609696e-07 9.99990399e-01 -5.50303058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.56, Z:-0.55 [[ 9.99028085e-01 4.39180367e-02 3.75397167e-03 1.91428940e+01] [-4.39177135e-02 9.99035138e-01 -1.68524545e-04 -5.59197184e-01] [-3.75775087e-03 3.49490096e-06 9.99992940e-01 -5.52609862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.56, Z:-0.55 [[ 9.98942734e-01 4.58147128e-02 3.79830309e-03 1.91763321e+01] [-4.58143950e-02 9.98949955e-01 -1.70694553e-04 -5.60406336e-01] [-3.80213502e-03 -3.50287499e-06 9.99992772e-01 -5.52458150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90587156 meters Centerline goodness [0,1] 0.9998921158244509 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.56, Z:-0.55 [[ 9.98857214e-01 4.76382052e-02 3.85583144e-03 1.92086791e+01] [-4.76378873e-02 9.98864656e-01 -1.74282440e-04 -5.60285201e-01] [-3.85975624e-03 -9.60039067e-06 9.99992551e-01 -5.50334237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.56, Z:-0.55 [[ 9.98700020e-01 5.08116336e-02 4.05567550e-03 1.92406444e+01] [-5.08113053e-02 9.98708254e-01 -1.84008339e-04 -5.57598914e-01] [-4.05978636e-03 -2.23050337e-05 9.99991759e-01 -5.52545477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.56, Z:-0.55 [[ 9.98529637e-01 5.40733969e-02 3.82517860e-03 1.92724949e+01] [-5.40731258e-02 9.98536963e-01 -1.74326560e-04 -5.55668762e-01] [-3.82900865e-03 -3.27691267e-05 9.99992669e-01 -5.51920890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.55, Z:-0.55 [[ 9.98162315e-01 6.05393086e-02 2.64276882e-03 1.93028368e+01] [-6.05391973e-02 9.98165813e-01 -1.22138521e-04 -5.48515049e-01] [-2.64531567e-03 -3.80770345e-05 9.99996500e-01 -5.54175254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.54, Z:-0.56 [[ 9.97964617e-01 6.37240877e-02 2.42158594e-03 1.93337621e+01] [-6.37240064e-02 9.97967554e-01 -1.10818086e-04 -5.44835159e-01] [-2.42372598e-03 -4.37206286e-05 9.99997062e-01 -5.56560434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.05587156 meters Centerline goodness [0,1] 0.99997834232127 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.54, Z:-0.55 [[ 9.97637329e-01 6.86583086e-02 2.40742233e-03 1.93645382e+01] [-6.86582394e-02 9.97640233e-01 -1.11464936e-04 -5.40705492e-01] [-2.40939437e-03 -5.40877976e-05 9.99997096e-01 -5.54627423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.08587156 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.53, Z:-0.56 [[ 9.97496417e-01 7.06486977e-02 3.10788376e-03 1.93944516e+01] [-7.06485916e-02 9.97501256e-01 -1.44047898e-04 -5.34800715e-01] [-3.11029476e-03 -7.58803490e-05 9.99995160e-01 -5.56091020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.54, Z:-0.55 [[ 9.97366904e-01 7.24386005e-02 3.45075230e-03 1.94250775e+01] [-7.24384811e-02 9.97372870e-01 -1.59729326e-04 -5.36333951e-01] [-3.45325729e-03 -9.06585120e-05 9.99994033e-01 -5.54354052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.14587156 meters Centerline goodness [0,1] 0.9999356692541922 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.53, Z:-0.56 [[ 9.97183293e-01 7.49109348e-02 3.71927167e-03 1.94545014e+01] [-7.49108127e-02 9.97190223e-01 -1.72301860e-04 -5.33608233e-01] [-3.72172864e-03 -1.06797128e-04 9.99993069e-01 -5.55115040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.17587156 meters Centerline goodness [0,1] 0.9999570585077832 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.53, Z:-0.56 [[ 9.97140832e-01 7.54632238e-02 3.93229798e-03 1.94850651e+01] [-7.54630925e-02 9.97148579e-01 -1.81971149e-04 -5.34624730e-01] [-3.93481748e-03 -1.15292504e-04 9.99992252e-01 -5.55454244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205871560000002 meters Centerline goodness [0,1] 0.9999151427722857 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.53, Z:-0.56 [[ 9.97126371e-01 7.56515800e-02 3.97977567e-03 1.95143689e+01] [-7.56514464e-02 9.97134306e-01 -1.84307195e-04 -5.30508547e-01] [-3.98231399e-03 -1.17298221e-04 9.99992064e-01 -5.57834133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.54, Z:-0.56 [[ 9.97162293e-01 7.51291109e-02 4.79363522e-03 1.95444893e+01] [-7.51289121e-02 9.97173805e-01 -2.21772250e-04 -5.35663480e-01] [-4.79674902e-03 -1.38997674e-04 9.99988486e-01 -5.55259935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.26587156 meters Centerline goodness [0,1] 0.999871915293314 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.53, Z:-0.56 [[ 9.97185559e-01 7.47934585e-02 5.18646544e-03 1.95745221e+01] [-7.47932222e-02 9.97199036e-01 -2.39789307e-04 -5.32638272e-01] [-5.18987300e-03 -1.48798027e-04 9.99986521e-01 -5.55375037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295871560000002 meters Centerline goodness [0,1] 0.999957115594914 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.54, Z:-0.56 [[ 9.97232011e-01 7.41706254e-02 5.19955511e-03 1.96050953e+01] [-7.41703781e-02 9.97245555e-01 -2.40631260e-04 -5.35522989e-01] [-5.20308099e-03 -1.45687773e-04 9.99986453e-01 -5.56894748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32587156 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.54, Z:-0.56 [[ 9.97282583e-01 7.35187514e-02 4.73731268e-03 1.96356133e+01] [-7.35185388e-02 9.97293827e-01 -2.19239050e-04 -5.37831495e-01] [-4.74061087e-03 -1.29637020e-04 9.99988755e-01 -5.58018365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.35587156 meters Centerline goodness [0,1] 0.9999577220648543 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.53, Z:-0.56 [[ 9.97347178e-01 7.26639423e-02 4.30779933e-03 1.96653901e+01] [-7.26637593e-02 9.97356475e-01 -1.99179553e-04 -5.34245695e-01] [-4.31088473e-03 -1.14369728e-04 9.99990702e-01 -5.61609475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385871560000002 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.54, Z:-0.56 [[ 9.97419933e-01 7.16741833e-02 4.03591639e-03 1.96959911e+01] [-7.16740137e-02 9.97428093e-01 -1.86845006e-04 -5.40081429e-01] [-4.03892835e-03 -1.02907393e-04 9.99991838e-01 -5.60453984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41587156 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.54, Z:-0.56 [[ 9.97559820e-01 6.97298741e-02 3.48579364e-03 1.97254824e+01] [-6.97297352e-02 9.97565907e-01 -1.61520885e-04 -5.40174889e-01] [-3.48857172e-03 -8.19367222e-05 9.99993912e-01 -5.62310275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.54, Z:-0.56 [[ 9.97657302e-01 6.82890293e-02 4.06392132e-03 1.97556249e+01] [-6.82888294e-02 9.97665575e-01 -1.88092482e-04 -5.42265954e-01] [-4.06727906e-03 -8.98685916e-05 9.99991725e-01 -5.61269514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47587156 meters Centerline goodness [0,1] 0.9999572384597293 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.54, Z:-0.56 [[ 9.97683592e-01 6.78714330e-02 4.57369784e-03 1.97863171e+01] [-6.78711754e-02 9.97694071e-01 -2.11686721e-04 -5.44143019e-01] [-4.57751870e-03 -9.92258803e-05 9.99989518e-01 -5.59976881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.54, Z:-0.56 [[ 9.97691228e-01 6.77355436e-02 4.91013099e-03 1.98171345e+01] [-6.77352457e-02 9.97703305e-01 -2.27131063e-04 -5.40942750e-01] [-4.91423877e-03 -1.05982260e-04 9.99987919e-01 -5.61957533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.54, Z:-0.56 [[ 9.97690042e-01 6.77195034e-02 5.35241954e-03 1.98469715e+01] [-6.77191475e-02 9.97704393e-01 -2.47909289e-04 -5.37146342e-01] [-5.35692078e-03 -1.15124659e-04 9.99985645e-01 -5.62518985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56587156 meters Centerline goodness [0,1] 0.9999574983530611 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.54, Z:-0.56 [[ 9.97691518e-01 6.76965371e-02 5.36778772e-03 1.98773725e+01] [-6.76961798e-02 9.97705951e-01 -2.48442959e-04 -5.38667127e-01] [-5.37229248e-03 -1.15509290e-04 9.99985562e-01 -5.60834824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59587156 meters Centerline goodness [0,1] 0.9999574866082817 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.54, Z:-0.56 [[ 9.97692876e-01 6.76445962e-02 5.75611472e-03 1.99076826e+01] [-6.76441844e-02 9.97709473e-01 -2.66416305e-04 -5.40078584e-01] [-5.76095180e-03 -1.23566036e-04 9.99983398e-01 -5.61005935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.62587156 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.54, Z:-0.56 [[ 9.97758527e-01 6.67133698e-02 5.22004849e-03 1.99376471e+01] [-6.67130190e-02 9.97772176e-01 -2.41485283e-04 -5.39077955e-01] [-5.22452944e-03 -1.07301194e-04 9.99986346e-01 -5.63343128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65587156 meters Centerline goodness [0,1] 0.9999359603808222 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.54, Z:-0.56 [[ 9.97795997e-01 6.61987652e-02 4.56867356e-03 1.99686009e+01] [-6.61984904e-02 9.97806452e-01 -2.11510272e-04 -5.39482896e-01] [-4.57265367e-03 -9.13951902e-05 9.99989541e-01 -5.64506500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685871560000002 meters Centerline goodness [0,1] 0.9998933697297989 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.54, Z:-0.56 [[ 9.97912800e-01 6.44136840e-02 4.57402712e-03 1.99991066e+01] [-6.44133898e-02 9.97923279e-01 -2.11758120e-04 -5.37551527e-01] [-4.57816827e-03 -8.33124543e-05 9.99989517e-01 -5.64699089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.54, Z:-0.57 [[ 9.97928071e-01 6.41568880e-02 4.84351228e-03 2.00285262e+01] [-6.41565545e-02 9.97939821e-01 -2.24357068e-04 -5.36528941e-01] [-4.84792782e-03 -8.68508436e-05 9.99988245e-01 -5.66677733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.74587156 meters Centerline goodness [0,1] 0.9999570806240478 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.54, Z:-0.57 [[ 9.97945330e-01 6.38670438e-02 5.11068622e-03 2.00585883e+01] [-6.38666696e-02 9.97958412e-01 -2.36543836e-04 -5.37737654e-01] [-5.11535966e-03 -9.03446919e-05 9.99986912e-01 -5.65760089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.54, Z:-0.56 [[ 9.97969347e-01 6.34037025e-02 6.09534505e-03 2.00890264e+01] [-6.34031616e-02 9.97987956e-01 -2.82117946e-04 -5.37248830e-01] [-6.10096827e-03 -1.04919085e-04 9.99981383e-01 -5.63392127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.80587156 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.54, Z:-0.56 [[ 9.97982779e-01 6.31807903e-02 6.20975198e-03 2.01199783e+01] [-6.31802246e-02 9.98002092e-01 -2.87413175e-04 -5.36345319e-01] [-6.21550446e-03 -1.05500126e-04 9.99980678e-01 -5.63713266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.53, Z:-0.57 [[ 9.98078575e-01 6.17371321e-02 5.26168572e-03 2.01502188e+01] [-6.17367066e-02 9.98092441e-01 -2.43410107e-04 -5.33883349e-01] [-5.26667618e-03 -8.18967346e-05 9.99986128e-01 -5.66695157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.53, Z:-0.57 [[ 9.98164190e-01 6.03593880e-02 4.99931728e-03 2.01803249e+01] [-6.03589857e-02 9.98176707e-01 -2.31449489e-04 -5.34306375e-01] [-5.00417221e-03 -7.07291283e-05 9.99987477e-01 -5.67934900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.54, Z:-0.57 [[ 9.98416717e-01 5.60027106e-02 5.26829017e-03 2.02097220e+01] [-5.60022025e-02 9.98430615e-01 -2.44022682e-04 -5.36689673e-01] [-5.27368813e-03 -5.13995277e-05 9.99986093e-01 -5.69399939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.54, Z:-0.57 [[ 9.98552417e-01 5.35335376e-02 5.21822540e-03 2.02408816e+01] [-5.35330076e-02 9.98566051e-01 -2.41281768e-04 -5.41556427e-01] [-5.22365940e-03 -3.84148075e-05 9.99986356e-01 -5.69778733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.55, Z:-0.57 [[ 9.98691320e-01 5.08696081e-02 5.28497948e-03 2.02722060e+01] [-5.08690265e-02 9.98705303e-01 -2.44497068e-04 -5.46419796e-01] [-5.29057451e-03 -2.46646619e-05 9.99986005e-01 -5.70004012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.55, Z:-0.57 [[ 9.98896670e-01 4.66573333e-02 5.34194902e-03 2.03032518e+01] [-4.66566852e-02 9.98910954e-01 -2.45959138e-04 -5.54175989e-01] [-5.34760718e-03 -3.54986901e-06 9.99985701e-01 -5.70634765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.56, Z:-0.57 [[ 9.98963489e-01 4.51988604e-02 5.38616670e-03 2.03354068e+01] [-4.51981762e-02 9.98978009e-01 -2.48738709e-04 -5.57464519e-01] [-5.39190479e-03 5.03597691e-06 9.99985464e-01 -5.70291970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.56, Z:-0.57 [[ 9.99002543e-01 4.42543733e-02 5.95565388e-03 2.03679918e+01] [-4.42535127e-02 9.99020295e-01 -2.76265819e-04 -5.59692764e-01] [-5.96204507e-03 1.24316504e-05 9.99982227e-01 -5.69597525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.56, Z:-0.57 [[ 9.99048797e-01 4.30332570e-02 7.04563379e-03 2.04001193e+01] [-4.30320113e-02 9.99073640e-01 -3.28379276e-04 -5.61236478e-01] [-7.05323823e-03 2.48791272e-05 9.99975125e-01 -5.67375137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.56, Z:-0.57 [[ 9.99050193e-01 4.29717885e-02 7.22055903e-03 2.04319349e+01] [-4.29704698e-02 9.99076286e-01 -3.37731134e-04 -5.63716352e-01] [-7.22840221e-03 2.71395406e-05 9.99973874e-01 -5.68635724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.56, Z:-0.57 [[ 9.99027245e-01 4.36599082e-02 6.19481592e-03 2.04642101e+01] [-4.36589458e-02 9.99046451e-01 -2.90570772e-04 -5.63865619e-01] [-6.20159515e-03 1.98289858e-05 9.99980770e-01 -5.71456085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.56, Z:-0.57 [[ 9.98992035e-01 4.45794421e-02 5.25242540e-03 2.04958199e+01] [-4.45787524e-02 9.99005842e-01 -2.48371779e-04 -5.62663747e-01] [-5.25827594e-03 1.39748582e-05 9.99986175e-01 -5.73004413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.56, Z:-0.57 [[ 9.98935135e-01 4.59049762e-02 4.61827949e-03 2.05280458e+01] [-4.59044638e-02 9.98945811e-01 -2.16934541e-04 -5.61619463e-01] [-4.62336933e-03 4.70389165e-06 9.99989312e-01 -5.74494479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.56, Z:-0.58 [[ 9.98807656e-01 4.86906205e-02 3.53422026e-03 2.05588755e+01] [-4.86903315e-02 9.98813908e-01 -1.67805500e-04 -5.57045348e-01] [-3.53819891e-03 -4.47693860e-06 9.99993741e-01 -5.77771084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.56, Z:-0.58 [[ 9.98735908e-01 5.01120839e-02 3.91973944e-03 2.05887703e+01] [-5.01117382e-02 9.98743600e-01 -1.86436546e-04 -5.55045078e-01] [-3.92415741e-03 -1.02240839e-05 9.99992300e-01 -5.78305064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.55, Z:-0.58 [[ 9.98670945e-01 5.13615518e-02 4.28186169e-03 2.06190583e+01] [-5.13611515e-02 9.98680124e-01 -2.03472878e-04 -5.53756809e-01] [-4.28666085e-03 -1.67188956e-05 9.99990812e-01 -5.76376396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.55, Z:-0.58 [[ 9.98578421e-01 5.31277087e-02 4.31094810e-03 2.06488073e+01] [-5.31273188e-02 9.98587726e-01 -2.04982914e-04 -5.50124448e-01] [-4.31575013e-03 -2.43375993e-05 9.99990687e-01 -5.76350214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34587156 meters Centerline goodness [0,1] 0.999785531987904 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.55, Z:-0.57 [[ 9.98555673e-01 5.35425773e-02 4.44522418e-03 2.06781745e+01] [-5.35421665e-02 9.98565567e-01 -2.11453830e-04 -5.49947017e-01] [-4.45016959e-03 -2.68585115e-05 9.99990098e-01 -5.73532398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.55, Z:-0.58 [[ 9.98528386e-01 5.40186852e-02 4.80051957e-03 2.07073208e+01] [-5.40182130e-02 9.98539924e-01 -2.28076175e-04 -5.46755654e-01] [-4.80583082e-03 -3.15749535e-05 9.99988451e-01 -5.76390419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.55, Z:-0.58 [[ 9.98528144e-01 5.40149171e-02 4.89226724e-03 2.07375511e+01] [-5.40144275e-02 9.98540128e-01 -2.32243435e-04 -5.47270956e-01] [-4.89766977e-03 -3.23514077e-05 9.99988006e-01 -5.76715528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.55, Z:-0.58 [[ 9.98534040e-01 5.39494430e-02 4.38504125e-03 2.07676002e+01] [-5.39490478e-02 9.98543668e-01 -2.08437804e-04 -5.47665339e-01] [-4.38990028e-03 -2.84365571e-05 9.99990364e-01 -5.77221523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.55, Z:-0.58 [[ 9.98581550e-01 5.30812354e-02 4.15568817e-03 2.07975287e+01] [-5.30808739e-02 9.98590197e-01 -1.97313031e-04 -5.47553932e-01] [-4.16030309e-03 -2.35544072e-05 9.99991346e-01 -5.78742154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.55, Z:-0.58 [[ 9.98622203e-01 5.22741424e-02 4.59450897e-03 2.08271929e+01] [-5.22736924e-02 9.98632772e-01 -2.18068362e-04 -5.48471385e-01] [-4.59962657e-03 -2.24040409e-05 9.99989421e-01 -5.79529198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.56, Z:-0.58 [[ 9.98802636e-01 4.87019414e-02 4.62755222e-03 2.08572220e+01] [-4.87014474e-02 9.98813356e-01 -2.19449969e-04 -5.55683002e-01] [-4.63274861e-03 -6.18128335e-06 9.99989269e-01 -5.80118091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.56, Z:-0.58 [[ 9.98919257e-01 4.61834827e-02 5.23493275e-03 2.08875041e+01] [-4.61828159e-02 9.98932974e-01 -2.48253455e-04 -5.61297574e-01] [-5.24081214e-03 6.22122192e-06 9.99986267e-01 -5.79686693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.57, Z:-0.58 [[ 9.99034039e-01 4.35742857e-02 5.68065154e-03 2.09187182e+01] [-4.35734596e-02 9.99050190e-01 -2.69160731e-04 -5.67018107e-01] [-5.68698448e-03 2.13750916e-05 9.99983829e-01 -5.78917378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.58, Z:-0.58 [[ 9.99262627e-01 3.79299870e-02 5.95976042e-03 2.09503023e+01] [-3.79289845e-02 9.99280398e-01 -2.81195574e-04 -5.77973626e-01] [-5.96613751e-03 5.49405670e-05 9.99982201e-01 -5.78758418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.58, Z:-0.58 [[ 9.99350763e-01 3.55747609e-02 5.69991768e-03 2.09824059e+01] [-3.55738012e-02 9.99367016e-01 -2.69715374e-04 -5.83545885e-01] [-5.70590478e-03 6.67725263e-05 9.99983719e-01 -5.78849236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.59, Z:-0.58 [[ 9.99344678e-01 3.57453031e-02 5.69987101e-03 2.10140495e+01] [-3.57443405e-02 9.99360930e-01 -2.70695021e-04 -5.85189816e-01] [-5.70590447e-03 6.67794983e-05 9.99983719e-01 -5.79338770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.59, Z:-0.58 [[ 9.99411051e-01 3.39006120e-02 5.31969049e-03 2.10450493e+01] [-3.38997427e-02 9.99425206e-01 -2.53505431e-04 -5.92415180e-01] [-5.32522676e-03 7.30199904e-05 9.99985818e-01 -5.81275255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.60, Z:-0.58 [[ 9.99467796e-01 3.23182410e-02 4.43351481e-03 2.10765781e+01] [-3.23176210e-02 9.99477627e-01 -2.11429022e-04 -5.99136863e-01] [-4.43803187e-03 6.80358471e-05 9.99990150e-01 -5.81708433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.60, Z:-0.58 [[ 9.99465612e-01 3.24321530e-02 4.07998958e-03 2.11072249e+01] [-3.24316264e-02 9.99473937e-01 -1.95194701e-04 -6.03577050e-01] [-4.08417384e-03 6.27696938e-05 9.99991658e-01 -5.83358028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.61, Z:-0.58 [[ 9.99416338e-01 3.39676009e-02 3.63106666e-03 2.11389015e+01] [-3.39671870e-02 9.99422933e-01 -1.75610097e-04 -6.05097546e-01] [-3.63493635e-03 5.21704802e-05 9.99993392e-01 -5.83834212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.61, Z:-0.58 [[ 9.99364273e-01 3.54383044e-02 3.89562531e-03 2.11701933e+01] [-3.54378447e-02 9.99371865e-01 -1.86998212e-04 -6.06914566e-01] [-3.89980523e-03 4.88267674e-05 9.99992395e-01 -5.84519756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.61, Z:-0.59 [[ 9.99292429e-01 3.73813308e-02 4.15650688e-03 2.12013406e+01] [-3.73808207e-02 9.99301073e-01 -2.00379233e-04 -6.07915310e-01] [-4.16109223e-03 4.48638123e-05 9.99991342e-01 -5.85272775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.61, Z:-0.59 [[ 9.99121111e-01 4.17479479e-02 3.75683842e-03 2.12324542e+01] [-4.17475550e-02 9.99128174e-01 -1.82972673e-04 -6.06070431e-01] [-3.76120184e-03 2.59730421e-05 9.99992926e-01 -5.86191618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.60, Z:-0.59 [[ 9.99010071e-01 4.43236939e-02 3.77993330e-03 2.12634950e+01] [-4.43233143e-02 9.99017222e-01 -1.84182373e-04 -6.04946705e-01] [-3.78438211e-03 1.64608741e-05 9.99992839e-01 -5.86592848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.60, Z:-0.59 [[ 9.98720747e-01 5.04665555e-02 3.16174488e-03 2.12945119e+01] [-5.04663197e-02 9.98725752e-01 -1.54363362e-04 -5.97516602e-01] [-3.16550622e-03 -5.39573565e-06 9.99994990e-01 -5.87556694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.59, Z:-0.59 [[ 9.98555925e-01 5.36188610e-02 3.32902319e-03 2.13239329e+01] [-5.36186167e-02 9.98561474e-01 -1.62674205e-04 -5.93248666e-01] [-3.33295671e-03 -1.60583277e-05 9.99994446e-01 -5.89023654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.59, Z:-0.59 [[ 9.98369698e-01 5.69697394e-02 3.52074724e-03 2.13543064e+01] [-5.69694876e-02 9.98375905e-01 -1.71848769e-04 -5.89077963e-01] [-3.52481939e-03 -2.90065628e-05 9.99993787e-01 -5.89316504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.58, Z:-0.59 [[ 9.98030625e-01 6.26089413e-02 3.87193918e-03 2.13840541e+01] [-6.26086781e-02 9.98038134e-01 -1.89264295e-04 -5.82040447e-01] [-3.87619259e-03 -5.35254304e-05 9.99992486e-01 -5.89072858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.58, Z:-0.59 [[ 9.97872110e-01 6.51014116e-02 3.61349944e-03 2.14139268e+01] [-6.51011989e-02 9.97878651e-01 -1.76578613e-04 -5.80006906e-01] [-3.61732947e-03 -5.90402730e-05 9.99993456e-01 -5.88983298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09587156 meters Centerline goodness [0,1] 0.9999785103365282 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.57, Z:-0.59 [[ 9.97571345e-01 6.95706160e-02 3.36765372e-03 2.14426991e+01] [-6.95704568e-02 9.97577027e-01 -1.64536899e-04 -5.70275177e-01] [-3.37094092e-03 -7.01519118e-05 9.99994316e-01 -5.90159140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.12587156 meters Centerline goodness [0,1] 0.9999573642584578 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.57, Z:-0.59 [[ 9.97402922e-01 7.19316649e-02 3.63968291e-03 2.14719642e+01] [-7.19314948e-02 9.97409559e-01 -1.77798394e-04 -5.65588974e-01] [-3.64304386e-03 -8.44711948e-05 9.99993361e-01 -5.90293598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.56, Z:-0.59 [[ 9.97227163e-01 7.43330898e-02 3.54644415e-03 2.15016577e+01] [-7.43329443e-02 9.97233465e-01 -1.72997462e-04 -5.62725659e-01] [-3.54949223e-03 -9.10998676e-05 9.99993696e-01 -5.89892302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185871560000002 meters Centerline goodness [0,1] 0.9999361946488579 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.55, Z:-0.59 [[ 9.96942047e-01 7.80778919e-02 3.22450144e-03 2.15310575e+01] [-7.80777909e-02 9.96947257e-01 -1.57386127e-04 -5.53683656e-01] [-3.22694624e-03 -9.48571017e-05 9.99994789e-01 -5.91313368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.21587156 meters Centerline goodness [0,1] 0.9999143780636599 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.55, Z:-0.59 [[ 9.96865414e-01 7.90469369e-02 3.30577344e-03 2.15588676e+01] [-7.90468356e-02 9.96870890e-01 -1.61514996e-04 -5.49732732e-01] [-3.30819658e-03 -1.00302216e-04 9.99994523e-01 -5.92199357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.24587156 meters Centerline goodness [0,1] 0.9999142606048914 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.55, Z:-0.59 [[ 9.96827722e-01 7.94925942e-02 3.92682888e-03 2.15875781e+01] [-7.94924568e-02 9.96835449e-01 -1.91309194e-04 -5.47959755e-01] [-3.92960989e-03 -1.21450966e-04 9.99992272e-01 -5.91847433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275871560000002 meters Centerline goodness [0,1] 0.9999150707036393 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.54, Z:-0.59 [[ 9.96806847e-01 7.96961275e-02 4.96356418e-03 2.16153875e+01] [-7.96959120e-02 9.96819193e-01 -2.41515738e-04 -5.41719229e-01] [-4.96702390e-03 -1.54831232e-04 9.99987652e-01 -5.90590256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.30587156 meters Centerline goodness [0,1] 0.9999568909772816 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.54, Z:-0.59 [[ 9.96844214e-01 7.92299721e-02 4.92179246e-03 2.16442396e+01] [-7.92297565e-02 9.96856353e-01 -2.39078837e-04 -5.40175793e-01] [-4.92526229e-03 -1.51628063e-04 9.99987859e-01 -5.90531265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.33587156 meters Centerline goodness [0,1] 0.9999577978941149 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.54, Z:-0.59 [[ 9.96963108e-01 7.77269706e-02 4.80406370e-03 2.16735850e+01] [-7.77267493e-02 9.96974673e-01 -2.33032881e-04 -5.37265706e-01] [-4.80764277e-03 -1.41079069e-04 9.99988433e-01 -5.91686203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365871560000002 meters Centerline goodness [0,1] 0.9999356375104589 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.54, Z:-0.59 [[ 9.97046588e-01 7.66744469e-02 4.37374299e-03 2.17021909e+01] [-7.66742533e-02 9.97056174e-01 -2.12186332e-04 -5.37512929e-01] [-4.37713672e-03 -1.23793819e-04 9.99990413e-01 -5.92437783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.39587156 meters Centerline goodness [0,1] 0.9998724001531198 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.54, Z:-0.59 [[ 9.97229991e-01 7.42746708e-02 3.95207731e-03 2.17306538e+01] [-7.42744942e-02 9.97237817e-01 -1.91627927e-04 -5.38533959e-01] [-3.95539405e-03 -1.02441428e-04 9.99992172e-01 -5.93140388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.42587156 meters Centerline goodness [0,1] 0.9999572676965152 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.54, Z:-0.59 [[ 9.97336918e-01 7.28257500e-02 3.93470610e-03 2.17587617e+01] [-7.28255639e-02 9.97344675e-01 -1.90735300e-04 -5.36142346e-01] [-3.93814862e-03 -9.63198347e-05 9.99992241e-01 -5.94597608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455871560000002 meters Centerline goodness [0,1] 0.9998496692723993 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.53, Z:-0.60 [[ 9.97452325e-01 7.12335113e-02 3.82707659e-03 2.17864947e+01] [-7.12333244e-02 9.97459663e-01 -1.85294335e-04 -5.34542505e-01] [-3.83055370e-03 -8.77931234e-05 9.99992660e-01 -5.95715443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.48587156 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.54, Z:-0.60 [[ 9.97702630e-01 6.76203606e-02 4.11699368e-03 2.18167052e+01] [-6.76201160e-02 9.97711121e-01 -1.98733111e-04 -5.36274257e-01] [-4.12100878e-03 -8.01150423e-05 9.99991505e-01 -5.95608621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.54, Z:-0.59 [[ 9.97836158e-01 6.56134340e-02 4.22844733e-03 2.18457275e+01] [-6.56131584e-02 9.97845114e-01 -2.04021791e-04 -5.41565572e-01] [-4.23272208e-03 -7.38614644e-05 9.99991039e-01 -5.93676148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545871560000002 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.54, Z:-0.60 [[ 9.98119025e-01 6.11825507e-02 3.88670981e-03 2.18739805e+01] [-6.11822841e-02 9.98126592e-01 -1.87573261e-04 -5.42484606e-01] [-3.89090463e-03 -5.05773432e-05 9.99992429e-01 -5.95169934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.55, Z:-0.59 [[ 9.98265995e-01 5.87471141e-02 3.71224002e-03 2.19028573e+01] [-5.87468545e-02 9.98272896e-01 -1.79013412e-04 -5.46721315e-01] [-3.71634512e-03 -3.93794229e-05 9.99993094e-01 -5.94215779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.60587156 meters Centerline goodness [0,1] 0.9998703123311359 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.55, Z:-0.59 [[ 9.98411873e-01 5.62567685e-02 2.98464660e-03 2.19315140e+01] [-5.62565900e-02 9.98416334e-01 -1.43774731e-04 -5.49938039e-01] [-2.98800821e-03 -2.43596414e-05 9.99995536e-01 -5.94552570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-0.55, Z:-0.60 [[ 9.98648190e-01 5.18876226e-02 3.07703479e-03 2.19595890e+01] [-5.18874121e-02 9.98652930e-01 -1.48237169e-04 -5.54475409e-01] [-3.08058149e-03 -1.16225917e-05 9.99995255e-01 -5.97407027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.56, Z:-0.60 [[ 9.98763851e-01 4.96136680e-02 3.04188257e-03 2.19893207e+01] [-4.96134532e-02 9.98768484e-01 -1.46093539e-04 -5.58764830e-01] [-3.04538468e-03 -5.00535264e-06 9.99995363e-01 -5.97604434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.02, Y:-0.57, Z:-0.60 [[ 9.98981500e-01 4.50459659e-02 2.61204016e-03 2.20181491e+01] [-4.50457915e-02 9.98984915e-01 -1.25602472e-04 -5.66635564e-01] [-2.61504661e-03 7.81312889e-06 9.99996581e-01 -5.97575414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.57, Z:-0.60 [[ 9.99066458e-01 4.31318086e-02 2.42071527e-03 2.20464064e+01] [-4.31316536e-02 9.99069390e-01 -1.16237490e-04 -5.70975532e-01] [-2.42347606e-03 1.17195255e-05 9.99997063e-01 -5.98878722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.58, Z:-0.60 [[ 9.99189358e-01 4.01930539e-02 2.26811221e-03 2.20756282e+01] [-4.01929105e-02 9.99191933e-01 -1.08828895e-04 -5.75415812e-01] [-2.27065358e-03 1.75786428e-05 9.99997422e-01 -5.98942761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.58, Z:-0.60 [[ 9.99216658e-01 3.94958681e-02 2.47915632e-03 2.21056778e+01] [-3.94956947e-02 9.99219734e-01 -1.18861364e-04 -5.77374551e-01] [-2.48191645e-03 2.08522541e-05 9.99996920e-01 -5.99101147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81587156 meters Centerline goodness [0,1] 0.9998292823456606 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.58, Z:-0.60 [[ 9.99223733e-01 3.93119911e-02 2.54939687e-03 2.21344092e+01] [-3.93118073e-02 9.99226985e-01 -1.22189491e-04 -5.78728624e-01] [-2.55222966e-03 2.18732411e-05 9.99996743e-01 -5.98374520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.58, Z:-0.60 [[ 9.99154726e-01 4.10001675e-02 2.96977196e-03 2.21645692e+01] [-4.09999265e-02 9.99159139e-01 -1.42012350e-04 -5.77728509e-01] [-2.97309733e-03 2.01318785e-05 9.99995580e-01 -5.98921295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.87587156 meters Centerline goodness [0,1] 0.9998505965466459 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.58, Z:-0.60 [[ 9.99091134e-01 4.25467662e-02 2.58443511e-03 2.21941300e+01] [-4.25465885e-02 9.99094476e-01 -1.23734210e-04 -5.76293150e-01] [-2.58735934e-03 1.36628552e-05 9.99996653e-01 -5.97943894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90587156 meters Centerline goodness [0,1] 0.9999145591250854 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.57, Z:-0.60 [[ 9.98894271e-01 4.69635361e-02 2.15887079e-03 2.22222882e+01] [-4.69634217e-02 9.98896604e-01 -1.03680419e-04 -5.70341189e-01] [-2.16135790e-03 2.17781713e-06 9.99997664e-01 -6.00092155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935871560000002 meters Centerline goodness [0,1] 0.9998066387367064 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.57, Z:-0.60 [[ 9.98782829e-01 4.92956214e-02 1.67383271e-03 2.22509316e+01] [-4.92955558e-02 9.98784232e-01 -8.04686341e-05 -5.66373157e-01] [-1.67576447e-03 -2.14182371e-06 9.99998596e-01 -6.00600799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.56, Z:-0.60 [[ 9.98663435e-01 5.16451251e-02 2.03092242e-03 2.22795841e+01] [-5.16450338e-02 9.98665500e-01 -9.74053345e-05 -5.62892925e-01] [-2.03324267e-03 -7.61191116e-06 9.99997933e-01 -6.00857137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.99587156 meters Centerline goodness [0,1] 0.9999785825962176 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.56, Z:-0.60 [[ 9.98559998e-01 5.36260921e-02 1.47431975e-03 2.23072437e+01] [-5.36260457e-02 9.98561086e-01 -7.10093071e-05 -5.58646181e-01] [-1.47600628e-03 -8.15488465e-06 9.99998911e-01 -6.04003139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.55, Z:-0.60 [[ 9.98415906e-01 5.62318840e-02 1.91168317e-03 2.23360921e+01] [-5.62318118e-02 9.98417736e-01 -9.15116262e-05 -5.54597452e-01] [-1.91380425e-03 -1.61307449e-05 9.99998169e-01 -6.03752832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.55, Z:-0.60 [[ 9.98387055e-01 5.67374042e-02 2.03850515e-03 2.23645569e+01] [-5.67373235e-02 9.98389136e-01 -9.74415804e-05 -5.54046368e-01] [-2.04074998e-03 -1.83749136e-05 9.99997917e-01 -6.03916859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.55, Z:-0.60 [[ 9.98449936e-01 5.55935833e-02 2.66065472e-03 2.23922453e+01] [-5.55934423e-02 9.98453481e-01 -1.27000955e-04 -5.52837116e-01] [-2.66360040e-03 -2.11108591e-05 9.99996452e-01 -6.04863036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.56, Z:-0.60 [[ 9.98547345e-01 5.38101965e-02 2.76830061e-03 2.24210901e+01] [-5.38100381e-02 9.98551182e-01 -1.31737455e-04 -5.56481974e-01] [-2.77137866e-03 -1.74162756e-05 9.99996160e-01 -6.04776102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.56, Z:-0.61 [[ 9.98676908e-01 5.13526119e-02 2.70980006e-03 2.24486030e+01] [-5.13524509e-02 9.98680584e-01 -1.29023028e-04 -5.60797707e-01] [-2.71285038e-03 -1.03025560e-05 9.99996320e-01 -6.06815654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.57, Z:-0.61 [[ 9.98986584e-01 4.49488348e-02 2.32549403e-03 2.24765287e+01] [-4.49487000e-02 9.98989290e-01 -1.10205975e-04 -5.72681146e-01] [-2.32809726e-03 5.56635702e-06 9.99997290e-01 -6.08294367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.58, Z:-0.61 [[ 9.99136084e-01 4.15142950e-02 1.91027121e-03 2.25058515e+01] [-4.15141977e-02 9.99137910e-01 -9.05661345e-05 -5.78385302e-01] [-1.91238417e-03 1.11845164e-05 9.99998171e-01 -6.07044814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.59, Z:-0.61 [[ 9.99264329e-01 3.83158017e-02 1.64295517e-03 2.25343217e+01] [-3.83157251e-02 9.99265680e-01 -7.80666784e-05 -5.87055395e-01] [-1.64473990e-03 1.50582283e-05 9.99998647e-01 -6.11361934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.26587156 meters Centerline goodness [0,1] 0.9999567847882455 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.60, Z:-0.61 [[ 9.99480500e-01 3.22200525e-02 7.73478142e-04 2.25633542e+01] [-3.22200336e-02 9.99480799e-01 -3.68385467e-05 -5.98072087e-01] [-7.74263492e-04 1.18979173e-05 9.99999700e-01 -6.09090423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.61, Z:-0.61 [[ 9.99560469e-01 2.96242915e-02 1.12677021e-03 2.25923679e+01] [-2.96242500e-02 9.99561104e-01 -5.34687147e-05 -6.05325383e-01] [-1.12785965e-03 2.00654911e-05 9.99999364e-01 -6.10619780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32587156 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.62, Z:-0.61 [[ 9.99655413e-01 2.62044978e-02 1.54230893e-03 2.26212314e+01] [-2.62044165e-02 9.99656603e-01 -7.28575606e-05 -6.19902002e-01] [-1.54368850e-03 3.24171493e-05 9.99998808e-01 -6.12922200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.62, Z:-0.61 [[ 9.99678719e-01 2.52804953e-02 1.83159434e-03 2.26518481e+01] [-2.52803796e-02 9.99680396e-01 -8.63113744e-05 -6.22067787e-01] [-1.83319095e-03 3.99802442e-05 9.99998319e-01 -6.11297645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.62, Z:-0.61 [[ 9.99686193e-01 2.49818233e-02 1.85050769e-03 2.26820189e+01] [-2.49817047e-02 9.99687905e-01 -8.72026402e-05 -6.24635050e-01] [-1.85210863e-03 4.09464388e-05 9.99998284e-01 -6.10971691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.63, Z:-0.61 [[ 9.99643541e-01 2.66161310e-02 2.09126251e-03 2.27116733e+01] [-2.66159837e-02 9.99645727e-01 -9.82473763e-05 -6.26578082e-01] [-2.09313660e-03 4.25513463e-05 9.99997808e-01 -6.11306683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.62, Z:-0.61 [[ 9.99609259e-01 2.78574498e-02 2.30024183e-03 2.27420184e+01] [-2.78572729e-02 9.99611905e-01 -1.08918362e-04 -6.24931381e-01] [-2.30238330e-03 4.47973390e-05 9.99997349e-01 -6.09322666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.63, Z:-0.61 [[ 9.99559569e-01 2.95631847e-02 2.58588175e-03 2.27723840e+01] [-2.95629685e-02 9.99562913e-01 -1.21821672e-04 -6.26718445e-01] [-2.58835293e-03 4.53216775e-05 9.99996649e-01 -6.10063188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.63, Z:-0.61 [[ 9.99448681e-01 3.31296050e-02 2.18271330e-03 2.28021560e+01] [-3.31294595e-02 9.99451064e-01 -1.02828285e-04 -6.30710016e-01] [-2.18492179e-03 3.04594815e-05 9.99997613e-01 -6.13517816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.63, Z:-0.61 [[ 9.99384856e-01 3.50343581e-02 1.58224059e-03 2.28322974e+01] [-3.50342834e-02 9.99386108e-01 -7.48635644e-05 -6.29645774e-01] [-1.58389206e-03 1.93848473e-05 9.99998745e-01 -6.13845941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.63, Z:-0.62 [[ 9.99225878e-01 3.93184380e-02 1.30600718e-03 2.28609878e+01] [-3.93183905e-02 9.99226731e-01 -6.19904588e-05 -6.26550470e-01] [-1.30743465e-03 1.05923704e-05 9.99999145e-01 -6.15509461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.63, Z:-0.62 [[ 9.99226788e-01 3.92952935e-02 1.30601716e-03 2.28901211e+01] [-3.92952463e-02 9.99227642e-01 -6.17784516e-05 -6.27876433e-01] [-1.30743604e-03 1.04104180e-05 9.99999145e-01 -6.15960110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.63, Z:-0.62 [[ 9.99127724e-01 4.17241411e-02 1.69914693e-03 2.29201396e+01] [-4.17240650e-02 9.99129169e-01 -8.02305286e-05 -6.26375083e-01] [-1.70101481e-03 9.26522851e-06 9.99998553e-01 -6.15695796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.63, Z:-0.62 [[ 9.99023811e-01 4.41299594e-02 1.99268649e-03 2.29490006e+01] [-4.41298597e-02 9.99025799e-01 -9.39747991e-05 -6.25204397e-01] [-1.99489232e-03 5.94608653e-06 9.99998010e-01 -6.16140373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.62, Z:-0.62 [[ 9.98768604e-01 4.95585488e-02 2.28609353e-03 2.29771750e+01] [-4.95584311e-02 9.98771220e-01 -1.08165941e-04 -6.19914798e-01] [-2.28864497e-03 -5.26246237e-06 9.99997381e-01 -6.16719883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.62, Z:-0.62 [[ 9.98637830e-01 5.21302623e-02 2.21798932e-03 2.30063899e+01] [-5.21301583e-02 9.98640293e-01 -1.04717096e-04 -6.17783989e-01] [-2.22043244e-03 -1.10496805e-05 9.99997535e-01 -6.15649979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.61, Z:-0.62 [[ 9.98351568e-01 5.73252864e-02 2.82086141e-03 2.30348953e+01] [-5.73251393e-02 9.98355553e-01 -1.33057432e-04 -6.09167521e-01] [-2.82385021e-03 -2.88681769e-05 9.99996013e-01 -6.17413248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.61, Z:-0.62 [[ 9.98201947e-01 5.98495069e-02 3.30281094e-03 2.30635652e+01] [-5.98493210e-02 9.98207411e-01 -1.55188424e-04 -6.06844017e-01] [-3.30617830e-03 -4.27616049e-05 9.99994534e-01 -6.16752748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.60, Z:-0.62 [[ 9.98076160e-01 6.18903950e-02 3.68217848e-03 2.30928345e+01] [-6.18901787e-02 9.98082950e-01 -1.72751588e-04 -6.04297378e-01] [-3.68581123e-03 -5.54714431e-05 9.99993206e-01 -6.17139028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.83587156 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.60, Z:-0.62 [[ 9.97960597e-01 6.37438669e-02 3.37137307e-03 2.31203930e+01] [-6.37436956e-02 9.97966290e-01 -1.58355865e-04 -5.97147589e-01] [-3.37461089e-03 -5.68708649e-05 9.99994304e-01 -6.21161797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.60, Z:-0.62 [[ 9.97974408e-01 6.35523197e-02 2.86056141e-03 2.31490242e+01] [-6.35521965e-02 9.97978507e-01 -1.34026344e-04 -5.99958462e-01] [-2.86329649e-03 -4.80400990e-05 9.99995900e-01 -6.20903599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.60, Z:-0.62 [[ 9.98119520e-01 6.12673360e-02 1.93330020e-03 2.31779539e+01] [-6.12672752e-02 9.98121392e-01 -9.07278360e-05 -6.02672766e-01] [-1.93522694e-03 -2.78908114e-05 9.99998127e-01 -6.23986417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.61, Z:-0.62 [[ 9.98252403e-01 5.90734191e-02 1.57169225e-03 2.32061668e+01] [-5.90733760e-02 9.98253641e-01 -7.38472207e-05 -6.07411630e-01] [-1.57330992e-03 -1.91270018e-05 9.99998762e-01 -6.24116291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.61, Z:-0.63 [[ 9.98384302e-01 5.67992319e-02 1.62262045e-03 2.32341187e+01] [-5.67991829e-02 9.98385620e-01 -7.63024929e-05 -6.09775390e-01] [-1.62433485e-03 -1.59843045e-05 9.99998681e-01 -6.26729173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.62, Z:-0.63 [[ 9.98638765e-01 5.20816371e-02 2.84971702e-03 2.32621482e+01] [-5.20814702e-02 9.98642830e-01 -1.32774550e-04 -6.17455504e-01] [-2.85276458e-03 -1.58236392e-05 9.99995931e-01 -6.26775946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.62, Z:-0.62 [[ 9.98749835e-01 4.98459778e-02 3.76103249e-03 2.32917233e+01] [-4.98456729e-02 9.98756917e-01 -1.74799810e-04 -6.21955987e-01] [-3.76507028e-03 -1.28899137e-05 9.99992912e-01 -6.24070707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.62, Z:-0.62 [[ 9.98826971e-01 4.82075188e-02 4.55155129e-03 2.33207303e+01] [-4.82070556e-02 9.98837342e-01 -2.11480591e-04 -6.24288998e-01] [-4.55645435e-03 -8.18436805e-06 9.99989619e-01 -6.24105830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.63, Z:-0.62 [[ 9.98943780e-01 4.56544858e-02 5.19538580e-03 2.33503939e+01] [-4.56538499e-02 9.98957290e-01 -2.40995140e-04 -6.28266096e-01] [-5.20097103e-03 3.55123331e-06 9.99986475e-01 -6.24578016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.63, Z:-0.63 [[ 9.98977367e-01 4.48628901e-02 5.61608098e-03 2.33787657e+01] [-4.48621347e-02 9.98993154e-01 -2.60460974e-04 -6.30797323e-01] [-5.62211148e-03 8.24523674e-06 9.99984196e-01 -6.25381570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.63, Z:-0.62 [[ 9.99022337e-01 4.38028662e-02 5.97320669e-03 2.34079675e+01] [-4.38019949e-02 9.99040194e-01 -2.76677749e-04 -6.32595458e-01] [-5.97959285e-03 1.47688822e-05 9.99982122e-01 -6.24008009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.63, Z:-0.63 [[ 9.99049509e-01 4.32172118e-02 5.68780996e-03 2.34377321e+01] [-4.32164136e-02 9.99065700e-01 -2.63218729e-04 -6.33928536e-01] [-5.69387142e-03 1.71617942e-05 9.99983790e-01 -6.25424954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.64, Z:-0.63 [[ 9.99080764e-01 4.25237915e-02 5.41800850e-03 2.34667850e+01] [-4.25230574e-02 9.99095454e-01 -2.50674642e-04 -6.35699160e-01] [-5.42376730e-03 2.00539263e-05 9.99985291e-01 -6.27162364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22587156 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.64, Z:-0.63 [[ 9.99175836e-01 4.04184869e-02 3.74094198e-03 2.34968249e+01] [-4.04181226e-02 9.99182839e-01 -1.72954495e-04 -6.40384081e-01] [-3.74487558e-03 2.16101001e-05 9.99992988e-01 -6.27154552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.64, Z:-0.63 [[ 9.99225074e-01 3.90695346e-02 4.77730214e-03 2.35265969e+01] [-3.90689245e-02 9.99236494e-01 -2.20995700e-04 -6.44204536e-01] [-4.78228884e-03 3.41803882e-05 9.99988564e-01 -6.30186783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.28587156 meters Centerline goodness [0,1] 0.999914806611007 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.65, Z:-0.63 [[ 9.99294831e-01 3.73643189e-02 3.70798428e-03 2.35557083e+01] [-3.73639397e-02 9.99301709e-01 -1.71525013e-04 -6.50221272e-01] [-3.71180395e-03 3.28591573e-05 9.99993111e-01 -6.28120306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.65, Z:-0.63 [[ 9.99327954e-01 3.62454076e-02 5.46906774e-03 2.35860553e+01] [-3.62445672e-02 9.99342918e-01 -2.52720741e-04 -6.52606910e-01] [-5.47463408e-03 5.43269077e-05 9.99985013e-01 -6.29804477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.66, Z:-0.63 [[ 9.99347559e-01 3.56257314e-02 5.93827246e-03 2.36159856e+01] [-3.56247304e-02 9.99365200e-01 -2.74288721e-04 -6.56552703e-01] [-5.94427459e-03 6.25604086e-05 9.99982331e-01 -6.30087211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.37587156 meters Centerline goodness [0,1] 0.9997421351211965 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.66, Z:-0.63 [[ 9.99375976e-01 3.49084817e-02 5.39037588e-03 2.36458921e+01] [-3.49076462e-02 9.99390511e-01 -2.49030053e-04 -6.62210413e-01] [-5.39578377e-03 6.07093183e-05 9.99985441e-01 -6.25549873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.67, Z:-0.63 [[ 9.99384497e-01 3.42339888e-02 7.65905245e-03 2.36759703e+01] [-3.42322809e-02 9.99413841e-01 -3.54010052e-04 -6.65274945e-01] [-7.66668220e-03 9.16053232e-05 9.99970606e-01 -6.29165687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.67, Z:-0.63 [[ 9.99423186e-01 3.31002159e-02 7.59411563e-03 2.37078332e+01] [-3.30985128e-02 9.99452033e-01 -3.49882089e-04 -6.71264670e-01] [-7.60153547e-03 9.83263392e-05 9.99971103e-01 -6.29286485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.66, Z:-0.63 [[ 9.99395562e-01 3.46255485e-02 3.09549665e-03 2.37388833e+01] [-3.45667625e-02 9.99251473e-01 -1.73675840e-02 -6.64462333e-01] [-3.69454171e-03 1.72500850e-02 9.99844380e-01 -6.26756948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.49587156 meters Centerline goodness [0,1] 0.9999569438763428 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.69, Z:-0.63 [[ 9.99466068e-01 3.17336423e-02 7.78166324e-03 2.37684752e+01] [-3.18612076e-02 9.99350140e-01 1.68570678e-02 -6.90086478e-01] [-7.24167009e-03 -1.70960005e-02 9.99827628e-01 -6.28577048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.69, Z:-0.63 [[ 9.99507828e-01 3.04306581e-02 7.62075239e-03 2.38004720e+01] [-3.04288484e-02 9.99536873e-01 -3.53333203e-04 -6.87697938e-01] [-7.62797518e-03 1.21268583e-04 9.99970899e-01 -6.31389838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.69, Z:-0.63 [[ 9.99519847e-01 3.01061207e-02 7.32777694e-03 2.38315409e+01] [-3.01044297e-02 9.99546701e-01 -3.40981661e-04 -6.94469663e-01] [-7.33472090e-03 1.20219392e-04 9.99973093e-01 -6.33445092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.70, Z:-0.63 [[ 9.99539910e-01 2.95279580e-02 6.93309703e-03 2.38634525e+01] [-2.95264243e-02 9.99563948e-01 -3.23485062e-04 -7.01053802e-01] [-6.93962569e-03 1.18626664e-04 9.99975913e-01 -6.34658453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.71, Z:-0.64 [[ 9.99524108e-01 3.00896967e-02 6.79468834e-03 2.38943707e+01] [-3.00882285e-02 9.99547196e-01 -3.18207204e-04 -7.05350930e-01] [-6.80118643e-03 1.13615636e-04 9.99976865e-01 -6.35339750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.64587156 meters Centerline goodness [0,1] 0.999829026949627 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.71, Z:-0.63 [[ 9.99505675e-01 3.09409303e-02 5.57359493e-03 2.39258219e+01] [-3.09399513e-02 9.99521211e-01 -2.61807341e-04 -7.12218380e-01] [-5.57902691e-03 8.92311670e-05 9.99984433e-01 -6.34258660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.71, Z:-0.64 [[ 9.99420916e-01 3.39383175e-02 2.45419699e-03 2.39564359e+01] [-3.38911765e-02 9.99277317e-01 -1.72114060e-02 -7.06102346e-01] [-3.03654955e-03 1.71182636e-02 9.99848861e-01 -6.35246835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705871560000002 meters Centerline goodness [0,1] 0.9999137224451059 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.72, Z:-0.63 [[ 9.99403700e-01 3.43680792e-02 3.32851988e-03 2.39858410e+01] [-3.43852629e-02 9.99394858e-01 5.25078610e-03 -7.23979142e-01] [-3.14604622e-03 -5.36210709e-03 9.99980675e-01 -6.34395211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.73, Z:-0.64 [[ 9.99335493e-01 3.55899162e-02 7.86959660e-03 2.40154625e+01] [-3.56845003e-02 9.99288340e-01 1.22241859e-02 -7.30862121e-01] [-7.42893837e-03 -1.24968854e-02 9.99894314e-01 -6.39594396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.72, Z:-0.64 [[ 9.99273381e-01 3.74810407e-02 6.91968422e-03 2.40482746e+01] [-3.74796734e-02 9.99297337e-01 -3.27204634e-04 -7.23294232e-01] [-6.92708598e-03 6.76193759e-05 9.99976005e-01 -6.38407721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.73, Z:-0.64 [[ 9.99202145e-01 3.93712075e-02 6.70677639e-03 2.40795031e+01] [-3.93699541e-02 9.99224652e-01 -3.18852167e-04 -7.26514237e-01] [-6.71412989e-03 5.45522904e-05 9.99977458e-01 -6.40701381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.82587156 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.73, Z:-0.64 [[ 9.99009293e-01 4.40361028e-02 6.42298766e-03 2.41113198e+01] [-4.40350502e-02 9.99029940e-01 -3.05280722e-04 -7.26719892e-01] [-6.43020035e-03 2.21416946e-05 9.99979326e-01 -6.39818312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.73, Z:-0.64 [[ 9.98895599e-01 4.64500509e-02 7.06930899e-03 2.41425084e+01] [-4.64488174e-02 9.98920614e-01 -3.38646960e-04 -7.26569935e-01] [-7.07740865e-03 9.91191520e-06 9.99974955e-01 -6.40379478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.71, Z:-0.64 [[ 9.98696477e-01 5.09696678e-02 2.72760121e-03 2.41734218e+01] [-5.08567562e-02 9.98194431e-01 -3.19604206e-02 -7.07811275e-01] [-4.35168835e-03 3.17800425e-02 9.99485413e-01 -6.35437048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.74, Z:-0.64 [[ 9.98232991e-01 5.84747463e-02 1.05640980e-02 2.42006378e+01] [-5.87289352e-02 9.97945383e-01 2.56110438e-02 -7.37059492e-01] [-9.04479350e-03 -2.61862071e-02 9.99616163e-01 -6.40150116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.71, Z:-0.64 [[ 9.98092974e-01 6.15697680e-02 4.42476326e-03 2.42348554e+01] [-6.15053777e-02 9.98016066e-01 -1.34543561e-02 -7.08781575e-01] [-5.24436641e-03 1.31565516e-02 9.99899696e-01 -6.38522832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97587156 meters Centerline goodness [0,1] 0.9999577649195421 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.70, Z:-0.64 [[ 9.97631279e-01 6.85835537e-02 5.30350198e-03 2.42651597e+01] [-6.85942689e-02 9.97642895e-01 1.86539806e-03 -7.04578253e-01] [-5.16306544e-03 -2.22476929e-03 9.99984196e-01 -6.41636499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005871560000003 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.71, Z:-0.65 [[ 9.97479650e-01 7.04574418e-02 8.37232037e-03 2.42958734e+01] [-7.06026424e-02 9.97332208e-01 1.85400323e-02 -7.13228346e-01] [-7.04370152e-03 -1.90844129e-02 9.99793064e-01 -6.45384432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.03587156 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.69, Z:-0.65 [[ 9.97090421e-01 7.59084966e-02 6.97079212e-03 2.43267413e+01] [-7.59080225e-02 9.97114768e-01 -3.32939160e-04 -6.94530615e-01] [-6.97595269e-03 -1.97168599e-04 9.99975648e-01 -6.46376209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.69, Z:-0.64 [[ 9.96900411e-01 7.84299554e-02 6.18967234e-03 2.43553011e+01] [-7.83339283e-02 9.96822104e-01 -1.44737570e-02 -6.93834664e-01] [-7.30517832e-03 1.39440330e-02 9.99876091e-01 -6.42107868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095871560000003 meters Centerline goodness [0,1] 0.9999152685985426 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.70, Z:-0.65 [[ 9.96922376e-01 7.80181189e-02 7.67789113e-03 2.43858482e+01] [-7.81188838e-02 9.96847986e-01 1.38395477e-02 -6.98120622e-01] [-6.57395484e-03 -1.43967430e-02 9.99874751e-01 -6.49338040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.12587156 meters Centerline goodness [0,1] 0.9999577158079452 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.69, Z:-0.65 [[ 9.96984846e-01 7.72861160e-02 6.93347715e-03 2.44154606e+01] [-7.72856789e-02 9.97008934e-01 -3.31351994e-04 -6.91441696e-01] [-6.93834757e-03 -2.05505572e-04 9.99975908e-01 -6.48720257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15587156 meters Centerline goodness [0,1] 0.9999575893803808 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.69, Z:-0.65 [[ 9.97083266e-01 7.59937425e-02 7.06482789e-03 2.44455651e+01] [-7.59932639e-02 9.97108274e-01 -3.36545407e-04 -6.94358152e-01] [-7.06997369e-03 -2.01315537e-04 9.99974987e-01 -6.49015699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185871560000002 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.70, Z:-0.65 [[ 9.97334271e-01 7.25231519e-02 8.04632631e-03 2.44754465e+01] [-7.25224185e-02 9.97366709e-01 -3.83273297e-04 -6.98899415e-01] [-8.05293417e-03 -2.01287449e-04 9.99967554e-01 -6.47166705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.70, Z:-0.65 [[ 9.97489414e-01 7.03196536e-02 8.36750429e-03 2.45048287e+01] [-7.03187846e-02 9.97524491e-01 -3.98380475e-04 -7.04101477e-01] [-8.37480444e-03 -1.91012425e-04 9.99964912e-01 -6.46069803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.24587156 meters Centerline goodness [0,1] 0.999871789392709 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.71, Z:-0.64 [[ 9.97632850e-01 6.81315874e-02 9.31570820e-03 2.45342877e+01] [-6.81304182e-02 9.97676325e-01 -4.43166129e-04 -7.06634632e-01] [-9.32425514e-03 -1.92566007e-04 9.99956510e-01 -6.43507179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.71, Z:-0.64 [[ 9.97948005e-01 6.32431396e-02 1.00042335e-02 2.45649169e+01] [-6.31456601e-02 9.97956429e-01 -9.77708241e-03 -7.09461420e-01] [-1.06021225e-02 9.12529596e-03 9.99902157e-01 -6.44922583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.72, Z:-0.65 [[ 9.98095771e-01 6.09506672e-02 9.47882708e-03 2.45948209e+01] [-6.10350246e-02 9.98096120e-01 8.88036058e-03 -7.24892787e-01] [-8.91951663e-03 -9.44199078e-03 9.99915642e-01 -6.47841975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.33587156 meters Centerline goodness [0,1] 0.9999361035973675 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.73, Z:-0.65 [[ 9.98371447e-01 5.62382079e-02 9.57694882e-03 2.46258382e+01] [-5.62364180e-02 9.98417376e-01 -4.56307878e-04 -7.27734709e-01] [-9.58745405e-03 -8.30085403e-05 9.99954036e-01 -6.46412103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365871560000002 meters Centerline goodness [0,1] 0.9998082495312767 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.73, Z:-0.65 [[ 9.98509639e-01 5.36730568e-02 9.88448397e-03 2.46583359e+01] [-5.36710136e-02 9.98558561e-01 -4.72039823e-04 -7.33274161e-01] [-9.89557191e-03 -5.91739601e-05 9.99951036e-01 -6.46513833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.72, Z:-0.65 [[ 9.98630745e-01 5.22786023e-02 1.89295565e-03 2.46880927e+01] [-5.21744546e-02 9.97966809e-01 -3.66070336e-02 -7.16738801e-01] [-3.80287146e-03 3.64581453e-02 9.99327945e-01 -6.45964689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.76, Z:-0.65 [[ 9.98817696e-01 4.75407912e-02 1.01530215e-02 2.47166995e+01] [-4.77711046e-02 9.98574857e-01 2.37944784e-02 -7.61316945e-01] [-9.00734362e-03 -2.42513672e-02 9.99665313e-01 -6.51162564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.76, Z:-0.65 [[ 9.98945917e-01 4.55320567e-02 5.82117316e-03 2.47504672e+01] [-4.55614866e-02 9.98948887e-01 5.02711171e-03 -7.56975544e-01] [-5.58615971e-03 -5.28703403e-03 9.99970421e-01 -6.52903243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.76, Z:-0.65 [[ 9.98942849e-01 4.56313171e-02 5.56483296e-03 2.47814196e+01] [-4.56305248e-02 9.98958349e-01 -2.69338431e-04 -7.55325427e-01] [-5.57132661e-03 1.51274511e-05 9.99984480e-01 -6.53199103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.76, Z:-0.65 [[ 9.98938833e-01 4.57742205e-02 5.09202635e-03 2.48132839e+01] [-4.57735650e-02 9.98951811e-01 -2.45259826e-04 -7.58058598e-01] [-5.09791552e-03 1.19193655e-05 9.99987005e-01 -6.54093021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.76, Z:-0.65 [[ 9.98901304e-01 4.56716599e-02 1.05016296e-02 2.48436612e+01] [-4.57153258e-02 9.98946674e-01 3.95612871e-03 -7.61074393e-01] [-1.03098850e-02 -4.43186755e-03 9.99937030e-01 -6.52348553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.75, Z:-0.65 [[ 9.98743722e-01 4.89646508e-02 1.06508973e-02 2.48754734e+01] [-4.88910063e-02 9.98779108e-01 -7.06839416e-03 -7.52789380e-01] [-1.09839951e-02 6.53878121e-03 9.99918295e-01 -6.53454317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.76, Z:-0.65 [[ 9.98662509e-01 5.13106066e-02 6.35727405e-03 2.49086106e+01] [-5.13472194e-02 9.98664387e-01 5.73634429e-03 -7.59075224e-01] [-6.05444789e-03 -6.05510033e-03 9.99963339e-01 -6.54966938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.75, Z:-0.66 [[ 9.98537316e-01 5.37611138e-02 5.74199716e-03 2.49401152e+01] [-5.37603985e-02 9.98553825e-01 -2.78968536e-04 -7.53934036e-01] [-5.74869089e-03 -3.01315622e-05 9.99983476e-01 -6.55171655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.75, Z:-0.66 [[ 9.98327172e-01 5.75266253e-02 5.79176976e-03 2.49699361e+01] [-5.75259583e-02 9.98343971e-01 -2.81838662e-04 -7.48690457e-01] [-5.79839165e-03 -5.18099109e-05 9.99983188e-01 -6.56652304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.69587156 meters Centerline goodness [0,1] 0.9999788314987299 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.75, Z:-0.66 [[ 9.98246328e-01 5.88897896e-02 6.02166242e-03 2.50004202e+01] [-5.88890944e-02 9.98264488e-01 -2.92847295e-04 -7.47561348e-01] [-6.02845747e-03 -6.22765096e-05 9.99981827e-01 -6.56541542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.74, Z:-0.65 [[ 9.98052138e-01 6.16163981e-02 9.76468175e-03 2.50298353e+01] [-6.15233147e-02 9.98059836e-01 -9.56266402e-03 -7.36965916e-01] [-1.03349536e-02 8.94328169e-03 9.99906599e-01 -6.54899871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.75, Z:-0.66 [[ 9.97968381e-01 6.23560394e-02 1.30704114e-02 2.50598409e+01] [-6.24622978e-02 9.98016175e-01 7.88516026e-03 -7.45040122e-01] [-1.25527946e-02 -8.68554854e-03 9.99883488e-01 -6.56968732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.74, Z:-0.66 [[ 9.97927210e-01 6.39831594e-02 6.88760441e-03 2.50928988e+01] [-6.39884532e-02 9.97950487e-01 5.50761697e-04 -7.37372470e-01] [-6.83824870e-03 -9.90347236e-04 9.99976128e-01 -6.57510762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81587156 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.73, Z:-0.66 [[ 9.97711510e-01 6.58375706e-02 1.53999012e-02 2.51214687e+01] [-6.58987194e-02 9.97820189e-01 3.49701411e-03 -7.33845798e-01] [-1.51360974e-02 -4.50384500e-03 9.99875299e-01 -6.58697202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845871560000003 meters Centerline goodness [0,1] 0.9999575794854392 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.73, Z:-0.66 [[ 9.97616754e-01 6.75180038e-02 1.42173048e-02 2.51540317e+01] [-6.75060597e-02 9.97717992e-01 -1.31888705e-03 -7.28488518e-01] [-1.42739094e-02 3.55989594e-04 9.99898059e-01 -6.60158781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.72, Z:-0.66 [[ 9.97620968e-01 6.87534056e-02 5.03712045e-03 2.51859692e+01] [-6.87338862e-02 9.97627206e-01 -3.95103805e-03 -7.21287731e-01] [-5.29681572e-03 3.59541754e-03 9.99979508e-01 -6.63081176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.73, Z:-0.67 [[ 9.97652076e-01 6.83518728e-02 4.28440888e-03 2.52144656e+01] [-6.83515986e-02 9.97661272e-01 -2.10562205e-04 -7.25963711e-01] [-4.28878113e-03 -8.27783748e-05 9.99990800e-01 -6.65012190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.75, Z:-0.66 [[ 9.97817581e-01 6.56050468e-02 7.48686746e-03 2.52446611e+01] [-6.57330116e-02 9.97668267e-01 1.83629882e-02 -7.51270390e-01] [-6.26470539e-03 -1.88150468e-02 9.99803354e-01 -6.58326696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.96587156 meters Centerline goodness [0,1] 0.9999141262344354 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.71, Z:-0.67 [[ 9.97942810e-01 6.38659549e-02 5.59347350e-03 2.52723604e+01] [-6.37244865e-02 9.97711603e-01 -2.25997351e-02 -7.12871910e-01] [-7.02402707e-03 2.21968019e-02 9.99728946e-01 -6.66637720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.74, Z:-0.67 [[ 9.98045118e-01 6.20283011e-02 7.64406985e-03 2.53029932e+01] [-6.21705127e-02 9.97864457e-01 2.00337985e-02 -7.43968781e-01] [-6.38508312e-03 -2.04698705e-02 9.99770081e-01 -6.70903350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.74, Z:-0.67 [[ 9.98363818e-01 5.51555409e-02 1.50848649e-02 2.53333484e+01] [-5.52518007e-02 9.98454181e-01 6.04037087e-03 -7.44294415e-01] [-1.47283865e-02 -6.86395368e-03 9.99867972e-01 -6.67650422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.75, Z:-0.66 [[ 9.98541815e-01 5.18292326e-02 1.50988142e-02 2.53658062e+01] [-5.19837213e-02 9.98597609e-01 1.00254004e-02 -7.53556541e-01] [-1.45580309e-02 -1.07956741e-02 9.99835745e-01 -6.63702517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.74, Z:-0.67 [[ 9.98555008e-01 5.05411463e-02 1.82616590e-02 2.53947349e+01] [-5.03182979e-02 9.98655462e-01 -1.24634625e-02 -7.42661107e-01] [-1.88670231e-02 1.15265573e-02 9.99755557e-01 -6.71021202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.76, Z:-0.67 [[ 9.98929091e-01 4.54765401e-02 8.51794261e-03 2.54284696e+01] [-4.54457044e-02 9.98959661e-01 -3.77941454e-03 -7.57547889e-01] [-8.68095576e-03 3.38826323e-03 9.99956579e-01 -6.69814273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.78, Z:-0.68 [[ 9.98806049e-01 4.23461089e-02 2.43574080e-02 2.54578211e+01] [-4.29418787e-02 9.98777622e-01 2.44797078e-02 -7.79617172e-01] [-2.32910137e-02 -2.54964331e-02 9.99403552e-01 -6.75747115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.77, Z:-0.68 [[ 9.98956619e-01 3.91136541e-02 2.35753050e-02 2.54907731e+01] [-3.91519613e-02 9.99232589e-01 1.16533281e-03 -7.69841255e-01] [-2.35116327e-02 -2.08713636e-03 9.99721385e-01 -6.76395760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.76, Z:-0.67 [[ 9.99170832e-01 3.99884358e-02 7.65332371e-03 2.55245791e+01] [-3.97637122e-02 9.98829147e-01 -2.75532449e-02 -7.55533057e-01] [-8.74617396e-03 2.72260740e-02 9.99591039e-01 -6.71144586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.79, Z:-0.68 [[ 9.99076247e-01 3.74138561e-02 2.11389925e-02 2.55534674e+01] [-3.79009612e-02 9.99013720e-01 2.31323451e-02 -7.87514660e-01] [-2.02526733e-02 -2.39121647e-02 9.99508898e-01 -6.75244928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.26587156 meters Centerline goodness [0,1] 0.9999786288254402 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.76, Z:-0.67 [[ 9.99159508e-01 4.03270161e-02 7.34913274e-03 2.55879579e+01] [-4.01357663e-02 9.98892878e-01 -2.45384912e-02 -7.60185407e-01] [-8.33056049e-03 2.42229038e-02 9.99671873e-01 -6.72368151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.77, Z:-0.67 [[ 9.99156803e-01 3.97330387e-02 1.03425611e-02 2.56202937e+01] [-3.97669805e-02 9.99204181e-01 3.09698314e-03 -7.68437219e-01] [-1.02112777e-02 -3.50566420e-03 9.99941718e-01 -6.68933576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.77, Z:-0.67 [[ 9.99069311e-01 4.10922535e-02 1.31125113e-02 2.56492949e+01] [-4.10828049e-02 9.99155255e-01 -9.89244175e-04 -7.67642954e-01] [-1.31420849e-02 4.49624753e-04 9.99913538e-01 -6.71976910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.78, Z:-0.68 [[ 9.98898201e-01 4.19098182e-02 2.11175740e-02 2.56784775e+01] [-4.22467097e-02 9.98982780e-01 1.57677050e-02 -7.81065189e-01] [-2.04352711e-02 -1.66424802e-02 9.99652653e-01 -6.77254440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.76, Z:-0.67 [[ 9.98995870e-01 4.28308042e-02 1.31443337e-02 2.57142437e+01] [-4.25735844e-02 9.98907641e-01 -1.92617320e-02 -7.59514325e-01] [-1.39549708e-02 1.86827893e-02 9.99728069e-01 -6.73085985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:-0.77, Z:-0.67 [[ 9.98989780e-01 4.31714125e-02 1.24759016e-02 2.57461601e+01] [-4.31295194e-02 9.99062975e-01 -3.60781004e-03 -7.71052512e-01] [-1.26199656e-02 3.06608572e-03 9.99915664e-01 -6.74786238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.77, Z:-0.68 [[ 9.98948060e-01 4.40225886e-02 1.28368724e-02 2.57766188e+01] [-4.40287116e-02 9.99030247e-01 1.94632835e-04 -7.73769358e-01] [-1.28158555e-02 -7.59619044e-04 9.99917585e-01 -6.76118217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.77, Z:-0.68 [[ 9.98935027e-01 4.46003466e-02 1.18160933e-02 2.58072775e+01] [-4.45717495e-02 9.99002611e-01 -2.67270268e-03 -7.74486811e-01] [-1.19235115e-02 2.14319238e-03 9.99926616e-01 -6.79377239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.78, Z:-0.68 [[ 9.98943339e-01 4.47740269e-02 1.03678157e-02 2.58403624e+01] [-4.47552960e-02 9.98995914e-01 -2.03177763e-03 -7.76508077e-01] [-1.04483764e-02 1.56561607e-03 9.99944189e-01 -6.80583500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.78, Z:-0.68 [[ 9.98912241e-01 4.53546228e-02 1.08301487e-02 2.58723643e+01] [-4.53372568e-02 9.98970036e-01 -1.84377792e-03 -7.79201109e-01] [-1.09026179e-02 1.35076310e-03 9.99939652e-01 -6.81162528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.79, Z:-0.68 [[ 9.98844936e-01 4.71783796e-02 9.11011107e-03 2.59044190e+01] [-4.72532291e-02 9.98849420e-01 8.18337549e-03 -7.88170532e-01] [-8.71355077e-03 -8.60440533e-03 9.99925016e-01 -6.81335114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595871560000003 meters Centerline goodness [0,1] 0.9999144494824194 Centerline is valid? [True, True] Translation: X:25.94, Y:-0.79, Z:-0.68 [[ 9.98843018e-01 4.70703512e-02 9.84920670e-03 2.59369262e+01] [-4.70676942e-02 9.98891576e-01 -5.01521427e-04 -7.88006122e-01] [-9.86189639e-03 3.73617267e-05 9.99951370e-01 -6.81473178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.79, Z:-0.68 [[ 9.98919616e-01 4.52172043e-02 1.07240759e-02 2.59693626e+01] [-4.51647168e-02 9.98966601e-01 -5.08717637e-03 -7.87112992e-01] [-1.09430215e-02 4.59733042e-03 9.99929555e-01 -6.82138986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.80, Z:-0.68 [[ 9.98938748e-01 4.36652524e-02 1.46534189e-02 2.60033202e+01] [-4.37596606e-02 9.99022942e-01 6.18501489e-03 -7.95824967e-01] [-1.43690314e-02 -6.81967967e-03 9.99873503e-01 -6.82898240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.80, Z:-0.69 [[ 9.98861488e-01 4.36014812e-02 1.93555710e-02 2.60348601e+01] [-4.39154414e-02 9.98905462e-01 1.61031378e-02 -8.04470335e-01] [-1.86322650e-02 -1.69348126e-02 9.99682975e-01 -6.85961040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.79, Z:-0.68 [[ 9.98938479e-01 4.42306422e-02 1.28672109e-02 2.60691232e+01] [-4.40136691e-02 9.98891615e-01 -1.66834873e-02 -7.87809118e-01] [-1.35908705e-02 1.60994443e-02 9.99778023e-01 -6.84761226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.10, Y:-0.80, Z:-0.69 [[ 9.98977677e-01 4.33889007e-02 1.26887792e-02 2.60996691e+01] [-4.33719182e-02 9.99057697e-01 -1.61064740e-03 -8.04783175e-01] [-1.27467068e-02 1.05866410e-03 9.99918197e-01 -6.89618689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.81, Z:-0.69 [[ 9.98973460e-01 4.34431606e-02 1.28342631e-02 2.61314010e+01] [-4.34441470e-02 9.99055837e-01 -2.02064322e-04 -8.10079075e-01] [-1.28309238e-02 -3.55716719e-04 9.99917617e-01 -6.90903311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.82, Z:-0.69 [[ 9.98984709e-01 4.23297593e-02 1.54189000e-02 2.61653291e+01] [-4.24426642e-02 9.99073887e-01 7.07024327e-03 -8.17677112e-01] [-1.51053387e-02 -7.71748412e-03 9.99856124e-01 -6.89721459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.82, Z:-0.69 [[ 9.98952220e-01 4.28772901e-02 1.59999913e-02 2.61975964e+01] [-4.28799231e-02 9.99080217e-01 -1.78618463e-04 -8.16220551e-01] [-1.59929335e-02 -5.07647087e-04 9.99871976e-01 -6.89621120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865871560000002 meters Centerline goodness [0,1] 0.9997644993470209 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.81, Z:-0.69 [[ 9.98861755e-01 4.66594086e-02 9.90426819e-03 2.62237401e+01] [-4.65251244e-02 9.98827489e-01 -1.33813587e-02 -8.13098691e-01] [-1.05170216e-02 1.29053301e-02 9.99861413e-01 -6.91064711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.84, Z:-0.70 [[ 9.98683563e-01 4.34261041e-02 2.73004373e-02 2.62580028e+01] [-4.43256633e-02 9.98463418e-01 3.32571604e-02 -8.43346802e-01] [-2.58142590e-02 -3.44234895e-02 9.99073895e-01 -7.01126291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.81, Z:-0.70 [[ 9.98732303e-01 4.77997575e-02 1.57787732e-02 2.62905071e+01] [-4.74725985e-02 9.98662246e-01 -2.04956141e-02 -8.10064387e-01] [-1.67373505e-02 1.97205725e-02 9.99665424e-01 -6.95684682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.82, Z:-0.70 [[ 9.98620941e-01 4.90331580e-02 1.87607676e-02 2.63206453e+01] [-4.91048483e-02 9.98787911e-01 3.37962014e-03 -8.24609284e-01] [-1.85723145e-02 -4.29620409e-03 9.99818289e-01 -7.01806799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.81, Z:-0.70 [[ 9.98282913e-01 5.78105836e-02 9.44258356e-03 2.63481193e+01] [-5.76271179e-02 9.98163659e-01 -1.86661422e-02 -8.08440878e-01] [-1.05043443e-02 1.80899419e-02 9.99781182e-01 -6.97200323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.82, Z:-0.70 [[ 9.98257224e-01 5.61736373e-02 1.80841441e-02 2.63825969e+01] [-5.63356195e-02 9.98375059e-01 8.57550675e-03 -8.22462644e-01] [-1.75730410e-02 -9.57934303e-03 9.99799692e-01 -6.99247383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.80, Z:-0.70 [[ 9.97735263e-01 6.61473743e-02 1.22012615e-02 2.64078762e+01] [-6.60227833e-02 9.97764472e-01 -1.03465496e-02 -8.02705600e-01] [-1.28583823e-02 9.51755615e-03 9.99872031e-01 -6.95571202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.81, Z:-0.70 [[ 9.97542353e-01 6.89146393e-02 1.26501488e-02 2.64388468e+01] [-6.89119012e-02 9.97622536e-01 -6.52728540e-04 -8.05433107e-01] [-1.26650561e-02 -2.20621443e-04 9.99919771e-01 -6.96256536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.10587156 meters Centerline goodness [0,1] 0.9999572777374289 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.80, Z:-0.70 [[ 9.97344679e-01 7.17701261e-02 1.23547363e-02 2.64706513e+01] [-7.17677299e-02 9.97421168e-01 -6.37760557e-04 -8.01669458e-01] [-1.23686476e-02 -2.50604278e-04 9.99923474e-01 -6.97560394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135871560000002 meters Centerline goodness [0,1] 0.9998308024195254 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.80, Z:-0.70 [[ 9.96965788e-01 7.67759426e-02 1.28324797e-02 2.65007138e+01] [-7.67737642e-02 9.97048319e-01 -6.63023735e-04 -7.96427368e-01] [-1.28455066e-02 -3.24185790e-04 9.99917441e-01 -6.97621334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165871560000003 meters Centerline goodness [0,1] 0.9995947358317514 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.80, Z:-0.70 [[ 9.96889728e-01 7.42951082e-02 2.62889215e-02 2.65347300e+01] [-7.49506272e-02 9.96876438e-01 2.48951824e-02 -8.04765418e-01] [-2.43572161e-02 -2.67881228e-02 9.99344346e-01 -7.04539050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.19587156 meters Centerline goodness [0,1] 0.9997462572951028 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.77, Z:-0.70 [[ 9.96486577e-01 8.30308712e-02 1.09716118e-02 2.65626025e+01] [-8.27139364e-02 9.96214825e-01 -2.67287543e-02 -7.68943243e-01] [-1.31493941e-02 2.57273397e-02 9.99582512e-01 -6.98013731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22587156 meters Centerline goodness [0,1] 0.9997871978209056 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.78, Z:-0.70 [[ 9.96424075e-01 8.37222916e-02 1.13860007e-02 2.65918382e+01] [-8.37210392e-02 9.96489058e-01 -5.87429194e-04 -7.82635613e-01] [-1.13952060e-02 -3.67919219e-04 9.99935005e-01 -7.02278443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255871560000003 meters Centerline goodness [0,1] 0.9997437266417512 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.78, Z:-0.70 [[ 9.96357676e-01 8.45915080e-02 1.07544843e-02 2.66206779e+01] [-8.45904421e-02 9.96415651e-01 -5.54762082e-04 -7.80306212e-01] [-1.07628647e-02 -3.56985128e-04 9.99942015e-01 -7.03942614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.28587156 meters Centerline goodness [0,1] 0.9996780010303967 Centerline is valid? [True, True] Translation: X:26.65, Y:-0.78, Z:-0.70 [[ 9.96362780e-01 8.45778506e-02 1.03826147e-02 2.66492606e+01] [-8.45768585e-02 9.96416815e-01 -5.35387456e-04 -7.79018700e-01] [-1.03906938e-02 -3.44688798e-04 9.99945956e-01 -7.04992286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31587156 meters Centerline goodness [0,1] 0.9995527632839953 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.78, Z:-0.71 [[ 9.96458631e-01 8.34606584e-02 1.02232493e-02 2.66772912e+01] [-8.34596410e-02 9.96511019e-01 -5.26844384e-04 -7.78079585e-01] [-1.02315514e-02 -3.28250084e-04 9.99947602e-01 -7.07246183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345871560000003 meters Centerline goodness [0,1] 0.999767643269048 Centerline is valid? [True, True] Translation: X:26.71, Y:-0.78, Z:-0.70 [[ 9.96585923e-01 8.16965839e-02 1.19233303e-02 2.67065882e+01] [-8.16950895e-02 9.96657181e-01 -6.13145233e-04 -7.77348094e-01] [-1.19335646e-02 -3.63025626e-04 9.99928727e-01 -7.04732723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.37587156 meters Centerline goodness [0,1] 0.999767643269048 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.78, Z:-0.71 [[ 9.96589691e-01 8.16506115e-02 1.19233318e-02 2.67348875e+01] [-8.16491142e-02 9.96660948e-01 -6.13115037e-04 -7.78710932e-01] [-1.19335804e-02 -3.62505359e-04 9.99928727e-01 -7.05373078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40587156 meters Centerline goodness [0,1] 0.9995751370183116 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.78, Z:-0.71 [[ 9.96775879e-01 7.94223918e-02 1.13987220e-02 2.67633168e+01] [-7.94208848e-02 9.96841000e-01 -5.85526414e-04 -7.76499722e-01] [-1.14092174e-02 -3.21657981e-04 9.99934861e-01 -7.09215069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.79, Z:-0.70 [[ 9.96866788e-01 7.81837635e-02 1.19960631e-02 2.67924102e+01] [-7.81820116e-02 9.96938912e-01 -6.15648356e-04 -7.85778880e-01] [-1.20074758e-02 -3.24156946e-04 9.99927855e-01 -7.04620037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.46587156 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.79, Z:-0.71 [[ 9.97163735e-01 7.42687972e-02 1.21914513e-02 2.68224847e+01] [-7.42667005e-02 9.97238219e-01 -6.25242553e-04 -7.88174392e-01] [-1.22042172e-02 -2.81949660e-04 9.99925486e-01 -7.05138884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.49587156 meters Centerline goodness [0,1] 0.9999365576162582 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.79, Z:-0.71 [[ 9.97379141e-01 7.11987259e-02 1.28682263e-02 2.68556646e+01] [-7.11385138e-02 9.97453519e-01 -5.07840018e-03 -7.88778405e-01] [-1.31970332e-02 4.14966392e-03 9.99904305e-01 -7.05198077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525871560000002 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.80, Z:-0.71 [[ 9.97649376e-01 6.74552048e-02 1.20630545e-02 2.68826202e+01] [-6.75044837e-02 9.97712016e-01 3.72523350e-03 -7.95557617e-01] [-1.17841680e-02 -4.53078714e-03 9.99920300e-01 -7.08010436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.80, Z:-0.71 [[ 9.97790637e-01 6.52918781e-02 1.22806885e-02 2.69121793e+01] [-6.52890659e-02 9.97866194e-01 -6.30199187e-04 -7.96180439e-01] [-1.22956307e-02 -1.72987830e-04 9.99924391e-01 -7.07773704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.80, Z:-0.71 [[ 9.97911279e-01 6.33129285e-02 1.28278095e-02 2.69427501e+01] [-6.33097037e-02 9.97993712e-01 -6.57717570e-04 -7.99647277e-01] [-1.28437152e-02 -1.55781035e-04 9.99917504e-01 -7.07098898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615871560000002 meters Centerline goodness [0,1] 0.9999359056531214 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.81, Z:-0.71 [[ 9.98180968e-01 5.90914222e-02 1.19565249e-02 2.69724734e+01] [-5.90883192e-02 9.98252571e-01 -6.12919763e-04 -8.05603124e-01] [-1.19718500e-02 -9.46861158e-05 9.99928330e-01 -7.09069923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.64587156 meters Centerline goodness [0,1] 0.9997411114946496 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.81, Z:-0.71 [[ 9.98305884e-01 5.71663355e-02 1.08338809e-02 2.70036129e+01] [-5.71636749e-02 9.98364666e-01 -5.55337309e-04 -8.09230165e-01] [-1.08479105e-02 -6.49079422e-05 9.99941158e-01 -7.11206767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.81, Z:-0.71 [[ 9.98470218e-01 5.40536116e-02 1.16374566e-02 2.70336985e+01] [-5.40503236e-02 9.98538034e-01 -5.97092781e-04 -8.13507648e-01] [-1.16527181e-02 -3.28289365e-05 9.99932104e-01 -7.11119704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.82, Z:-0.71 [[ 9.98569308e-01 5.21644214e-02 1.17562855e-02 2.70649173e+01] [-5.21609541e-02 9.98638510e-01 -6.01571483e-04 -8.17581580e-01] [-1.17716600e-02 -1.25082473e-05 9.99930712e-01 -7.13238885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.10, Y:-0.82, Z:-0.71 [[ 9.98676858e-01 4.98321837e-02 1.26998571e-02 2.70990749e+01] [-4.97424614e-02 9.98735504e-01 -7.28560074e-03 -8.16820972e-01] [-1.30468556e-02 6.64423870e-03 9.99892811e-01 -7.11582613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.83, Z:-0.71 [[ 9.98717586e-01 4.92830358e-02 1.15916555e-02 2.71259803e+01] [-4.93546600e-02 9.98763437e-01 5.97607558e-03 -8.27967704e-01] [-1.12828025e-02 -6.54051399e-03 9.99914956e-01 -7.13662788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795871560000002 meters Centerline goodness [0,1] 0.9998509782215316 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.83, Z:-0.72 [[ 9.98881736e-01 4.63384256e-02 9.38235858e-03 2.71567207e+01] [-4.63359437e-02 9.98925797e-01 -4.81845250e-04 -8.29038735e-01] [-9.39460798e-03 4.65659802e-05 9.99955869e-01 -7.16817493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825871560000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.83, Z:-0.72 [[ 9.98885028e-01 4.61662766e-02 9.86790332e-03 2.71885226e+01] [-4.61634924e-02 9.98933768e-01 -5.09861047e-04 -8.31022268e-01] [-9.88092022e-03 5.37556864e-05 9.99951181e-01 -7.15555937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.84, Z:-0.72 [[ 9.98970979e-01 4.44499521e-02 9.01032005e-03 2.72196400e+01] [-4.44475730e-02 9.99011610e-01 -4.64212444e-04 -8.35357473e-01] [-9.02204856e-03 6.32479007e-05 9.99959298e-01 -7.17974477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885871560000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.84, Z:-0.72 [[ 9.99005692e-01 4.29165720e-02 1.20745489e-02 2.72523742e+01] [-4.28735381e-02 9.99073278e-01 -3.80069269e-03 -8.35397099e-01] [-1.22264719e-02 3.27923500e-03 9.99919877e-01 -7.17285262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915871560000003 meters Centerline goodness [0,1] 0.9998710481635109 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.84, Z:-0.72 [[ 9.99088783e-01 4.17478038e-02 8.87265650e-03 2.72801256e+01] [-4.17728647e-02 9.99123597e-01 2.65813094e-03 -8.42808513e-01] [-8.75390934e-03 -3.02634508e-03 9.99957104e-01 -7.18958664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.94587156 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.85, Z:-0.72 [[ 9.99127004e-01 4.04880533e-02 1.02930355e-02 2.73109692e+01] [-4.04847017e-02 9.99180016e-01 -5.33856777e-04 -8.45280213e-01] [-1.03062102e-02 1.16680253e-04 9.99946883e-01 -7.16144994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.84, Z:-0.71 [[ 9.99083075e-01 4.03888183e-02 1.42039349e-02 2.73435993e+01] [-4.03056861e-02 9.99168829e-01 -6.09123239e-03 -8.43467093e-01] [-1.44381467e-02 5.51314785e-03 9.99880565e-01 -7.12171433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.85, Z:-0.72 [[ 9.99140217e-01 3.98940304e-02 1.12824136e-02 2.73741166e+01] [-3.99498232e-02 9.99190332e-01 4.76366494e-03 -8.54059559e-01] [-1.10832368e-02 -5.21029965e-03 9.99925005e-01 -7.15807222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.84, Z:-0.71 [[ 9.99089796e-01 4.12428912e-02 1.08905102e-02 2.74078998e+01] [-4.10654881e-02 9.99027704e-01 -1.60397198e-02 -8.41202296e-01] [-1.15414458e-02 1.55778963e-02 9.99812044e-01 -7.13269647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.85, Z:-0.72 [[ 9.99053052e-01 4.22211789e-02 1.05057648e-02 2.74391548e+01] [-4.22111832e-02 9.99108024e-01 -1.17146769e-03 -8.53012709e-01] [-1.05458547e-02 7.26897603e-04 9.99944127e-01 -7.18375057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.87, Z:-0.72 [[ 9.99086727e-01 4.18183990e-02 8.77121724e-03 2.74686789e+01] [-4.19606121e-02 9.98979522e-01 1.67099144e-02 -8.66137337e-01] [-8.06348454e-03 -1.70626994e-02 9.99821906e-01 -7.21874085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.85, Z:-0.72 [[ 9.98939608e-01 4.51654238e-02 8.92992560e-03 2.75014361e+01] [-4.50337124e-02 9.98881128e-01 -1.44380204e-02 -8.48736173e-01] [-9.57203346e-03 1.40205627e-02 9.99855890e-01 -7.20686870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15587156 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:27.53, Y:-0.87, Z:-0.73 [[ 9.99048600e-01 4.31826748e-02 6.09525211e-03 2.75303370e+01] [-4.32626550e-02 9.98970288e-01 1.36640416e-02 -8.69112276e-01] [-5.49892589e-03 -1.39147384e-02 9.99888065e-01 -7.25374560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.86, Z:-0.73 [[ 9.98992727e-01 4.43532181e-02 6.80614238e-03 2.75610328e+01] [-4.43517950e-02 9.99015910e-01 -3.59961029e-04 -8.64683489e-01] [-6.81540996e-03 5.77338180e-05 9.99976773e-01 -7.26155446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.86, Z:-0.72 [[ 9.98874961e-01 4.60280995e-02 1.14116644e-02 2.75914935e+01] [-4.59594770e-02 9.98924036e-01 -6.20454514e-03 -8.62775954e-01] [-1.16849693e-02 5.67309065e-03 9.99915635e-01 -7.20846720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.87, Z:-0.72 [[ 9.98899753e-01 4.57932383e-02 1.01124792e-02 2.76224670e+01] [-4.57064920e-02 9.98917470e-01 -8.64893161e-03 -8.66978657e-01] [-1.04975947e-02 8.17720970e-03 9.99911463e-01 -7.21783579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27587156 meters Centerline goodness [0,1] 0.9998932559082855 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.89, Z:-0.73 [[ 9.99100666e-01 4.17443286e-02 7.43442345e-03 2.76517606e+01] [-4.18628396e-02 9.98985944e-01 1.65706670e-02 -8.88372128e-01] [-6.73515315e-03 -1.68669905e-02 9.99835058e-01 -7.26012165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30587156 meters Centerline goodness [0,1] 0.9999355032893322 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.88, Z:-0.72 [[ 9.98921179e-01 4.48513978e-02 1.20345509e-02 2.76835511e+01] [-4.47662338e-02 9.98971144e-01 -7.25520655e-03 -8.77826194e-01] [-1.23475752e-02 6.70863796e-03 9.99901261e-01 -7.20911662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33587156 meters Centerline goodness [0,1] 0.9998088766192398 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.90, Z:-0.73 [[ 9.99152844e-01 4.06027436e-02 6.70902200e-03 2.77138947e+01] [-4.06450869e-02 9.99153783e-01 6.30037725e-03 -8.97586306e-01] [-6.44753211e-03 -6.56772863e-03 9.99957646e-01 -7.26997104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.89, Z:-0.72 [[ 9.98960324e-01 4.43996227e-02 1.03414451e-02 2.77456746e+01] [-4.42376835e-02 9.98902418e-01 -1.53943616e-02 -8.86607976e-01] [-1.10135984e-02 1.49208749e-02 9.99828019e-01 -7.21924742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39587156 meters Centerline goodness [0,1] 0.9999786356741514 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.91, Z:-0.73 [[ 9.99035976e-01 4.33598186e-02 6.85894002e-03 2.77752854e+01] [-4.34557187e-02 9.98949948e-01 1.45121385e-02 -9.11566971e-01] [-6.22249408e-03 -1.47962086e-02 9.99871168e-01 -7.27908366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.90, Z:-0.72 [[ 9.98800530e-01 4.75604930e-02 1.16405095e-02 2.78061814e+01] [-4.74641195e-02 9.98837454e-01 -8.42008446e-03 -8.98614437e-01] [-1.20274403e-02 7.85747828e-03 9.99896795e-01 -7.23828685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.91, Z:-0.73 [[ 9.98655344e-01 5.02754092e-02 1.26446342e-02 2.78363509e+01] [-5.02765539e-02 9.98735308e-01 -2.27530727e-04 -9.05614127e-01] [-1.26400818e-02 -4.08503854e-04 9.99920028e-01 -7.27080506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48587156 meters Centerline goodness [0,1] 0.999871633041655 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.91, Z:-0.73 [[ 9.98658631e-01 5.16739210e-02 3.27789828e-03 2.78684611e+01] [-5.16988999e-02 9.98630206e-01 8.05827542e-03 -9.08961099e-01] [-2.85700555e-03 -8.21693003e-03 9.99962159e-01 -7.29659980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.90, Z:-0.73 [[ 9.98442126e-01 5.57131699e-02 3.05987568e-03 2.78982655e+01] [-5.57129281e-02 9.98446815e-01 -1.64291182e-04 -9.03259391e-01] [-3.06427631e-03 -6.43939686e-06 9.99995305e-01 -7.30540440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.90, Z:-0.73 [[ 9.98256552e-01 5.89595665e-02 2.76143057e-03 2.79277243e+01] [-5.89593812e-02 9.98260372e-01 -1.48500928e-04 -9.02152885e-01] [-2.76538225e-03 -1.45702129e-05 9.99996176e-01 -7.30364136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.92, Z:-0.73 [[ 9.97453181e-01 6.82512916e-02 2.07102144e-02 2.79527165e+01] [-6.88729777e-02 9.97144997e-01 3.09575083e-02 -9.20697362e-01] [-1.85381968e-02 -3.23050393e-02 9.99306119e-01 -7.30305856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.88, Z:-0.73 [[ 9.97314299e-01 7.22887426e-02 1.17697627e-02 2.79883031e+01] [-7.19628704e-02 9.97066070e-01 -2.60882759e-02 -8.82178971e-01] [-1.36211197e-02 2.51712246e-02 9.99590353e-01 -7.28365872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63587156 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.91, Z:-0.73 [[ 9.96825144e-01 7.66677876e-02 2.14867990e-02 2.80167427e+01] [-7.71254679e-02 9.96792814e-01 2.13482682e-02 -9.07274083e-01] [-1.97811624e-02 -2.29376699e-02 9.99541179e-01 -7.32732834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66587156 meters Centerline goodness [0,1] 0.9999784492047756 Centerline is valid? [True, True] Translation: X:28.05, Y:-0.90, Z:-0.73 [[ 9.96579884e-01 7.99227031e-02 2.09975373e-02 2.80480132e+01] [-7.99506961e-02 9.96798696e-01 4.95734019e-04 -8.95669016e-01] [-2.08906974e-02 -2.17280628e-03 9.99779405e-01 -7.31873908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69587156 meters Centerline goodness [0,1] 0.9999146539216524 Centerline is valid? [True, True] Translation: X:28.08, Y:-0.89, Z:-0.73 [[ 9.96426114e-01 8.22855921e-02 1.90808869e-02 2.80799858e+01] [-8.21447319e-02 9.96587871e-01 -8.05345835e-03 -8.87272688e-01] [-1.96784640e-02 6.45728187e-03 9.99785508e-01 -7.34319563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72587156 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.87, Z:-0.73 [[ 9.96581232e-01 8.26122068e-02 1.03458077e-03 2.81141556e+01] [-8.25694762e-02 9.96341699e-01 -2.20340787e-02 -8.74224543e-01] [-2.85107983e-03 2.18733246e-02 9.99756685e-01 -7.30759173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75587156 meters Centerline goodness [0,1] 0.9998933674557475 Centerline is valid? [True, True] Translation: X:28.14, Y:-0.91, Z:-0.74 [[ 9.95957150e-01 8.65851508e-02 2.39241854e-02 2.81373868e+01] [-8.73116131e-02 9.95692315e-01 3.12009010e-02 -9.05892724e-01] [-2.11195929e-02 -3.31636197e-02 9.99226770e-01 -7.40850206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785871560000004 meters Centerline goodness [0,1] 0.9997203037931108 Centerline is valid? [True, True] Translation: X:28.18, Y:-0.87, Z:-0.73 [[ 9.96361695e-01 8.52200502e-02 -9.56918041e-04 2.81751292e+01] [-8.52064718e-02 9.95840581e-01 -3.22706521e-02 -8.65200215e-01] [-1.79716877e-03 3.22347772e-02 9.99478709e-01 -7.32729274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81587156 meters Centerline goodness [0,1] 0.9995114802149487 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.88, Z:-0.74 [[ 9.96356583e-01 8.52781889e-02 1.09117859e-03 2.82014673e+01] [-8.52781743e-02 9.96357180e-01 -5.99935242e-05 -8.83331208e-01] [-1.09231976e-03 -3.32787751e-05 9.99999403e-01 -7.36296346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84587156 meters Centerline goodness [0,1] 0.9977025187202179 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.88, Z:-0.74 [[ 9.96409137e-01 8.46670884e-02 -5.61422543e-04 2.82293768e+01] [-8.46670855e-02 9.96409295e-01 2.91350504e-05 -8.80540661e-01] [ 5.61873420e-04 1.85035800e-05 9.99999842e-01 -7.41482723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87587156 meters Centerline goodness [0,1] 0.9939959258067975 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.88, Z:-0.75 [[ 9.96516762e-01 8.33801814e-02 -1.44534320e-03 2.82574023e+01] [-8.33801584e-02 9.96517809e-01 7.62537864e-05 -8.79743014e-01] [ 1.44666830e-03 4.45247691e-05 9.99998953e-01 -7.46244587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90587156 meters Centerline goodness [0,1] 0.9999354185951391 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.91, Z:-0.74 [[ 9.96557535e-01 8.14609684e-02 1.54010022e-02 2.82835286e+01] [-8.17902534e-02 9.96404092e-01 2.21187549e-02 -9.07069333e-01] [-1.35438065e-02 -2.33022637e-02 9.99636719e-01 -7.39224828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93587156 meters Centerline goodness [0,1] 0.9998928992181643 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.88, Z:-0.74 [[ 9.97079598e-01 7.63599242e-02 -1.19883261e-03 2.83174061e+01] [-7.63673832e-02 9.96819061e-01 -2.27987238e-02 -8.82781762e-01] [-5.45889622e-04 2.28236941e-02 9.99739357e-01 -7.37729510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965871560000004 meters Centerline goodness [0,1] 0.9999143322196522 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.90, Z:-0.74 [[ 9.97397437e-01 7.20981029e-02 4.64922721e-04 2.83459254e+01] [-7.20980988e-02 9.97397545e-01 -2.55710475e-05 -9.02748196e-01] [-4.65556405e-04 -8.01554702e-06 9.99999892e-01 -7.39498569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.94, Z:-0.74 [[ 9.97615065e-01 6.55395607e-02 2.16505777e-02 2.83711273e+01] [-6.62592841e-02 9.97209596e-01 3.43908197e-02 -9.40940244e-01] [-1.93362046e-02 -3.57433516e-02 9.99173921e-01 -7.39956953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02587156 meters Centerline goodness [0,1] 0.9998928969239996 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.90, Z:-0.74 [[ 9.98229732e-01 5.94732760e-02 -5.75971433e-04 2.84071615e+01] [-5.94562015e-02 9.97599296e-01 -3.55050001e-02 -9.04384545e-01] [-1.53700998e-03 3.54763918e-02 9.99369333e-01 -7.38953804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-0.94, Z:-0.74 [[ 9.98699200e-01 5.09863818e-02 5.44323377e-04 2.84343973e+01] [-5.09863731e-02 9.98699349e-01 -2.98757969e-05 -9.41257139e-01] [-5.45138661e-04 2.08385965e-06 9.99999851e-01 -7.41051002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.97, Z:-0.74 [[ 9.98535254e-01 4.99008665e-02 2.09105085e-02 2.84601170e+01] [-5.06520282e-02 9.98027733e-01 3.70812187e-02 -9.71304610e-01] [-1.90188824e-02 -3.80860638e-02 9.99093456e-01 -7.42342261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11587156 meters Centerline goodness [0,1] 0.999892890040916 Centerline is valid? [True, True] Translation: X:28.49, Y:-0.96, Z:-0.74 [[ 9.98814324e-01 4.44151701e-02 1.99308343e-02 2.84933602e+01] [-4.45288926e-02 9.98994045e-01 5.29858994e-03 -9.63481291e-01] [-1.96754470e-02 -6.17980552e-03 9.99787321e-01 -7.44716206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.97, Z:-0.74 [[ 9.98815984e-01 4.40445982e-02 2.06567816e-02 2.85210389e+01] [-4.41534357e-02 9.99013025e-01 4.84247935e-03 -9.69863608e-01] [-2.04231088e-02 -5.74881365e-03 9.99774899e-01 -7.41947003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.95, Z:-0.74 [[ 9.99238594e-01 3.90107067e-02 -6.29344675e-04 2.85586513e+01] [-3.89969052e-02 9.98123449e-01 -4.72103975e-02 -9.46547908e-01] [-1.21354730e-03 4.71989937e-02 9.98884769e-01 -7.43256262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20587156 meters Centerline goodness [0,1] 0.9999151607703402 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.99, Z:-0.75 [[ 9.99343780e-01 3.60901021e-02 3.08460297e-03 2.85868319e+01] [-3.60897586e-02 9.99348539e-01 -1.66966292e-04 -9.85084571e-01] [-3.08861930e-03 5.55341485e-05 9.99995229e-01 -7.49143018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23587156 meters Centerline goodness [0,1] 0.9998928165662715 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.99, Z:-0.75 [[ 9.99472420e-01 3.24156482e-02 2.02653794e-03 2.86178808e+01] [-3.24154915e-02 9.99474474e-01 -1.10140168e-04 -9.92997488e-01] [-2.02904320e-03 4.43908370e-05 9.99997941e-01 -7.46270995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26587156 meters Centerline goodness [0,1] 0.9998497209102619 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.00, Z:-0.75 [[ 9.99501403e-01 3.15122174e-02 1.98123646e-03 2.86494092e+01] [-3.15120658e-02 9.99503366e-01 -1.07697039e-04 -9.97233566e-01] [-1.98364629e-03 4.52104873e-05 9.99998032e-01 -7.45255841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29587156 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.00, Z:-0.75 [[ 9.99507451e-01 3.12954222e-02 2.33484468e-03 2.86796645e+01] [-3.12952100e-02 9.99510177e-01 -1.27385264e-04 -1.00292474e+00] [-2.33768760e-03 5.42530659e-05 9.99997266e-01 -7.46416519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32587156 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.00, Z:-0.75 [[ 9.99506717e-01 3.13188736e-02 2.33485857e-03 2.87104577e+01] [-3.13186620e-02 9.99509442e-01 -1.27131442e-04 -1.00465338e+00] [-2.33769480e-03 5.39440841e-05 9.99997266e-01 -7.47244129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355871560000004 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.01, Z:-0.75 [[ 9.99453917e-01 3.29396211e-02 2.61720238e-03 2.87413134e+01] [-3.29393686e-02 9.99457342e-01 -1.39532744e-04 -1.01025645e+00] [-2.62037829e-03 5.32475535e-05 9.99996565e-01 -7.46900960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38587156 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:28.77, Y:-1.01, Z:-0.74 [[ 9.99402747e-01 3.44593814e-02 2.58853606e-03 2.87726637e+01] [-3.44591306e-02 9.99406098e-01 -1.41445812e-04 -1.00949374e+00] [-2.59187286e-03 5.21626310e-05 9.99996640e-01 -7.44745819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.80, Y:-1.01, Z:-0.75 [[ 9.99324405e-01 3.66521388e-02 2.71173434e-03 2.88031159e+01] [-3.66518801e-02 9.99328084e-01 -1.45057499e-04 -1.01414485e+00] [-2.71522895e-03 4.55693370e-05 9.99996313e-01 -7.49493534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.01, Z:-0.75 [[ 9.99126422e-01 4.17214465e-02 2.39037404e-03 2.88351885e+01] [-4.17212540e-02 9.99129281e-01 -1.30343440e-04 -1.01313607e+00] [-2.39373081e-03 3.05001726e-05 9.99997135e-01 -7.50812106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.01, Z:-0.75 [[ 9.98979617e-01 4.50758715e-02 2.80904494e-03 2.88653180e+01] [-4.50756189e-02 9.98983566e-01 -1.53203475e-04 -1.01263556e+00] [-2.81309552e-03 2.64277091e-05 9.99996043e-01 -7.52595299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.89, Y:-1.04, Z:-0.76 [[ 9.98152828e-01 5.37618243e-02 2.82948365e-02 2.88852463e+01] [-5.48098551e-02 9.97786045e-01 3.76681411e-02 -1.03699604e+00] [-2.62070850e-02 -3.91493974e-02 9.98889640e-01 -7.59270447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535871560000004 meters Centerline goodness [0,1] 0.9998506985176495 Centerline is valid? [True, True] Translation: X:28.92, Y:-1.02, Z:-0.76 [[ 9.97795895e-01 5.97639427e-02 2.88378674e-02 2.89203989e+01] [-6.02356826e-02 9.98059508e-01 1.57759814e-02 -1.01665280e+00] [-2.78390729e-02 -1.74782781e-02 9.99459602e-01 -7.56107529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.97, Z:-0.75 [[ 9.98054769e-01 6.22349742e-02 3.67233052e-03 2.89590760e+01] [-6.19663718e-02 9.96766120e-01 -5.11612290e-02 -9.72824215e-01] [-6.84447241e-03 5.08341476e-02 9.98683655e-01 -7.52665917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.98, Y:-1.03, Z:-0.75 [[ 9.97075992e-01 7.12174571e-02 2.77045241e-02 2.89801634e+01] [-7.24537389e-02 9.96286097e-01 4.65238500e-02 -1.02580623e+00] [-2.42883219e-02 -4.83951102e-02 9.98532919e-01 -7.52777576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62587156 meters Centerline goodness [0,1] 0.9999148954277569 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.96, Z:-0.75 [[ 9.97261051e-01 7.37994288e-02 4.90310368e-03 2.90235774e+01] [-7.34804463e-02 9.96140348e-01 -4.80107355e-02 -9.62206677e-01] [-8.42734426e-03 4.75189543e-02 9.98834786e-01 -7.54504486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.99, Z:-0.76 [[ 9.97093786e-01 7.58044588e-02 7.59377365e-03 2.90525684e+01] [-7.58033785e-02 9.97122692e-01 -4.30403640e-04 -9.86788650e-01] [-7.60455054e-03 -1.46480903e-04 9.99971074e-01 -7.56552206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.02, Z:-0.76 [[ 9.96373117e-01 8.12262186e-02 2.53557398e-02 2.90749790e+01] [-8.22883157e-02 9.95631916e-01 4.41103257e-02 -1.01614886e+00] [-2.16620688e-02 -4.60368238e-02 9.98704844e-01 -7.55199921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715871560000004 meters Centerline goodness [0,1] 0.9999785720407989 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.99, Z:-0.76 [[ 9.95935431e-01 8.64039553e-02 2.54356732e-02 2.91112561e+01] [-8.66102873e-02 9.96216803e-01 7.12313131e-03 -9.85336915e-01] [-2.47239783e-02 -9.29716982e-03 9.99651083e-01 -7.58529792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745871560000005 meters Centerline goodness [0,1] 0.9995970307529162 Centerline is valid? [True, True] Translation: X:29.15, Y:-0.94, Z:-0.76 [[ 9.96183242e-01 8.71534984e-02 4.81829459e-03 2.91507878e+01] [-8.67616819e-02 9.94727520e-01 -5.46769793e-02 -9.38826304e-01] [-9.55818026e-03 5.40502471e-02 9.98492470e-01 -7.55577025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77587156 meters Centerline goodness [0,1] 0.9995108152370419 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.97, Z:-0.76 [[ 9.96310053e-01 8.54869191e-02 7.63314240e-03 2.91773981e+01] [-8.54860933e-02 9.96339269e-01 -4.34978869e-04 -9.72109015e-01] [-7.64238452e-03 -2.19153704e-04 9.99970773e-01 -7.60316614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80587156 meters Centerline goodness [0,1] 0.9997029618942544 Centerline is valid? [True, True] Translation: X:29.20, Y:-1.01, Z:-0.76 [[ 9.95848710e-01 8.62911523e-02 2.89686737e-02 2.92000273e+01] [-8.77099548e-02 9.94791998e-01 5.19215160e-02 -1.00941432e+00] [-2.43374373e-02 -5.42468158e-02 9.98230921e-01 -7.63847239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83587156 meters Centerline goodness [0,1] 0.9998726925525143 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.95, Z:-0.76 [[ 9.96321099e-01 8.55298801e-02 5.37652553e-03 2.92418905e+01] [-8.51212690e-02 9.94929131e-01 -5.35760544e-02 -9.45064452e-01] [-9.93161539e-03 5.29212967e-02 9.98549297e-01 -7.57342411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86587156 meters Centerline goodness [0,1] 0.9999570695687638 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.01, Z:-0.76 [[ 9.96257772e-01 8.31200401e-02 2.36962037e-02 2.92620462e+01] [-8.39974378e-02 9.95709898e-01 3.88101684e-02 -1.00920804e+00] [-2.03686419e-02 -4.06553523e-02 9.98965595e-01 -7.59865468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89587156 meters Centerline goodness [0,1] 0.9998930892918235 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.96, Z:-0.76 [[ 9.96687484e-01 8.11157236e-02 5.85652164e-03 2.93033813e+01] [-8.08165179e-02 9.95916381e-01 -4.02399338e-02 -9.59750272e-01] [-9.09669719e-03 3.96333347e-02 9.99172882e-01 -7.58970973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925871560000004 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:29.33, Y:-0.99, Z:-0.76 [[ 9.96879939e-01 7.85064018e-02 8.19342563e-03 2.93317652e+01] [-7.85052075e-02 9.96913594e-01 -4.67770474e-04 -9.85715666e-01] [-8.20486037e-03 -1.76915579e-04 9.99966324e-01 -7.62026474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95587156 meters Centerline goodness [0,1] 0.9999576010684531 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.99, Z:-0.77 [[ 9.97145238e-01 7.50610362e-02 8.19850058e-03 2.93608547e+01] [-7.50597280e-02 9.97178930e-01 -4.67587695e-04 -9.88666899e-01] [-8.21046966e-03 -1.49124380e-04 9.99966282e-01 -7.65578656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.03, Z:-0.77 [[ 9.96871770e-01 7.36886830e-02 2.85771195e-02 2.93831463e+01] [-7.51637496e-02 9.95679048e-01 5.45311225e-02 -1.02911356e+00] [-2.44353126e-02 -5.65085001e-02 9.98103053e-01 -7.68837059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01587156 meters Centerline goodness [0,1] 0.9999787883930087 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.97, Z:-0.76 [[ 9.97536906e-01 6.99481591e-02 5.23228456e-03 2.94247189e+01] [-6.95453881e-02 9.95995495e-01 -5.61819641e-02 -9.65897701e-01] [-9.14115681e-03 5.56797013e-02 9.98406836e-01 -7.64774916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.04, Z:-0.77 [[ 9.97522313e-01 6.59484750e-02 2.44955855e-02 2.94479724e+01] [-6.70526072e-02 9.96623735e-01 4.73822677e-02 -1.03580633e+00] [-2.12880936e-02 -4.89073621e-02 9.98576430e-01 -7.68356272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.01, Z:-0.77 [[ 9.97677850e-01 6.44208129e-02 2.21103331e-02 2.94823155e+01] [-6.44522112e-02 9.97920542e-01 7.09666310e-04 -1.01371465e+00] [-2.20186383e-02 -2.13307822e-03 9.99755285e-01 -7.70855764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105871560000004 meters Centerline goodness [0,1] 0.9999358178939711 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.99, Z:-0.77 [[ 9.98166478e-01 6.03550451e-02 4.57714563e-03 2.95193004e+01] [-6.00367563e-02 9.96842947e-01 -5.19588985e-02 -9.86898734e-01] [-7.69867700e-03 5.15888338e-02 9.98638735e-01 -7.67774178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.03, Z:-0.77 [[ 9.98597529e-01 5.23128452e-02 8.14496693e-03 2.95481069e+01] [-5.23108113e-02 9.98630745e-01 -4.62706969e-04 -1.02967160e+00] [-8.15801991e-03 3.59882090e-05 9.99966722e-01 -7.71094554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.04, Z:-0.77 [[ 9.98745087e-01 4.93911065e-02 8.29277475e-03 2.95791619e+01] [-4.93888854e-02 9.98779513e-01 -4.72529760e-04 -1.03685592e+00] [-8.30599229e-03 6.23658746e-05 9.99965503e-01 -7.72519126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19587156 meters Centerline goodness [0,1] 0.9997219132369299 Centerline is valid? [True, True] Translation: X:29.61, Y:-1.05, Z:-0.77 [[ 9.98979448e-01 4.43867821e-02 8.35921723e-03 2.96103671e+01] [-4.43843393e-02 9.99014415e-01 -4.77611698e-04 -1.04634349e+00] [-8.37217816e-03 1.06105936e-04 9.99964947e-01 -7.72036237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22587156 meters Centerline goodness [0,1] 0.9999786616592694 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.08, Z:-0.78 [[ 9.98648862e-01 4.59216276e-02 2.43239361e-02 2.96324723e+01] [-4.67912994e-02 9.98238322e-01 3.64805030e-02 -1.07596919e+00] [-2.26058411e-02 -3.75693614e-02 9.99038297e-01 -7.77436892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.03, Z:-0.77 [[ 9.99015134e-01 4.37125454e-02 7.61418430e-03 2.96738783e+01] [-4.33845916e-02 9.98299939e-01 -3.89231154e-02 -1.03376750e+00] [-9.30266817e-03 3.85544430e-02 9.99213198e-01 -7.71683925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285871560000004 meters Centerline goodness [0,1] 0.9999785990968819 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.08, Z:-0.77 [[ 9.98694282e-01 4.50224742e-02 2.41393588e-02 2.96971714e+01] [-4.58331607e-02 9.98365086e-01 3.41537286e-02 -1.07892807e+00] [-2.25622076e-02 -3.52155165e-02 9.99125024e-01 -7.72779048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.04, Z:-0.77 [[ 9.98911987e-01 4.57006844e-02 9.28925837e-03 2.97375151e+01] [-4.53404587e-02 9.98327684e-01 -3.58619304e-02 -1.03744862e+00] [-1.09126386e-02 3.54017329e-02 9.99313580e-01 -7.70384429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34587156 meters Centerline goodness [0,1] 0.9999785112600997 Centerline is valid? [True, True] Translation: X:29.77, Y:-1.06, Z:-0.77 [[ 9.98847841e-01 4.66027512e-02 1.14531631e-02 2.97684752e+01] [-4.65982552e-02 9.98913494e-01 -6.59241187e-04 -1.05705569e+00] [-1.14714416e-02 1.24784220e-04 9.99934193e-01 -7.70678839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.05, Z:-0.77 [[ 9.98596743e-01 5.17880245e-02 1.10700538e-02 2.98014272e+01] [-5.17841249e-02 9.98658098e-01 -6.38804508e-04 -1.05083843e+00] [-1.10882813e-02 6.46550537e-05 9.99938521e-01 -7.71679340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-1.05, Z:-0.77 [[ 9.98423481e-01 5.50382226e-02 1.10157368e-02 2.98341321e+01] [-5.50345388e-02 9.98484248e-01 -6.37489989e-04 -1.04834798e+00] [-1.10341260e-02 3.02389779e-05 9.99939122e-01 -7.73435585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.87, Y:-1.05, Z:-0.78 [[ 9.98236142e-01 5.83487506e-02 1.09557716e-02 2.98661658e+01] [-5.83452889e-02 9.98296260e-01 -6.35594321e-04 -1.04510541e+00] [-1.09741919e-02 -4.74443473e-06 9.99939782e-01 -7.75472777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465871560000004 meters Centerline goodness [0,1] 0.9999784570973093 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.03, Z:-0.78 [[ 9.97851847e-01 6.47201367e-02 1.01487109e-02 2.98992368e+01] [-6.47174787e-02 9.97903452e-01 -5.90441064e-04 -1.03466651e+00] [-1.01656471e-02 -6.76262753e-05 9.99948326e-01 -7.77647489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495871560000005 meters Centerline goodness [0,1] 0.9998925216568861 Centerline is valid? [True, True] Translation: X:29.93, Y:-1.03, Z:-0.78 [[ 9.97661289e-01 6.76680106e-02 9.64323028e-03 2.99308458e+01] [-6.76657076e-02 9.97707889e-01 -5.65254036e-04 -1.03039052e+00] [-9.65937655e-03 -8.85839303e-05 9.99953343e-01 -7.79481482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52587156 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:29.96, Y:-1.02, Z:-0.78 [[ 9.97330721e-01 7.24882781e-02 8.76830107e-03 2.99610236e+01] [-7.24865658e-02 9.97369257e-01 -5.13346618e-04 -1.02338295e+00] [-8.78244554e-03 -1.23607680e-04 9.99961426e-01 -7.83317841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55587156 meters Centerline goodness [0,1] 0.9999148465108357 Centerline is valid? [True, True] Translation: X:29.99, Y:-1.02, Z:-0.79 [[ 9.97231914e-01 7.38597786e-02 8.55822194e-03 2.99902189e+01] [-7.38581805e-02 9.97268628e-01 -5.03070586e-04 -1.02046159e+00] [-8.57200293e-03 -1.30416658e-04 9.99963251e-01 -7.87813691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58587156 meters Centerline goodness [0,1] 0.9999573488015013 Centerline is valid? [True, True] Translation: X:30.02, Y:-1.02, Z:-0.79 [[ 9.97188807e-01 7.44309656e-02 8.63219796e-03 3.00203704e+01] [-7.44293599e-02 9.97226159e-01 -5.07557661e-04 -1.02138157e+00] [-8.64603163e-03 -1.36358151e-04 9.99962613e-01 -7.86872633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61587156 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:30.05, Y:-1.02, Z:-0.79 [[ 9.97182357e-01 7.44295588e-02 9.35887064e-03 3.00495619e+01] [-7.44276762e-02 9.97226263e-01 -5.49768367e-04 -1.02044082e+00] [-9.37383061e-03 -1.48339677e-04 9.99956054e-01 -7.88389968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64587156 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:30.08, Y:-1.02, Z:-0.78 [[ 9.97228734e-01 7.36791067e-02 1.03073493e-02 3.00797147e+01] [-7.36767799e-02 9.97281989e-01 -6.05793553e-04 -1.02368957e+00] [-1.03239682e-02 -1.55297571e-04 9.99946694e-01 -7.84064497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.11, Y:-1.02, Z:-0.79 [[ 9.97280629e-01 7.29335926e-02 1.05848383e-02 3.01089872e+01] [-7.29311117e-02 9.97336787e-01 -6.20697968e-04 -1.02402362e+00] [-1.06019183e-02 -1.52953961e-04 9.99943786e-01 -7.86619233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70587156 meters Centerline goodness [0,1] 0.9999785821375027 Centerline is valid? [True, True] Translation: X:30.14, Y:-1.03, Z:-0.79 [[ 9.97368719e-01 7.16454954e-02 1.10707083e-02 3.01403945e+01] [-7.16427014e-02 9.97430149e-01 -6.49263397e-04 -1.02638351e+00] [-1.10887750e-02 -1.45580445e-04 9.99938507e-01 -7.86375266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73587156 meters Centerline goodness [0,1] 0.9999574332233692 Centerline is valid? [True, True] Translation: X:30.17, Y:-1.03, Z:-0.79 [[ 9.97386509e-01 7.14332949e-02 1.08367814e-02 3.01703873e+01] [-7.14305976e-02 9.97445369e-01 -6.36242204e-04 -1.02771503e+00] [-1.08545463e-02 -1.39498377e-04 9.99941078e-01 -7.87787514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76587156 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:30.20, Y:-1.03, Z:-0.79 [[ 9.97372974e-01 7.16345887e-02 1.07534813e-02 3.02012976e+01] [-7.16319444e-02 9.97430933e-01 -6.31351544e-04 -1.03004234e+00] [-1.07710815e-02 -1.40599808e-04 9.99941980e-01 -7.87637456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79587156 meters Centerline goodness [0,1] 0.9999358727715788 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.03, Z:-0.79 [[ 9.97236043e-01 7.34829757e-02 1.09785126e-02 3.02311776e+01] [-7.34803290e-02 9.97296458e-01 -6.44794117e-04 -1.02579360e+00] [-1.09962131e-02 -1.63692784e-04 9.99939526e-01 -7.89111456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.02, Z:-0.79 [[ 9.97134875e-01 7.48484532e-02 1.09430656e-02 3.02606207e+01] [-7.48459073e-02 9.97194904e-01 -6.42573584e-04 -1.02355397e+00] [-1.09604649e-02 -1.78311143e-04 9.99939916e-01 -7.90553412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855871560000004 meters Centerline goodness [0,1] 0.9998734230623181 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.02, Z:-0.79 [[ 9.97050301e-01 7.59496773e-02 1.10608758e-02 3.02912271e+01] [-7.59471480e-02 9.97111633e-01 -6.49133109e-04 -1.02199804e+00] [-1.10782294e-02 -1.92823609e-04 9.99938616e-01 -7.91691849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88587156 meters Centerline goodness [0,1] 0.9999154190983676 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.02, Z:-0.79 [[ 9.96980288e-01 7.66775331e-02 1.22825975e-02 3.03207027e+01] [-7.66744669e-02 9.97055919e-01 -7.21039906e-04 -1.02049607e+00] [-1.23017241e-02 -2.22899045e-04 9.99924306e-01 -7.90912265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91587156 meters Centerline goodness [0,1] 0.9998080491394203 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.02, Z:-0.79 [[ 9.96993213e-01 7.63421612e-02 1.32818425e-02 3.03516355e+01] [-7.63385520e-02 9.97081651e-01 -7.79249208e-04 -1.02230911e+00] [-1.33025711e-02 -2.37010456e-04 9.99911489e-01 -7.90078667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94587156 meters Centerline goodness [0,1] 0.9999786530045897 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.02, Z:-0.79 [[ 9.97059291e-01 7.53750639e-02 1.38336725e-02 3.03815697e+01] [-7.53710563e-02 9.97155226e-01 -8.11568105e-04 -1.02465311e+00] [-1.38554908e-02 -2.33476988e-04 9.99903981e-01 -7.90857488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97587156 meters Centerline goodness [0,1] 0.9999572576508805 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.03, Z:-0.79 [[ 9.97196250e-01 7.33420350e-02 1.48520990e-02 3.04127443e+01] [-7.33371898e-02 9.97306822e-01 -8.71337815e-04 -1.02978498e+00] [-1.48760053e-02 -2.20316399e-04 9.99889322e-01 -7.89039098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.03, Z:-0.79 [[ 9.97249590e-01 7.26385863e-02 1.47272283e-02 3.04435292e+01] [-7.26337405e-02 9.97358307e-01 -8.64355314e-04 -1.03138068e+00] [-1.47511091e-02 -2.07715699e-04 9.99891175e-01 -7.90413326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035871560000004 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:30.47, Y:-1.03, Z:-0.79 [[ 9.97299352e-01 7.20627519e-02 1.41761257e-02 3.04741604e+01] [-7.20581969e-02 9.97400082e-01 -8.32502081e-04 -1.03025440e+00] [-1.41992613e-02 -1.91252272e-04 9.99899167e-01 -7.94102142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.03, Z:-0.79 [[ 9.97316317e-01 7.18884747e-02 1.38640292e-02 3.05048967e+01] [-7.18840991e-02 9.97412659e-01 -8.14319730e-04 -1.03361768e+00] [-1.38866984e-02 -1.84468894e-04 9.99903558e-01 -7.93269387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:-1.03, Z:-0.80 [[ 9.97329861e-01 7.17546308e-02 1.35801650e-02 3.05351305e+01] [-7.17504180e-02 9.97422298e-01 -7.97804157e-04 -1.03483316e+00] [-1.36024055e-02 -1.78708603e-04 9.99907467e-01 -7.95721916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12587156 meters Centerline goodness [0,1] 0.9999787021063616 Centerline is valid? [True, True] Translation: X:30.56, Y:-1.04, Z:-0.80 [[ 9.97351704e-01 7.15328406e-02 1.31389060e-02 3.05649985e+01] [-7.15288759e-02 9.97438231e-01 -7.72028710e-04 -1.03514406e+00] [-1.31604725e-02 -1.69827024e-04 9.99913383e-01 -7.98087893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15587156 meters Centerline goodness [0,1] 0.9999787735348432 Centerline is valid? [True, True] Translation: X:30.59, Y:-1.03, Z:-0.80 [[ 9.97348683e-01 7.15329924e-02 1.33654676e-02 3.05944560e+01] [-7.15288824e-02 9.97438219e-01 -7.85895455e-04 -1.03475042e+00] [-1.33874456e-02 -1.72205162e-04 9.99910369e-01 -7.99102687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.62, Y:-1.03, Z:-0.80 [[ 9.97304033e-01 7.17721990e-02 1.52780208e-02 3.06249149e+01] [-7.17668628e-02 9.97421030e-01 -8.97953847e-04 -1.03294909e+00] [-1.53030674e-02 -2.00922632e-04 9.99882881e-01 -7.96498742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.03, Z:-0.80 [[ 9.97302359e-01 7.17954528e-02 1.52780409e-02 3.06556883e+01] [-7.17901245e-02 9.97419356e-01 -8.97612641e-04 -1.03480438e+00] [-1.53030582e-02 -2.01621254e-04 9.99882881e-01 -7.97422648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.03, Z:-0.80 [[ 9.97269459e-01 7.21308385e-02 1.58356587e-02 3.06867706e+01] [-7.21251503e-02 9.97395156e-01 -9.30765378e-04 -1.03482325e+00] [-1.58615462e-02 -2.13925378e-04 9.99874175e-01 -7.96762032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.03, Z:-0.80 [[ 9.97244189e-01 7.23807852e-02 1.62803496e-02 3.07184545e+01] [-7.23747997e-02 9.97377046e-01 -9.57307271e-04 -1.03235976e+00] [-1.63069377e-02 -2.23617930e-04 9.99867008e-01 -7.96106143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30587156 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.03, Z:-0.80 [[ 9.97193800e-01 7.28790871e-02 1.71220179e-02 3.07487454e+01] [-7.28725407e-02 9.97340754e-01 -1.00676277e-03 -1.03092517e+00] [-1.71498582e-02 -2.43787353e-04 9.99852901e-01 -7.96969563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33587156 meters Centerline goodness [0,1] 0.9998289172601099 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.03, Z:-0.80 [[ 9.97177878e-01 7.30250429e-02 1.74247509e-02 3.07794353e+01] [-7.30182551e-02 9.97330076e-01 -1.02629175e-03 -1.02918311e+00] [-1.74531732e-02 -2.48929477e-04 9.99847651e-01 -7.97615477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36587156 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.03, Z:-0.80 [[ 9.97141346e-01 7.34195091e-02 1.78524953e-02 3.08095300e+01] [-7.34124407e-02 9.97301112e-01 -1.05184441e-03 -1.02878830e+00] [-1.78815393e-02 -2.61757705e-04 9.99840078e-01 -7.98357689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39587156 meters Centerline goodness [0,1] 0.9998927590940289 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.02, Z:-0.80 [[ 9.97116730e-01 7.37318856e-02 1.79397919e-02 3.08400235e+01] [-7.37247985e-02 9.97278064e-01 -1.05698780e-03 -1.02490818e+00] [-1.79688946e-02 -2.68667322e-04 9.99838510e-01 -7.97705605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.02, Z:-0.80 [[ 9.97106090e-01 7.37721436e-02 1.83607115e-02 3.08699483e+01] [-7.37647294e-02 9.97275085e-01 -1.08164922e-03 -1.02351832e+00] [-1.83904757e-02 -2.75853893e-04 9.99830843e-01 -8.01352663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.90, Y:-1.02, Z:-0.80 [[ 9.97167982e-01 7.28953986e-02 1.85007073e-02 3.09018021e+01] [-7.28877208e-02 9.97339557e-01 -1.08985557e-03 -1.02441941e+00] [-1.85309327e-02 -2.61705303e-04 9.99828253e-01 -8.02127867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.93, Y:-1.03, Z:-0.80 [[ 9.97224034e-01 7.21604086e-02 1.83603043e-02 3.09332530e+01] [-7.21527081e-02 9.97393009e-01 -1.08235812e-03 -1.02581562e+00] [-1.83905426e-02 -2.45392143e-04 9.99830850e-01 -8.03224284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51587156 meters Centerline goodness [0,1] 0.9998491736872724 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.03, Z:-0.81 [[ 9.97320575e-01 7.10587759e-02 1.73873763e-02 3.09649237e+01] [-7.10516960e-02 9.97472107e-01 -1.02538092e-03 -1.02578724e+00] [-1.74162852e-02 -2.12769088e-04 9.99848302e-01 -8.05250341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.99, Y:-1.03, Z:-0.81 [[ 9.97441726e-01 6.91539627e-02 1.81034025e-02 3.09948834e+01] [-6.91459630e-02 9.97605982e-01 -1.06820482e-03 -1.02841635e+00] [-1.81339332e-02 -1.86305140e-04 9.99835549e-01 -8.07011636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.03, Z:-0.81 [[ 9.97516102e-01 6.79986828e-02 1.83794636e-02 3.10265948e+01] [-6.79902420e-02 9.97685397e-01 -1.08444932e-03 -1.03085208e+00] [-1.84106635e-02 -1.67868520e-04 9.99830495e-01 -8.07744262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.03, Z:-0.81 [[ 9.97595233e-01 6.68284817e-02 1.83767799e-02 3.10590592e+01] [-6.68198603e-02 9.97764467e-01 -1.08345243e-03 -1.03361778e+00] [-1.84081035e-02 -1.47086884e-04 9.99830546e-01 -8.09222837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.09, Y:-1.04, Z:-0.81 [[ 9.97754708e-01 6.44352106e-02 1.82659981e-02 3.10897599e+01] [-6.44262350e-02 9.97921888e-01 -1.08002712e-03 -1.03783929e+00] [-1.82976311e-02 -9.92073447e-05 9.99832579e-01 -8.11064139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.04, Z:-0.81 [[ 9.97799659e-01 6.37674425e-02 1.81536013e-02 3.11217709e+01] [-6.37584218e-02 9.97964782e-01 -1.07583947e-03 -1.04106865e+00] [-1.81852583e-02 -8.39727151e-05 9.99834631e-01 -8.13113388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69587156 meters Centerline goodness [0,1] 0.9997625062072242 Centerline is valid? [True, True] Translation: X:31.15, Y:-1.04, Z:-0.81 [[ 9.97931356e-01 6.19571875e-02 1.71556217e-02 3.11532151e+01] [-6.19487992e-02 9.98078807e-01 -1.02045602e-03 -1.04460136e+00] [-1.71858870e-02 -4.44251019e-05 9.99852311e-01 -8.14738632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72587156 meters Centerline goodness [0,1] 0.9998711340206186 Centerline is valid? [True, True] Translation: X:31.19, Y:-1.05, Z:-0.82 [[ 9.97948237e-01 6.15989500e-02 1.74609976e-02 3.11854888e+01] [-6.15901928e-02 9.98100981e-01 -1.03935350e-03 -1.04723069e+00] [-1.74918619e-02 -3.82052156e-05 9.99847005e-01 -8.15991033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.05, Z:-0.82 [[ 9.97901776e-01 6.19653095e-02 1.87708961e-02 3.12162608e+01] [-6.19551882e-02 9.98078303e-01 -1.12080582e-03 -1.05008312e+00] [-1.88042752e-02 -4.45002813e-05 9.99823183e-01 -8.16848727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.25, Y:-1.05, Z:-0.82 [[ 9.97805947e-01 6.32413364e-02 1.95914487e-02 3.12487868e+01] [-6.32304984e-02 9.97998261e-01 -1.17277924e-03 -1.04855008e+00] [-1.96263998e-02 -6.85709596e-05 9.99807381e-01 -8.16128699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.05, Z:-0.82 [[ 9.97713719e-01 6.45603390e-02 1.99824317e-02 3.12822584e+01] [-6.45492686e-02 9.97913801e-01 -1.19917429e-03 -1.04808443e+00] [-2.00181634e-02 -9.34187123e-05 9.99799612e-01 -8.16181628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:-1.04, Z:-0.82 [[ 9.97472971e-01 6.78790064e-02 2.09788827e-02 3.13134639e+01] [-6.78674465e-02 9.97693547e-01 -1.26332845e-03 -1.04429829e+00] [-2.10162494e-02 -1.63647216e-04 9.99779121e-01 -8.16025495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.05, Z:-0.81 [[ 9.97344898e-01 6.98007682e-02 2.07607252e-02 3.13454723e+01] [-6.97898058e-02 9.97560932e-01 -1.25297065e-03 -1.04586737e+00] [-2.07975467e-02 -1.99243097e-04 9.99783688e-01 -8.14891734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.05, Z:-0.82 [[ 9.97218612e-01 7.16759754e-02 2.04351203e-02 3.13781330e+01] [-7.16656789e-02 9.97427943e-01 -1.23668636e-03 -1.04534013e+00] [-2.04712007e-02 -2.31250116e-04 9.99790416e-01 -8.16340524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.04, Z:-0.82 [[ 9.96929776e-01 7.53031747e-02 2.14582054e-02 3.14092133e+01] [-7.52925497e-02 9.97160635e-01 -1.30378273e-03 -1.04089641e+00] [-2.14954567e-02 -3.15863172e-04 9.99768896e-01 -8.16673224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:-1.04, Z:-0.82 [[ 9.96792898e-01 7.69675856e-02 2.19068531e-02 3.14394361e+01] [-7.69569054e-02 9.97033531e-01 -1.33140683e-03 -1.03958748e+00] [-2.19443423e-02 -3.58746750e-04 9.99759130e-01 -8.16708747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995871560000005 meters Centerline goodness [0,1] 0.9999785001719986 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.04, Z:-0.82 [[ 9.96663053e-01 7.85160493e-02 2.23156487e-02 3.14698383e+01] [-7.85053547e-02 9.96912769e-01 -1.35625172e-03 -1.03861004e+00] [-2.23532427e-02 -4.00171942e-04 9.99750055e-01 -8.17032795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02587156 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:31.50, Y:-1.03, Z:-0.82 [[ 9.96373076e-01 8.18811836e-02 2.31552531e-02 3.15004407e+01] [-8.18705864e-02 9.96641976e-01 -1.40687841e-03 -1.02852763e+00] [-2.31926941e-02 -4.93958388e-04 9.99730891e-01 -8.18823342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.03, Z:-0.82 [[ 9.96229867e-01 8.33863248e-02 2.39326656e-02 3.15304133e+01] [-8.33753923e-02 9.96517147e-01 -1.45602083e-03 -1.03214214e+00] [-2.39707238e-02 -5.44863943e-04 9.99712512e-01 -8.17280193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08587156 meters Centerline goodness [0,1] 0.9998716797125625 Centerline is valid? [True, True] Translation: X:31.56, Y:-1.02, Z:-0.82 [[ 9.96061740e-01 8.52338138e-02 2.44173594e-02 3.15605281e+01] [-8.52229982e-02 9.96360796e-01 -1.48511924e-03 -1.02337635e+00] [-2.44550820e-02 -6.01650117e-04 9.99700749e-01 -8.19010608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.03, Z:-0.82 [[ 9.96026727e-01 8.57008738e-02 2.42099142e-02 3.15909473e+01] [-8.56903753e-02 9.96320727e-01 -1.47265338e-03 -1.02996695e+00] [-2.42470470e-02 -6.07754514e-04 9.99705812e-01 -8.18976134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14587156 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:31.62, Y:-1.03, Z:-0.82 [[ 9.96055528e-01 8.54211451e-02 2.40127532e-02 3.16211952e+01] [-8.54107357e-02 9.96344756e-01 -1.46066036e-03 -1.03193918e+00] [-2.40497520e-02 -5.96048088e-04 9.99710585e-01 -8.20287888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175871560000004 meters Centerline goodness [0,1] 0.999978561934571 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.03, Z:-0.82 [[ 9.96110817e-01 8.48556115e-02 2.37226982e-02 3.16517364e+01] [-8.48452918e-02 9.96393092e-01 -1.44301674e-03 -1.03287693e+00] [-2.37595807e-02 -5.75354665e-04 9.99717536e-01 -8.22103515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20587156 meters Centerline goodness [0,1] 0.9999149261984772 Centerline is valid? [True, True] Translation: X:31.68, Y:-1.03, Z:-0.83 [[ 9.96325529e-01 8.26520249e-02 2.24517908e-02 3.16813043e+01] [-8.26422200e-02 9.96578345e-01 -1.36579894e-03 -1.02769659e+00] [-2.24878545e-02 -4.94685475e-04 9.99746994e-01 -8.28738832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23587156 meters Centerline goodness [0,1] 0.999915317031862 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.04, Z:-0.83 [[ 9.96451334e-01 8.13716486e-02 2.15265803e-02 3.17102655e+01] [-8.13623398e-02 9.96683729e-01 -1.30935973e-03 -1.03554673e+00] [-2.15617371e-02 -4.46739695e-04 9.99767419e-01 -8.29916497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.74, Y:-1.04, Z:-0.83 [[ 9.96706528e-01 7.84964081e-02 2.03570756e-02 3.17402042e+01] [-7.84874968e-02 9.96914330e-01 -1.23758713e-03 -1.04430587e+00] [-2.03914065e-02 -3.64264728e-04 9.99792007e-01 -8.32501565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.05, Z:-0.83 [[ 9.96815719e-01 7.71894027e-02 2.00054406e-02 3.17692242e+01] [-7.71805311e-02 9.97016392e-01 -1.21632577e-03 -1.04695928e+00] [-2.00396397e-02 -3.31577882e-04 9.99799131e-01 -8.34104360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:-1.05, Z:-0.83 [[ 9.96882692e-01 7.63064489e-02 2.00555100e-02 3.18000454e+01] [-7.62973618e-02 9.97084363e-01 -1.21899047e-03 -1.05081286e+00] [-2.00900522e-02 -3.14992003e-04 9.99798125e-01 -8.34825687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.05, Z:-0.84 [[ 9.96911443e-01 7.60261488e-02 1.96875514e-02 3.18298934e+01] [-7.60173335e-02 9.97105778e-01 -1.19683088e-03 -1.05067540e+00] [-1.97215617e-02 -3.03460763e-04 9.99805465e-01 -8.36250468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.86, Y:-1.05, Z:-0.84 [[ 9.96891681e-01 7.62134051e-02 1.99622868e-02 3.18590432e+01] [-7.62043844e-02 9.97091480e-01 -1.21328993e-03 -1.05028732e+00] [-1.99966950e-02 -3.11695132e-04 9.99799998e-01 -8.37613226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.05, Z:-0.84 [[ 9.96848061e-01 7.66415522e-02 2.04942831e-02 3.18895987e+01] [-7.66321421e-02 9.97058656e-01 -1.24526498e-03 -1.05093425e+00] [-2.05294414e-02 -3.29180835e-04 9.99789195e-01 -8.37964124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.05, Z:-0.84 [[ 9.96755494e-01 7.77176823e-02 2.09391122e-02 3.19205570e+01] [-7.77080966e-02 9.96975342e-01 -1.27229349e-03 -1.05038112e+00] [-2.09746582e-02 -3.58973020e-04 9.99779943e-01 -8.37610031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47587156 meters Centerline goodness [0,1] 0.999808241360208 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.05, Z:-0.84 [[ 9.96792057e-01 7.74721152e-02 2.00914508e-02 3.19504397e+01] [-7.74632425e-02 9.96994461e-01 -1.22066728e-03 -1.04675411e+00] [-2.01256329e-02 -3.39597478e-04 9.99797401e-01 -8.39138585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50587156 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.05, Z:-0.84 [[ 9.96817476e-01 7.70800270e-02 2.03369078e-02 3.19797619e+01] [-7.70708425e-02 9.97024853e-01 -1.23617392e-03 -1.04989667e+00] [-2.03716868e-02 -3.35142856e-04 9.99792419e-01 -8.40837899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535871560000004 meters Centerline goodness [0,1] 0.9999786164866887 Centerline is valid? [True, True] Translation: X:32.01, Y:-1.05, Z:-0.84 [[ 9.96877274e-01 7.63009359e-02 2.03437630e-02 3.20102553e+01] [-7.62915971e-02 9.97084783e-01 -1.23590106e-03 -1.05356239e+00] [-2.03787570e-02 -3.20016489e-04 9.99792280e-01 -8.42052668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.04, Y:-1.06, Z:-0.84 [[ 9.96968635e-01 7.51107926e-02 2.02955713e-02 3.20408654e+01] [-7.51012514e-02 9.97175151e-01 -1.23297338e-03 -1.05751339e+00] [-2.03308490e-02 -2.94987020e-04 9.99793263e-01 -8.43057278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.07, Y:-1.06, Z:-0.85 [[ 9.97231764e-01 7.14927749e-02 2.04350534e-02 3.20708654e+01] [-7.14823448e-02 9.97441093e-01 -1.24133363e-03 -1.06214128e+00] [-2.04715084e-02 -2.22848204e-04 9.99790412e-01 -8.45855341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.07, Z:-0.85 [[ 9.97365709e-01 6.95190153e-02 2.07062410e-02 3.21015147e+01] [-6.95078779e-02 9.97580609e-01 -1.25796052e-03 -1.06725111e+00] [-2.07435967e-02 -1.84600183e-04 9.99784811e-01 -8.46086490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.07, Z:-0.84 [[ 9.97595607e-01 6.63136353e-02 2.01372063e-02 3.21325298e+01] [-6.61775241e-02 9.97780774e-01 -7.35271357e-03 -1.07345595e+00] [-2.05801024e-02 6.00240431e-03 9.99770189e-01 -8.44608174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.09, Z:-0.85 [[ 9.97764534e-01 6.34072289e-02 2.11058549e-02 3.21621937e+01] [-6.35223336e-02 9.97968739e-01 4.82801460e-03 -1.08501619e+00] [-2.07568524e-02 -6.15791490e-03 9.99765589e-01 -8.49224143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:-1.09, Z:-0.85 [[ 9.97880450e-01 6.17329564e-02 2.05827729e-02 3.21948996e+01] [-6.17202395e-02 9.98092702e-01 -1.25313140e-03 -1.08758020e+00] [-2.06208750e-02 -1.98983495e-05 9.99787367e-01 -8.48686738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.23, Y:-1.09, Z:-0.85 [[ 9.97949335e-01 6.08043792e-02 1.99988184e-02 3.22269024e+01] [-6.07126961e-02 9.98141942e-01 -5.16062739e-03 -1.09154473e+00] [-2.02754482e-02 3.93586249e-03 9.99786685e-01 -8.47860735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77587156 meters Centerline goodness [0,1] 0.9998718414251233 Centerline is valid? [True, True] Translation: X:32.26, Y:-1.10, Z:-0.85 [[ 9.98082054e-01 5.86847209e-02 1.97057856e-02 3.22572521e+01] [-5.87479465e-02 9.98269345e-01 2.64456342e-03 -1.09846057e+00] [-1.95164862e-02 -3.79716573e-03 9.99802325e-01 -8.50305299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.29, Y:-1.10, Z:-0.85 [[ 9.98015254e-01 5.92644128e-02 2.12904157e-02 3.22893288e+01] [-5.92500459e-02 9.98242319e-01 -1.30552844e-03 -1.10167882e+00] [-2.13303654e-02 4.14791903e-05 9.99772481e-01 -8.50353763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.10, Z:-0.85 [[ 9.97956227e-01 6.01332088e-02 2.16186417e-02 3.23225136e+01] [-6.01185264e-02 9.98190361e-01 -1.32901900e-03 -1.10291952e+00] [-2.16594379e-02 2.66219073e-05 9.99765407e-01 -8.49138647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86587156 meters Centerline goodness [0,1] 0.9998715780912224 Centerline is valid? [True, True] Translation: X:32.35, Y:-1.10, Z:-0.85 [[ 9.97923253e-01 6.10384122e-02 2.05789606e-02 3.23534055e+01] [-6.10252149e-02 9.98135418e-01 -1.26925959e-03 -1.10235590e+00] [-2.06180630e-02 1.07881650e-05 9.99787425e-01 -8.49803352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.10, Z:-0.85 [[ 9.97724913e-01 6.39242313e-02 2.14170463e-02 3.23851162e+01] [-6.39105258e-02 9.97954754e-01 -1.32449194e-03 -1.10266514e+00] [-2.14579103e-02 -4.72960807e-05 9.99769751e-01 -8.52250494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.10, Z:-0.85 [[ 9.97606759e-01 6.57361719e-02 2.14361710e-02 3.24167794e+01] [-6.57227846e-02 9.97837035e-01 -1.32919037e-03 -1.10220108e+00] [-2.14771813e-02 -8.28355546e-05 9.99769335e-01 -8.53764632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.10, Z:-0.85 [[ 9.97432944e-01 6.81775248e-02 2.18939984e-02 3.24497684e+01] [-6.80379705e-02 9.97657768e-01 -7.05782312e-03 -1.09868710e+00] [-2.23239025e-02 5.55008208e-03 9.99735385e-01 -8.54279500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:-1.10, Z:-0.86 [[ 9.97346239e-01 6.96337723e-02 2.12512726e-02 3.24791543e+01] [-6.97410125e-02 9.97555661e-01 4.34669771e-03 -1.10266764e+00] [-2.08966504e-02 -5.81724788e-03 9.99764717e-01 -8.59209491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01587156 meters Centerline goodness [0,1] 0.9997872838271894 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.10, Z:-0.86 [[ 9.97341879e-01 7.01642575e-02 1.96508072e-02 3.25099541e+01] [-7.01536948e-02 9.97535439e-01 -1.22721379e-03 -1.09855649e+00] [-1.96884832e-02 -1.54625025e-04 9.99806151e-01 -8.59112251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.10, Z:-0.86 [[ 9.97270590e-01 7.06123341e-02 2.15700638e-02 3.25408876e+01] [-7.05997037e-02 9.97503818e-01 -1.34745109e-03 -1.09971855e+00] [-2.16113676e-02 -1.79066764e-04 9.99766431e-01 -8.58612395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.07587156 meters Centerline goodness [0,1] 0.9999786452549757 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.10, Z:-0.86 [[ 9.97269743e-01 7.03745311e-02 2.23715158e-02 3.25714375e+01] [-7.03608868e-02 9.97520623e-01 -1.39742855e-03 -1.09950282e+00] [-2.24143917e-02 -1.80466479e-04 9.99748750e-01 -8.59273540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.60, Y:-1.10, Z:-0.86 [[ 9.97054086e-01 7.28366214e-02 2.40411518e-02 3.26001545e+01] [-7.27151048e-02 9.97335350e-01 -5.89177405e-03 -1.10101807e+00] [-2.44062275e-02 4.12626251e-03 9.99693608e-01 -8.57606425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.63, Y:-1.11, Z:-0.86 [[ 9.97039566e-01 7.29472180e-02 2.43065354e-02 3.26316039e+01] [-7.29274351e-02 9.97335800e-01 -1.70051948e-03 -1.10569269e+00] [-2.43658261e-02 -7.71280794e-05 9.99703106e-01 -8.59160022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.66, Y:-1.11, Z:-0.86 [[ 9.97008677e-01 7.32264253e-02 2.47303335e-02 3.26628266e+01] [-7.32460868e-02 9.97313892e-01 -1.11083076e-04 -1.10962714e+00] [-2.46720393e-02 -1.70064936e-03 9.99694152e-01 -8.59256346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.11, Z:-0.86 [[ 9.97246593e-01 7.05519395e-02 2.28397873e-02 3.26964318e+01] [-7.05745634e-02 9.97506490e-01 1.85000314e-04 -1.11074981e+00] [-2.27697839e-02 -1.79639895e-03 9.99739121e-01 -8.60231059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.73, Y:-1.11, Z:-0.86 [[ 9.97279678e-01 6.99683532e-02 2.31878040e-02 3.27274437e+01] [-6.99531866e-02 9.97549199e-01 -1.46556370e-03 -1.11299903e+00] [-2.32335184e-02 -1.60483891e-04 9.99730052e-01 -8.60726772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.12, Z:-0.86 [[ 9.97302685e-01 6.96856421e-02 2.30492021e-02 3.27590297e+01] [-6.96705016e-02 9.97568990e-01 -1.46023616e-03 -1.11612331e+00] [-2.30949267e-02 -1.49552024e-04 9.99733265e-01 -8.61585116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.12, Z:-0.86 [[ 9.97327243e-01 6.92634265e-02 2.32582740e-02 3.27899325e+01] [-6.92477918e-02 9.97598396e-01 -1.47791795e-03 -1.11719163e+00] [-2.33047825e-02 -1.36616282e-04 9.99728397e-01 -8.63596378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315871560000005 meters Centerline goodness [0,1] 0.99991462477589 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.12, Z:-0.86 [[ 9.97430245e-01 6.79629911e-02 2.26702272e-02 3.28220748e+01] [-6.79477653e-02 9.97687838e-01 -1.44213174e-03 -1.12081869e+00] [-2.27158215e-02 -1.01965465e-04 9.99741957e-01 -8.63510498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.85, Y:-1.13, Z:-0.86 [[ 9.97481196e-01 6.69278118e-02 2.34932342e-02 3.28544524e+01] [-6.69110797e-02 9.97757817e-01 -1.49845635e-03 -1.12617411e+00] [-2.35408465e-02 -7.72756414e-05 9.99722873e-01 -8.64390076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.14, Z:-0.87 [[ 9.97408583e-01 6.56011707e-02 2.95399021e-02 3.28857355e+01] [-6.58706856e-02 9.97794112e-01 8.24394256e-03 -1.13763611e+00] [-2.89339281e-02 -1.01683927e-02 9.99529605e-01 -8.67019012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40587156 meters Centerline goodness [0,1] 0.9999150815217391 Centerline is valid? [True, True] Translation: X:32.92, Y:-1.14, Z:-0.87 [[ 9.97467797e-01 6.49696245e-02 2.89299435e-02 3.29167513e+01] [-6.50027848e-02 9.97885061e-01 2.06251261e-04 -1.13612991e+00] [-2.88553583e-02 -2.08625588e-03 9.99581420e-01 -8.67596843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.13, Z:-0.87 [[ 9.97753876e-01 6.31400360e-02 2.23727345e-02 3.29502651e+01] [-6.28451323e-02 9.97929958e-01 -1.36487188e-02 -1.13252322e+00] [-2.31882026e-02 1.22120446e-02 9.99656528e-01 -8.66944684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.98, Y:-1.15, Z:-0.87 [[ 9.97569759e-01 6.32169876e-02 2.92948688e-02 3.29793620e+01] [-6.35890125e-02 9.97904673e-01 1.19457262e-02 -1.15136444e+00] [-2.84783136e-02 -1.37795270e-02 9.99499430e-01 -8.69497790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.01, Y:-1.14, Z:-0.87 [[ 9.97806130e-01 6.23661360e-02 2.22124503e-02 3.30143041e+01] [-6.20368014e-02 9.97957809e-01 -1.52199250e-02 -1.13696520e+00] [-2.31162962e-02 1.38085451e-02 9.99637415e-01 -8.68171305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.14, Z:-0.87 [[ 9.97701589e-01 6.37844782e-02 2.28709311e-02 3.30466596e+01] [-6.37673666e-02 9.97963697e-01 -1.47745206e-03 -1.14429411e+00] [-2.29185975e-02 1.56372187e-05 9.99737334e-01 -8.70715381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.14, Z:-0.87 [[ 9.97615071e-01 6.52454007e-02 2.25212589e-02 3.30783632e+01] [-6.52290820e-02 9.97869249e-01 -1.45922909e-03 -1.14468636e+00] [-2.25684797e-02 -1.32921144e-05 9.99745299e-01 -8.72391941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58587156 meters Centerline goodness [0,1] 0.9999786105407256 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.14, Z:-0.87 [[ 9.97444105e-01 6.80187400e-02 2.18793890e-02 3.31107307e+01] [-6.80039206e-02 9.97684041e-01 -1.42150548e-03 -1.14147230e+00] [-2.19254063e-02 -7.00119734e-05 9.99759607e-01 -8.73595162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.14, Z:-0.88 [[ 9.97382234e-01 6.89395648e-02 2.18178020e-02 3.31418299e+01] [-6.89249653e-02 9.97620834e-01 -1.42132766e-03 -1.14204107e+00] [-2.18638795e-02 -8.61842903e-05 9.99760953e-01 -8.75447723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.14, Z:-0.88 [[ 9.97350026e-01 6.94459865e-02 2.16836574e-02 3.31727259e+01] [-6.94316005e-02 9.97585709e-01 -1.41651033e-03 -1.14208340e+00] [-2.17296777e-02 -9.27744218e-05 9.99763878e-01 -8.77971543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.16, Z:-0.88 [[ 9.97099538e-01 7.00770584e-02 2.96937100e-02 3.32015188e+01] [-7.06028385e-02 9.97358894e-01 1.70433479e-02 -1.15500478e+00] [-2.84209381e-02 -1.90903745e-02 9.99413732e-01 -8.80216223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70587156 meters Centerline goodness [0,1] 0.9998067259373792 Centerline is valid? [True, True] Translation: X:33.24, Y:-1.13, Z:-0.87 [[ 9.97460275e-01 6.81762458e-02 2.06154997e-02 3.32379060e+01] [-6.77596829e-02 9.97495697e-01 -2.02721206e-02 -1.13327279e+00] [-2.19459494e-02 1.88237352e-02 9.99581934e-01 -8.74514377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73587156 meters Centerline goodness [0,1] 0.9999358892165662 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.15, Z:-0.88 [[ 9.97723409e-01 6.32090234e-02 2.35078205e-02 3.32674146e+01] [-6.31901595e-02 9.98000309e-01 -1.54516794e-03 -1.15259908e+00] [-2.35584807e-02 5.61872930e-05 9.99722459e-01 -8.76216144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.30, Y:-1.16, Z:-0.88 [[ 9.97866815e-01 6.06316622e-02 2.41996194e-02 3.32998188e+01] [-6.06108238e-02 9.98160201e-01 -1.59434149e-03 -1.16022373e+00] [-2.42517645e-02 1.24181593e-04 9.99705875e-01 -8.76529619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79587156 meters Centerline goodness [0,1] 0.9997878209208572 Centerline is valid? [True, True] Translation: X:33.33, Y:-1.17, Z:-0.88 [[ 9.98018227e-01 5.80702517e-02 2.42376459e-02 3.33310412e+01] [-5.80484747e-02 9.98312481e-01 -1.60169139e-03 -1.16739589e+00] [-2.42897550e-02 1.91558828e-04 9.99704942e-01 -8.77491829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82587156 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:33.36, Y:-1.18, Z:-0.88 [[ 9.98372500e-01 5.18632885e-02 2.37181275e-02 3.33623584e+01] [-5.18405831e-02 9.98654136e-01 -1.57158250e-03 -1.18033889e+00] [-2.37677136e-02 3.39463190e-04 9.99717450e-01 -8.78853614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.39, Y:-1.19, Z:-0.88 [[ 9.98536083e-01 4.86633137e-02 2.36129941e-02 3.33942057e+01] [-4.86398881e-02 9.98815153e-01 -1.56574065e-03 -1.18954977e+00] [-2.36612104e-02 4.14915150e-04 9.99719948e-01 -8.80743124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88587156 meters Centerline goodness [0,1] 0.9999361280844813 Centerline is valid? [True, True] Translation: X:33.42, Y:-1.20, Z:-0.88 [[ 9.98784403e-01 4.30926852e-02 2.39319131e-02 3.34235668e+01] [-4.30669910e-02 9.99070924e-01 -1.58825205e-03 -1.20314198e+00] [-2.39781206e-02 5.55645893e-04 9.99712329e-01 -8.81709909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:-1.21, Z:-0.88 [[ 9.98887568e-01 4.05111795e-02 2.41344316e-02 3.34537854e+01] [-4.04842901e-02 9.99178891e-01 -1.60191309e-03 -1.21254260e+00] [-2.41795100e-02 6.23065736e-04 9.99707439e-01 -8.82966114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94587156 meters Centerline goodness [0,1] 0.9997862105825761 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.22, Z:-0.88 [[ 9.98984199e-01 3.85101510e-02 2.33995598e-02 3.34842781e+01] [-3.84843331e-02 9.99257997e-01 -1.55284002e-03 -1.22167122e+00] [-2.34419974e-02 6.50746185e-04 9.99724987e-01 -8.84711572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97587156 meters Centerline goodness [0,1] 0.9997645951035782 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.23, Z:-0.89 [[ 9.99111582e-01 3.56894960e-02 2.24122031e-02 3.35147051e+01] [-3.56650089e-02 9.99362688e-01 -1.49147092e-03 -1.22970336e+00] [-2.24511494e-02 6.90814451e-04 9.99747703e-01 -8.85817289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00587156 meters Centerline goodness [0,1] 0.9999362556573104 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.24, Z:-0.89 [[ 9.99141948e-01 3.52001063e-02 2.18247668e-02 3.35455551e+01] [-3.51767894e-02 9.99380051e-01 -1.45147628e-03 -1.24062662e+00] [-2.18623287e-02 6.82505615e-04 9.99760758e-01 -8.89409700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.24, Z:-0.89 [[ 9.99125414e-01 3.64265912e-02 2.05307166e-02 3.35779552e+01] [-3.64061391e-02 9.99336139e-01 -1.36917838e-03 -1.24422334e+00] [-2.05669616e-02 6.20536788e-04 9.99788285e-01 -8.90933146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065871560000005 meters Centerline goodness [0,1] 0.9999573906003665 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.25, Z:-0.89 [[ 9.99059031e-01 3.82552440e-02 2.04349677e-02 3.36091546e+01] [-3.82353602e-02 9.99267832e-01 -1.36299550e-03 -1.25103066e+00] [-2.04721476e-02 5.80374616e-04 9.99790255e-01 -8.92768278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09587156 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:33.64, Y:-1.25, Z:-0.89 [[ 9.98950285e-01 4.07961379e-02 2.08327319e-02 3.36395197e+01] [-4.07759193e-02 9.99167343e-01 -1.39456001e-03 -1.25418453e+00] [-2.08722781e-02 5.43622329e-04 9.99782002e-01 -8.93968423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-1.26, Z:-0.90 [[ 9.98691784e-01 4.67303922e-02 2.07603149e-02 3.36706293e+01] [-4.67115899e-02 9.98907451e-01 -1.38995433e-03 -1.25560521e+00] [-2.08025863e-02 4.18388656e-04 9.99783515e-01 -8.95039349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15587156 meters Centerline goodness [0,1] 0.9998925839993126 Centerline is valid? [True, True] Translation: X:33.70, Y:-1.26, Z:-0.90 [[ 9.98527744e-01 5.04474800e-02 1.99348023e-02 3.37014026e+01] [-5.04308817e-02 9.98726662e-01 -1.33478641e-03 -1.25750635e+00] [-1.99767552e-02 3.27491608e-04 9.99800391e-01 -8.96114664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18587156 meters Centerline goodness [0,1] 0.9997865482721082 Centerline is valid? [True, True] Translation: X:33.73, Y:-1.26, Z:-0.90 [[ 9.98322262e-01 5.44058225e-02 1.98158656e-02 3.37334550e+01] [-5.43902204e-02 9.98518876e-01 -1.32585237e-03 -1.25663791e+00] [-1.98586499e-02 2.45838634e-04 9.99802767e-01 -8.96390556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.25, Z:-0.90 [[ 9.97910463e-01 6.16916044e-02 1.92055585e-02 3.37654121e+01] [-6.16782145e-02 9.98095254e-01 -1.28931397e-03 -1.25389528e+00] [-1.92485166e-02 1.02055345e-04 9.99814725e-01 -8.99472430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.80, Y:-1.25, Z:-0.90 [[ 9.97670586e-01 6.55375404e-02 1.89270223e-02 3.37963588e+01] [-6.55252213e-02 9.97850104e-01 -1.27096246e-03 -1.25397740e+00] [-1.89696269e-02 2.78045387e-05 9.99820060e-01 -9.02254157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.25, Z:-0.90 [[ 9.97169354e-01 7.25907208e-02 1.95925198e-02 3.38298646e+01] [-7.25788613e-02 9.97361808e-01 -1.31664022e-03 -1.25273472e+00] [-1.96364068e-02 -1.09089492e-04 9.99807181e-01 -9.01524425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.86, Y:-1.25, Z:-0.90 [[ 9.96903915e-01 7.60105364e-02 2.01242020e-02 3.38613824e+01] [-7.59986334e-02 9.97106999e-01 -1.35671026e-03 -1.25337901e+00] [-2.01691070e-02 -1.76902089e-04 9.99796567e-01 -9.02195062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33587156 meters Centerline goodness [0,1] 0.9999574341293151 Centerline is valid? [True, True] Translation: X:33.89, Y:-1.25, Z:-0.90 [[ 9.96675424e-01 7.89809236e-02 2.00028081e-02 3.38932345e+01] [-7.89697029e-02 9.96876100e-01 -1.35145481e-03 -1.25469220e+00] [-2.00470605e-02 -2.32654020e-04 9.99799010e-01 -9.02503056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:-1.27, Z:-0.91 [[ 9.95724398e-01 8.62110503e-02 3.31749695e-02 3.39194548e+01] [-8.70109301e-02 9.95930816e-01 2.34714401e-02 -1.26773242e+00] [-3.10164769e-02 -2.62576705e-02 9.99173915e-01 -9.07951197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.25, Z:-0.91 [[ 9.95240663e-01 9.12889230e-02 3.40933325e-02 3.39491591e+01] [-9.12908688e-02 9.95823136e-01 -1.50284006e-03 -1.25041162e+00] [-3.40881220e-02 -1.61672241e-03 9.99417523e-01 -9.07422844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425871560000004 meters Centerline goodness [0,1] 0.9998946214803575 Centerline is valid? [True, True] Translation: X:33.99, Y:-1.23, Z:-0.90 [[ 9.95408154e-01 9.39235765e-02 1.84653459e-02 3.39891224e+01] [-9.33487708e-02 9.95185762e-01 -2.98547552e-02 -1.22755358e+00] [-2.11805147e-02 2.79939494e-02 9.99383672e-01 -9.03026899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45587156 meters Centerline goodness [0,1] 0.9999142734676383 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.24, Z:-0.91 [[ 9.95226001e-01 9.55650031e-02 1.98125638e-02 3.40182370e+01] [-9.55572053e-02 9.95423035e-01 -1.34208355e-03 -1.24410307e+00] [-1.98501386e-02 -5.57556782e-04 9.99802811e-01 -9.06953603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48587156 meters Centerline goodness [0,1] 0.9999354241556708 Centerline is valid? [True, True] Translation: X:34.05, Y:-1.25, Z:-0.91 [[ 9.95022369e-01 9.77763785e-02 1.92422788e-02 3.40481503e+01] [-9.77694339e-02 9.95208239e-01 -1.30357309e-03 -1.24583874e+00] [-1.92775331e-02 -5.84222320e-04 9.99814000e-01 -9.07558406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51587156 meters Centerline goodness [0,1] 0.99980894153611 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.24, Z:-0.91 [[ 9.94821859e-01 9.97508675e-02 1.94739039e-02 3.40775527e+01] [-9.97441350e-02 9.95012245e-01 -1.31913928e-03 -1.24232535e+00] [-1.95083581e-02 -6.30099112e-04 9.99809495e-01 -9.09335581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54587156 meters Centerline goodness [0,1] 0.9994227932530945 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.24, Z:-0.91 [[ 9.94465929e-01 1.03308862e-01 1.90996121e-02 3.41074358e+01] [-1.03303052e-01 9.94649087e-01 -1.29321057e-03 -1.23605067e+00] [-1.91310119e-02 -6.86994372e-04 9.99816749e-01 -9.11150630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.57587156 meters Centerline goodness [0,1] 0.9975603029467297 Centerline is valid? [True, True] Translation: X:34.14, Y:-1.23, Z:-0.91 [[ 9.94249832e-01 1.05500963e-01 1.83526263e-02 3.41359554e+01] [-1.05495969e-01 9.94418954e-01 -1.24280134e-03 -1.22726620e+00] [-1.83813162e-02 -7.00473062e-04 9.99830804e-01 -9.14965255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605871560000004 meters Centerline goodness [0,1] 0.9986579754601227 Centerline is valid? [True, True] Translation: X:34.16, Y:-1.23, Z:-0.92 [[ 9.94201815e-01 1.05981927e-01 1.81819296e-02 3.41646167e+01] [-1.05977120e-01 9.94367807e-01 -1.23041919e-03 -1.23149532e+00] [-1.82099277e-02 -7.03583540e-04 9.99833938e-01 -9.15451034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635871560000005 meters Centerline goodness [0,1] 0.9991941811395975 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.23, Z:-0.92 [[ 9.94227663e-01 1.05739429e-01 1.81803881e-02 3.41932657e+01] [-1.05734597e-01 9.94393626e-01 -1.22949836e-03 -1.23455634e+00] [-1.82084685e-02 -6.99894723e-04 9.99833967e-01 -9.15401608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66587156 meters Centerline goodness [0,1] 0.9992717458821514 Centerline is valid? [True, True] Translation: X:34.22, Y:-1.23, Z:-0.91 [[ 9.94294914e-01 1.05025744e-01 1.86337701e-02 3.42222844e+01] [-1.05020560e-01 9.94469254e-01 -1.25925388e-03 -1.23349051e+00] [-1.86629656e-02 -7.04859250e-04 9.99825583e-01 -9.14612792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69587156 meters Centerline goodness [0,1] 0.9988678116722208 Centerline is valid? [True, True] Translation: X:34.24, Y:-1.26, Z:-0.92 [[ 9.93838646e-01 1.04275519e-01 3.75680900e-02 3.42445239e+01] [-1.05639406e-01 9.93739707e-01 3.63553359e-02 -1.26002507e+00] [-3.35419312e-02 -4.01000086e-02 9.98632529e-01 -9.22537078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72587156 meters Centerline goodness [0,1] 0.9997861922986466 Centerline is valid? [True, True] Translation: X:34.29, Y:-1.22, Z:-0.91 [[ 9.94826651e-01 1.00111339e-01 1.72526399e-02 3.42854094e+01] [-9.93658505e-02 9.94258983e-01 -3.96926040e-02 -1.21855554e+00] [-2.11272719e-02 3.77729370e-02 9.99062983e-01 -9.10177087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75587156 meters Centerline goodness [0,1] 0.9998309990071191 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.25, Z:-0.92 [[ 9.95117260e-01 9.65511007e-02 2.04822614e-02 3.43130829e+01] [-9.65430287e-02 9.95327848e-01 -1.38486307e-03 -1.24521817e+00] [-2.05202752e-02 -5.99318405e-04 9.99789257e-01 -9.15251680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785871560000004 meters Centerline goodness [0,1] 0.9999360831770923 Centerline is valid? [True, True] Translation: X:34.34, Y:-1.25, Z:-0.92 [[ 9.95382141e-01 9.37211743e-02 2.07541370e-02 3.43428683e+01] [-9.37122841e-02 9.95598333e-01 -1.40265376e-03 -1.25117323e+00] [-2.07942425e-02 -5.48741082e-04 9.99783626e-01 -9.15303579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.26, Z:-0.91 [[ 9.95841050e-01 8.84003036e-02 2.20451660e-02 3.43722422e+01] [-8.83889776e-02 9.96084921e-01 -1.48953965e-03 -1.25837257e+00] [-2.20905332e-02 -4.65204957e-04 9.99755866e-01 -9.14628933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84587156 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:34.40, Y:-1.26, Z:-0.92 [[ 9.96076136e-01 8.56457798e-02 2.22964643e-02 3.44034431e+01] [-8.56335079e-02 9.96325566e-01 -1.50635776e-03 -1.26371237e+00] [-2.23435506e-02 -4.08877435e-04 9.99750268e-01 -9.15387782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87587156 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:34.43, Y:-1.27, Z:-0.92 [[ 9.96527940e-01 8.05318235e-02 2.11350479e-02 3.44334198e+01] [-8.05196348e-02 9.96751999e-01 -1.42844845e-03 -1.26984932e+00] [-2.11814368e-02 -2.78297543e-04 9.99775609e-01 -9.17834636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90587156 meters Centerline goodness [0,1] 0.9999574658131474 Centerline is valid? [True, True] Translation: X:34.47, Y:-1.27, Z:-0.92 [[ 9.96698478e-01 7.85856496e-02 2.04068319e-02 3.44650359e+01] [-7.85739011e-02 9.96907339e-01 -1.37812695e-03 -1.27397497e+00] [-2.04520215e-02 -2.29867363e-04 9.99790809e-01 -9.20395788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:-1.28, Z:-0.92 [[ 9.96853361e-01 7.67929054e-02 1.96526284e-02 3.44958430e+01] [-7.67815986e-02 9.97047048e-01 -1.33035337e-03 -1.27812136e+00] [-1.96967569e-02 -1.82792995e-04 9.99805983e-01 -9.22906886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.53, Y:-1.28, Z:-0.92 [[ 9.97061011e-01 7.42565344e-02 1.88496089e-02 3.45276380e+01] [-7.42456330e-02 9.97239165e-01 -1.27846007e-03 -1.28361165e+00] [-1.88925022e-02 -1.24798459e-04 9.99821513e-01 -9.23400964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995871560000005 meters Centerline goodness [0,1] 0.9998297691243749 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.28, Z:-0.93 [[ 9.97047010e-01 7.43683801e-02 1.91469219e-02 3.45599973e+01] [-7.43570784e-02 9.97230830e-01 -1.30249471e-03 -1.28452955e+00] [-1.91907652e-02 -1.25060717e-04 9.99815832e-01 -9.25457915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02587156 meters Centerline goodness [0,1] 0.9998297691243749 Centerline is valid? [True, True] Translation: X:34.59, Y:-1.29, Z:-0.93 [[ 9.97034705e-01 7.45331997e-02 1.91467926e-02 3.45915979e+01] [-7.45218919e-02 9.97218525e-01 -1.30439247e-03 -1.28683450e+00] [-1.91907568e-02 -1.26330645e-04 9.99815832e-01 -9.26384049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.29, Z:-0.93 [[ 9.97079236e-01 7.40943105e-02 1.85210531e-02 3.46233570e+01] [-7.40836005e-02 9.97251233e-01 -1.26464746e-03 -1.28721328e+00] [-1.85638462e-02 -1.11152574e-04 9.99827671e-01 -9.26755531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-1.29, Z:-0.93 [[ 9.97034123e-01 7.46583915e-02 1.86837569e-02 3.46550050e+01] [-7.46475290e-02 9.97209161e-01 -1.27909920e-03 -1.28711152e+00] [-1.87271090e-02 -1.19390734e-04 9.99824625e-01 -9.27747536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.69, Y:-1.28, Z:-0.93 [[ 9.96880429e-01 7.64718969e-02 1.95309612e-02 3.46869885e+01] [-7.64602860e-02 9.97071725e-01 -1.34163623e-03 -1.28157429e+00] [-1.95763666e-02 -1.55891977e-04 9.99808352e-01 -9.26684761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.72, Y:-1.28, Z:-0.93 [[ 9.96787826e-01 7.74997902e-02 2.01943554e-02 3.47181624e+01] [-7.74875780e-02 9.96992352e-01 -1.38769742e-03 -1.28067787e+00] [-2.02411641e-02 -1.81571789e-04 9.99795110e-01 -9.25383372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175871560000004 meters Centerline goodness [0,1] 0.9998063224945662 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.28, Z:-0.93 [[ 9.96683728e-01 7.87612800e-02 2.04501114e-02 3.47488773e+01] [-7.87490094e-02 9.96893483e-01 -1.40588386e-03 -1.27947389e+00] [-2.04973120e-02 -2.09204453e-04 9.99789886e-01 -9.26362385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-1.28, Z:-0.93 [[ 9.96629039e-01 7.91254916e-02 2.16729099e-02 3.47799280e+01] [-7.91117914e-02 9.96864637e-01 -1.49014263e-03 -1.27735470e+00] [-2.17228657e-02 -2.29463307e-04 9.99764004e-01 -9.26350794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.28, Z:-0.93 [[ 9.96638022e-01 7.90346711e-02 2.15910471e-02 3.48104492e+01] [-7.90210398e-02 9.96871842e-01 -1.48512371e-03 -1.27696293e+00] [-2.16408832e-02 -2.26016231e-04 9.99765783e-01 -9.28420658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-1.28, Z:-0.93 [[ 9.96806704e-01 7.72104951e-02 2.03699420e-02 3.48417063e+01] [-7.71979791e-02 9.97014799e-01 -1.40123480e-03 -1.28189821e+00] [-2.04173236e-02 -1.75758112e-04 9.99791529e-01 -9.30371573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29587156 meters Centerline goodness [0,1] 0.999978750982767 Centerline is valid? [True, True] Translation: X:34.87, Y:-1.29, Z:-0.93 [[ 9.96936967e-01 7.54513623e-02 2.05858049e-02 3.48717459e+01] [-7.54381921e-02 9.97149473e-01 -1.41669215e-03 -1.28551992e+00] [-2.06340158e-02 -1.40603125e-04 9.99787086e-01 -9.31650014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.90, Y:-1.29, Z:-0.93 [[ 9.97057030e-01 7.38704341e-02 2.05045861e-02 3.49039257e+01] [-7.38570561e-02 9.97267841e-01 -1.40999479e-03 -1.28997437e+00] [-2.05527212e-02 -1.08563148e-04 9.99788765e-01 -9.32174652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.29, Z:-0.93 [[ 9.97184358e-01 7.21955910e-02 2.02769077e-02 3.49355634e+01] [-7.21820940e-02 9.97390491e-01 -1.39769811e-03 -1.29379871e+00] [-2.03249026e-02 -6.98669638e-05 9.99793425e-01 -9.33571462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.30, Z:-0.93 [[ 9.97327609e-01 7.02374684e-02 2.01081690e-02 3.49676674e+01] [-7.02237320e-02 9.97530299e-01 -1.38929528e-03 -1.29860162e+00] [-2.01560885e-02 -2.64881303e-05 9.99796845e-01 -9.34661956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.00, Y:-1.30, Z:-0.93 [[ 9.97287713e-01 7.07213651e-02 2.03888774e-02 3.49999611e+01] [-7.07072643e-02 9.97496109e-01 -1.41256728e-03 -1.29998812e+00] [-2.04377246e-02 -3.29057515e-05 9.99791127e-01 -9.34925246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.30, Z:-0.94 [[ 9.97202387e-01 7.20142935e-02 2.00335050e-02 3.50318149e+01] [-7.20008767e-02 9.97403599e-01 -1.39113928e-03 -1.29997398e+00] [-2.00816719e-02 -5.51825174e-05 9.99798341e-01 -9.35790191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.30, Z:-0.94 [[ 9.97109250e-01 7.34123284e-02 1.95901169e-02 3.50630837e+01] [-7.33996812e-02 9.97301672e-01 -1.36480994e-03 -1.29851093e+00] [-1.96374502e-02 -7.70437204e-05 9.99807164e-01 -9.37268975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.29, Z:-0.94 [[ 9.96887107e-01 7.64870257e-02 1.91266941e-02 3.50937147e+01] [-7.64755228e-02 9.97070568e-01 -1.33318872e-03 -1.29256408e+00] [-1.91726354e-02 -1.33685281e-04 9.99816179e-01 -9.38644428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.29, Z:-0.94 [[ 9.96785557e-01 7.78362378e-02 1.89755929e-02 3.51246901e+01] [-7.78251603e-02 9.96966145e-01 -1.32265651e-03 -1.29071271e+00] [-1.90209744e-02 -1.58373653e-04 9.99819072e-01 -9.39653458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.29, Z:-0.94 [[ 9.96662457e-01 7.93392389e-02 1.92153922e-02 3.51542753e+01] [-7.93281566e-02 9.96847656e-01 -1.33948935e-03 -1.28588561e+00] [-1.92610928e-02 -1.89302899e-04 9.99814470e-01 -9.41066583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59587156 meters Centerline goodness [0,1] 0.9998079262436775 Centerline is valid? [True, True] Translation: X:35.19, Y:-1.29, Z:-0.94 [[ 9.96610275e-01 8.00234887e-02 1.90840422e-02 3.51851170e+01] [-8.00126894e-02 9.96792958e-01 -1.32998900e-03 -1.28527255e+00] [-1.91292692e-02 -2.01484839e-04 9.99816998e-01 -9.42906426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62587156 meters Centerline goodness [0,1] 0.9999786420623225 Centerline is valid? [True, True] Translation: X:35.22, Y:-1.29, Z:-0.94 [[ 9.96678885e-01 7.93195491e-02 1.84284842e-02 3.52155845e+01] [-7.93093588e-02 9.96849224e-01 -1.28430240e-03 -1.28505958e+00] [-1.84722905e-02 -1.81514179e-04 9.99829356e-01 -9.43899436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.24, Y:-1.29, Z:-0.94 [[ 9.96726770e-01 7.88537354e-02 1.78279259e-02 3.52447403e+01] [-7.88441190e-02 9.96886182e-01 -1.24272622e-03 -1.28631127e+00] [-1.78704066e-02 -1.66968617e-04 9.99840298e-01 -9.44885526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.29, Z:-0.95 [[ 9.96785421e-01 7.81845679e-02 1.74927809e-02 3.52734727e+01] [-7.81752139e-02 9.96938890e-01 -1.21894617e-03 -1.28617557e+00] [-1.75345364e-02 -1.52474116e-04 9.99846247e-01 -9.47194241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.30, Y:-1.29, Z:-0.95 [[ 9.96904671e-01 7.66856021e-02 1.73318956e-02 3.53035672e+01] [-7.66762001e-02 9.97055316e-01 -1.20732398e-03 -1.28744510e+00] [-1.73734430e-02 -1.25356976e-04 9.99849062e-01 -9.47565499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.29, Z:-0.95 [[ 9.96978025e-01 7.57540449e-02 1.72087914e-02 3.53319053e+01] [-7.57446445e-02 9.97126528e-01 -1.19832314e-03 -1.28905476e+00] [-1.72501202e-02 -1.08771953e-04 9.99851200e-01 -9.49283839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.29, Z:-0.95 [[ 9.97094351e-01 7.41240317e-02 1.75636787e-02 3.53608529e+01] [-7.41139917e-02 9.97249027e-01 -1.22274987e-03 -1.29188840e+00] [-1.76059966e-02 -8.25173487e-05 9.99844999e-01 -9.50335525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80587156 meters Centerline goodness [0,1] 0.9998076923076923 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.30, Z:-0.95 [[ 9.97210407e-01 7.26022566e-02 1.73296387e-02 3.53900499e+01] [-7.25922657e-02 9.97360972e-01 -1.20570701e-03 -1.29506434e+00] [-1.73714424e-02 -5.56541578e-05 9.99849104e-01 -9.51923839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.42, Y:-1.30, Z:-0.95 [[ 9.97556506e-01 6.75327454e-02 1.78982256e-02 3.54200383e+01] [-6.75212845e-02 9.97717058e-01 -1.24455809e-03 -1.30453616e+00] [-1.79414134e-02 3.30058385e-05 9.99839039e-01 -9.50875044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86587156 meters Centerline goodness [0,1] 0.999893025246042 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.32, Z:-0.95 [[ 9.97937205e-01 6.17832448e-02 1.74403206e-02 3.54507403e+01] [-6.17714894e-02 9.98089582e-01 -1.21244499e-03 -1.31510630e+00] [-1.74819111e-02 1.32629388e-04 9.99847171e-01 -9.52514018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89587156 meters Centerline goodness [0,1] 0.9998499753530937 Centerline is valid? [True, True] Translation: X:35.48, Y:-1.32, Z:-0.95 [[ 9.98087884e-01 5.94396353e-02 1.69559928e-02 3.54821960e+01] [-5.94282081e-02 9.98231888e-01 -1.17744877e-03 -1.32198357e+00] [-1.69959998e-02 1.67533076e-04 9.99855544e-01 -9.54473286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.33, Z:-0.95 [[ 9.98218346e-01 5.72200440e-02 1.69115346e-02 3.55134998e+01] [-5.72083093e-02 9.98361569e-01 -1.17724857e-03 -1.32939886e+00] [-1.69511884e-02 2.07670818e-04 9.99856297e-01 -9.54839875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.33, Z:-0.95 [[ 9.98286405e-01 5.59705765e-02 1.70747841e-02 3.55455631e+01] [-5.59583897e-02 9.98432391e-01 -1.19104539e-03 -1.33411393e+00] [-1.71146810e-02 2.33526999e-04 9.99853506e-01 -9.54559741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98587156 meters Centerline goodness [0,1] 0.9998929840332178 Centerline is valid? [True, True] Translation: X:35.58, Y:-1.34, Z:-0.96 [[ 9.98268714e-01 5.64382391e-02 1.65620170e-02 3.55771369e+01] [-5.64267969e-02 9.98406068e-01 -1.15773568e-03 -1.33802479e+00] [-1.66009589e-02 2.21189740e-04 9.99862170e-01 -9.56146011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.61, Y:-1.34, Z:-0.95 [[ 9.98070326e-01 5.97204828e-02 1.70025876e-02 3.56093607e+01] [-5.97088441e-02 9.98215124e-01 -1.19179601e-03 -1.33696967e+00] [-1.70434147e-02 1.74291381e-04 9.99854735e-01 -9.54144932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.64, Y:-1.34, Z:-0.96 [[ 9.97886193e-01 6.26253873e-02 1.73553271e-02 3.56404386e+01] [-6.26136468e-02 9.98037095e-01 -1.21956871e-03 -1.33679466e+00] [-1.73976362e-02 1.30310449e-04 9.99848641e-01 -9.55715915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.67, Y:-1.33, Z:-0.96 [[ 9.97683752e-01 6.56758796e-02 1.77146542e-02 3.56724089e+01] [-6.56640446e-02 9.97841005e-01 -1.24954660e-03 -1.33472720e+00] [-1.77584735e-02 8.34364948e-05 9.99842302e-01 -9.55305994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.70, Y:-1.33, Z:-0.96 [[ 9.97464016e-01 6.87760100e-02 1.83138369e-02 3.57026104e+01] [-6.87638724e-02 9.97632126e-01 -1.29239724e-03 -1.33280061e+00] [-1.83593579e-02 2.97894000e-05 9.99831452e-01 -9.55834807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.33, Z:-0.95 [[ 9.97059895e-01 7.40799923e-02 1.95887906e-02 3.57325769e+01] [-7.40671195e-02 9.97252300e-01 -1.38284749e-03 -1.32780303e+00] [-1.96374078e-02 -7.21035165e-05 9.99807165e-01 -9.54406029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.76, Y:-1.32, Z:-0.95 [[ 9.96732530e-01 7.81977418e-02 2.02330740e-02 3.57623093e+01] [-7.81848611e-02 9.96937856e-01 -1.42808821e-03 -1.32478707e+00] [-2.02827906e-02 -1.58498103e-04 9.99794270e-01 -9.52788669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.32, Z:-0.95 [[ 9.96606553e-01 7.99240346e-02 1.96857055e-02 3.57916714e+01] [-7.99121827e-02 9.96800940e-01 -1.38922385e-03 -1.32435385e+00] [-1.97337622e-02 -1.88618108e-04 9.99805253e-01 -9.54823836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.32, Z:-0.96 [[ 9.96501211e-01 8.13474941e-02 1.91812830e-02 3.58202421e+01] [-8.13365051e-02 9.96685778e-01 -1.35364156e-03 -1.32404580e+00] [-1.92278273e-02 -2.11233066e-04 9.99815106e-01 -9.57456575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.25587156 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.33, Z:-0.96 [[ 9.96321783e-01 8.38378273e-02 1.77235355e-02 3.58500123e+01] [-8.38288515e-02 9.96479383e-01 -1.25007005e-03 -1.32537172e+00] [-1.77659409e-02 -2.40271606e-04 9.99842144e-01 -9.60663345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.33, Z:-0.96 [[ 9.96226235e-01 8.50365245e-02 1.73804258e-02 3.58788992e+01] [-8.50280798e-02 9.96377802e-01 -1.22560356e-03 -1.32543659e+00] [-1.74216915e-02 -2.56845812e-04 9.99848198e-01 -9.62785823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315871560000005 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.32, Z:-0.96 [[ 9.95988719e-01 8.78834858e-02 1.68215777e-02 3.59081973e+01] [-8.78759911e-02 9.96130717e-01 -1.18561565e-03 -1.32309159e+00] [-1.68606863e-02 -2.97353005e-04 9.99857804e-01 -9.63760895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34587156 meters Centerline goodness [0,1] 0.9999574323173847 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.32, Z:-0.96 [[ 9.95867485e-01 8.91804235e-02 1.71698841e-02 3.59357916e+01] [-8.91728141e-02 9.96015434e-01 -1.20980484e-03 -1.32128206e+00] [-1.72093605e-02 -3.26281577e-04 9.99851855e-01 -9.64808986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-1.32, Z:-0.97 [[ 9.95790109e-01 9.01892088e-02 1.63696212e-02 3.59647464e+01] [-9.01824457e-02 9.95924595e-01 -1.15236281e-03 -1.32212671e+00] [-1.64068391e-02 -3.28740984e-04 9.99865345e-01 -9.65206627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40587156 meters Centerline goodness [0,1] 0.9999573869689351 Centerline is valid? [True, True] Translation: X:35.99, Y:-1.32, Z:-0.97 [[ 9.95725861e-01 9.09768385e-02 1.59130401e-02 3.59928581e+01] [-9.09705573e-02 9.95852953e-01 -1.11963404e-03 -1.31840055e+00] [-1.59489088e-02 -3.32769556e-04 9.99872753e-01 -9.68891462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43587156 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:36.02, Y:-1.32, Z:-0.97 [[ 9.95758093e-01 9.05698063e-02 1.62151406e-02 3.60205128e+01] [-9.05632478e-02 9.95890054e-01 -1.13982574e-03 -1.31813264e+00] [-1.62517311e-02 -3.33505096e-04 9.99867876e-01 -9.70906268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465871560000004 meters Centerline goodness [0,1] 0.9998725356900068 Centerline is valid? [True, True] Translation: X:36.05, Y:-1.32, Z:-0.97 [[ 9.95854857e-01 8.94167856e-02 1.66656290e-02 3.60488053e+01] [-8.94097158e-02 9.95994244e-01 -1.17031313e-03 -1.32315517e+00] [-1.67035162e-02 -3.24607139e-04 9.99860434e-01 -9.70338197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.08, Y:-1.33, Z:-0.97 [[ 9.96198389e-01 8.54712284e-02 1.68356539e-02 3.60775663e+01] [-8.54634690e-02 9.96340605e-01 -1.18113994e-03 -1.33131191e+00] [-1.68749990e-02 -2.62183676e-04 9.99857573e-01 -9.71721705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52587156 meters Centerline goodness [0,1] 0.9999785981808453 Centerline is valid? [True, True] Translation: X:36.11, Y:-1.34, Z:-0.97 [[ 9.96402318e-01 8.30715186e-02 1.67792601e-02 3.61059539e+01] [-8.30634724e-02 9.96543564e-01 -1.17709513e-03 -1.33804298e+00] [-1.68190467e-02 -2.20883293e-04 9.99858525e-01 -9.71567684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55587156 meters Centerline goodness [0,1] 0.9998719207616446 Centerline is valid? [True, True] Translation: X:36.14, Y:-1.35, Z:-0.97 [[ 9.96694119e-01 7.95410085e-02 1.65547818e-02 3.61354058e+01] [-7.95327071e-02 9.96831582e-01 -1.16026065e-03 -1.34514299e+00] [-1.65946177e-02 -1.60221649e-04 9.99862287e-01 -9.73129253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-1.35, Z:-0.97 [[ 9.96792718e-01 7.82611109e-02 1.67175387e-02 3.61651461e+01] [-7.82524723e-02 9.96932886e-01 -1.17126118e-03 -1.34897208e+00] [-1.67579283e-02 -1.40684113e-04 9.99859566e-01 -9.72965436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.35, Z:-0.97 [[ 9.96845831e-01 7.75509801e-02 1.68592858e-02 3.61938084e+01] [-7.75420991e-02 9.96988379e-01 -1.18081900e-03 -1.35155625e+00] [-1.69000857e-02 -1.30209908e-04 9.99857175e-01 -9.73840990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:-1.35, Z:-0.97 [[ 9.96796395e-01 7.81301332e-02 1.71064364e-02 3.62229838e+01] [-7.81210816e-02 9.96943159e-01 -1.19775755e-03 -1.35173966e+00] [-1.71477257e-02 -1.42452912e-04 9.99852957e-01 -9.73921774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.35, Z:-0.97 [[ 9.96693558e-01 7.94470095e-02 1.70330582e-02 3.62529949e+01] [-7.94382403e-02 9.96839077e-01 -1.19187603e-03 -1.35109710e+00] [-1.70739090e-02 -1.65141016e-04 9.99854217e-01 -9.74991773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70587156 meters Centerline goodness [0,1] 0.9998933538094019 Centerline is valid? [True, True] Translation: X:36.28, Y:-1.35, Z:-0.98 [[ 9.96444263e-01 8.24375642e-02 1.74034220e-02 3.62824505e+01] [-8.23678920e-02 9.96590984e-01 -4.68412614e-03 -1.34512555e+00] [-1.77302414e-02 3.23398744e-03 9.99837577e-01 -9.78173778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73587156 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.35, Z:-0.98 [[ 9.96289111e-01 8.43888952e-02 1.69269603e-02 3.63104548e+01] [-8.44396975e-02 9.96425918e-01 2.30808438e-03 -1.34771984e+00] [-1.66716852e-02 -3.72882674e-03 9.99854065e-01 -9.78751860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76587156 meters Centerline goodness [0,1] 0.9999786771290886 Centerline is valid? [True, True] Translation: X:36.34, Y:-1.35, Z:-0.98 [[ 9.96173575e-01 8.58311153e-02 1.64689831e-02 3.63397491e+01] [-8.58237833e-02 9.96309665e-01 -1.15275429e-03 -1.34501919e+00] [-1.65071492e-02 -2.65087077e-04 9.99863713e-01 -9.79092610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79587156 meters Centerline goodness [0,1] 0.999935805533563 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.34, Z:-0.98 [[ 9.96033811e-01 8.72881381e-02 1.72461249e-02 3.63692485e+01] [-8.72803313e-02 9.96183060e-01 -1.20627014e-03 -1.34317966e+00] [-1.72855905e-02 -3.03761647e-04 9.99850547e-01 -9.78609473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82587156 meters Centerline goodness [0,1] 0.999978369492332 Centerline is valid? [True, True] Translation: X:36.40, Y:-1.35, Z:-0.98 [[ 9.96020535e-01 8.73614504e-02 1.76371974e-02 3.63984542e+01] [-8.73533123e-02 9.96176630e-01 -1.23276119e-03 -1.34573316e+00] [-1.76774597e-02 -3.12812147e-04 9.99843693e-01 -9.77592091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.35, Z:-0.98 [[ 9.96065670e-01 8.68141588e-02 1.77899741e-02 3.64259343e+01] [-8.68058052e-02 9.96224477e-01 -1.24269224e-03 -1.34541971e+00] [-1.78306909e-02 -3.06469946e-04 9.99840974e-01 -9.80540434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.45, Y:-1.35, Z:-0.98 [[ 9.96152101e-01 8.60135149e-02 1.68127297e-02 3.64546600e+01] [-8.58943693e-02 9.96274602e-01 -7.68607152e-03 -1.34725789e+00] [-1.74112016e-02 6.21237748e-03 9.99829114e-01 -9.77323897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.35, Z:-0.98 [[ 9.96166403e-01 8.57679712e-02 1.72149117e-02 3.64826515e+01] [-8.57551795e-02 9.96315138e-01 -1.48123708e-03 -1.35281059e+00] [-1.72785198e-02 -7.09228245e-07 9.99850715e-01 -9.79076408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:-1.35, Z:-0.98 [[ 9.96196106e-01 8.53995728e-02 1.73271742e-02 3.65111588e+01] [-8.53805108e-02 9.96346721e-01 -1.83826631e-03 -1.35303317e+00] [-1.74208603e-02 3.51870759e-04 9.99848183e-01 -9.79411976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.54, Y:-1.36, Z:-0.98 [[ 9.96111762e-01 8.60214805e-02 1.90174203e-02 3.65372465e+01] [-8.61427734e-02 9.96266770e-01 5.65204226e-03 -1.35698639e+00] [-1.84602269e-02 -7.26827911e-03 9.99803177e-01 -9.81773584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00587156 meters Centerline goodness [0,1] 0.9999574232554179 Centerline is valid? [True, True] Translation: X:36.57, Y:-1.35, Z:-0.98 [[ 9.96134281e-01 8.59429736e-02 1.81741490e-02 3.65654417e+01] [-8.59341723e-02 9.96300013e-01 -1.26612685e-03 -1.35283401e+00] [-1.82157195e-02 -3.00548091e-04 9.99834035e-01 -9.83431831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.59, Y:-1.36, Z:-0.98 [[ 9.96174342e-01 8.54784108e-02 1.81692753e-02 3.65941557e+01] [-8.54695588e-02 9.96339980e-01 -1.26459026e-03 -1.35630899e+00] [-1.82108706e-02 -2.93167578e-04 9.99834125e-01 -9.82975969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.62, Y:-1.36, Z:-0.98 [[ 9.96184998e-01 8.54320770e-02 1.77991667e-02 3.66219505e+01] [-8.54235867e-02 9.96343956e-01 -1.23814654e-03 -1.35568597e+00] [-1.78398696e-02 -2.87045652e-04 9.99840816e-01 -9.84735709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09587156 meters Centerline goodness [0,1] 0.9999786210582576 Centerline is valid? [True, True] Translation: X:36.65, Y:-1.36, Z:-0.99 [[ 9.96182050e-01 8.55536286e-02 1.73752720e-02 3.66508735e+01] [-8.55455757e-02 9.96333527e-01 -1.20754675e-03 -1.35656417e+00] [-1.74148760e-02 -2.83441253e-04 9.99848309e-01 -9.85871284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.68, Y:-1.36, Z:-0.99 [[ 9.96158600e-01 8.57536774e-02 1.77299293e-02 3.66794010e+01] [-8.57453393e-02 9.96316326e-01 -1.23134266e-03 -1.35692157e+00] [-1.77702102e-02 -2.93646226e-04 9.99842054e-01 -9.86589813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15587156 meters Centerline goodness [0,1] 0.9998510511532896 Centerline is valid? [True, True] Translation: X:36.71, Y:-1.36, Z:-0.99 [[ 9.96159353e-01 8.58150673e-02 1.73872726e-02 3.67086509e+01] [-8.58070714e-02 9.96311041e-01 -1.20676625e-03 -1.35694859e+00] [-1.74266904e-02 -2.89819453e-04 9.99848102e-01 -9.87356911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.74, Y:-1.35, Z:-0.99 [[ 9.95995938e-01 8.74210327e-02 1.86990656e-02 3.67367081e+01] [-8.74120834e-02 9.96171394e-01 -1.29696371e-03 -1.35325556e+00] [-1.87408561e-02 -3.42753694e-04 9.99824316e-01 -9.85957153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215871560000004 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:36.77, Y:-1.35, Z:-0.99 [[ 9.95904109e-01 8.83864997e-02 1.90481805e-02 3.67659801e+01] [-8.83774132e-02 9.96086186e-01 -1.31994249e-03 -1.35261035e+00] [-1.90902946e-02 -3.68892773e-04 9.99817696e-01 -9.86003610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.79, Y:-1.35, Z:-0.99 [[ 9.95816244e-01 8.92910059e-02 1.94196999e-02 3.67949423e+01] [-8.92817513e-02 9.96005502e-01 -1.34476934e-03 -1.35187958e+00] [-1.94622038e-02 -3.94681663e-04 9.99810515e-01 -9.86267424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.82, Y:-1.35, Z:-0.99 [[ 9.95712324e-01 9.03212121e-02 1.99761411e-02 3.68226839e+01] [-9.03116467e-02 9.95912594e-01 -1.38230375e-03 -1.34736261e+00] [-2.00193419e-02 -4.27701323e-04 9.99799501e-01 -9.86509588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30587156 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:36.85, Y:-1.35, Z:-0.99 [[ 9.95698559e-01 9.05255533e-02 1.97358544e-02 3.68514481e+01] [-9.05162725e-02 9.95894041e-01 -1.36487511e-03 -1.34658677e+00] [-1.97783759e-02 -4.27411799e-04 9.99804297e-01 -9.87328179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33587156 meters Centerline goodness [0,1] 0.9999573815206273 Centerline is valid? [True, True] Translation: X:36.88, Y:-1.35, Z:-0.99 [[ 9.95735042e-01 9.01734095e-02 1.95059651e-02 3.68805867e+01] [-9.01642932e-02 9.95925993e-01 -1.34810767e-03 -1.34862166e+00] [-1.95480612e-02 -4.16383510e-04 9.99808832e-01 -9.87754149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36587156 meters Centerline goodness [0,1] 0.999701600699107 Centerline is valid? [True, True] Translation: X:36.91, Y:-1.35, Z:-0.99 [[ 9.95925698e-01 8.84947067e-02 1.73404293e-02 3.69085471e+01] [-8.84872571e-02 9.96076589e-01 -1.19790745e-03 -1.34631101e+00] [-1.73784042e-02 -3.41380217e-04 9.99848926e-01 -9.93233491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39587156 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:36.94, Y:-1.35, Z:-0.99 [[ 9.96000043e-01 8.75888226e-02 1.76667241e-02 3.69360865e+01] [-8.75809674e-02 9.96156658e-01 -1.21933285e-03 -1.34685056e+00] [-1.77056247e-02 -3.32813216e-04 9.99843188e-01 -9.93817299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425871560000004 meters Centerline goodness [0,1] 0.9998936192846961 Centerline is valid? [True, True] Translation: X:36.97, Y:-1.35, Z:-1.00 [[ 9.96141872e-01 8.61680198e-02 1.66265734e-02 3.69651737e+01] [-8.61608808e-02 9.96280577e-01 -1.14656029e-03 -1.34938256e+00] [-1.66635290e-02 -2.90423493e-04 9.99861112e-01 -9.95965486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.99, Y:-1.35, Z:-0.99 [[ 9.96246342e-01 8.48907770e-02 1.69346638e-02 3.69936820e+01] [-8.48831993e-02 9.96390225e-01 -1.16704853e-03 -1.35106028e+00] [-1.69726052e-02 -2.74800618e-04 9.99855917e-01 -9.94898767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48587156 meters Centerline goodness [0,1] 0.9999576127500848 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.35, Z:-1.00 [[ 9.96286503e-01 8.43676163e-02 1.71845843e-02 3.70220562e+01] [-8.43597500e-02 9.96434660e-01 -1.18343172e-03 -1.35068213e+00] [-1.72231587e-02 -2.70650188e-04 9.99851634e-01 -9.95661220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51587156 meters Centerline goodness [0,1] 0.9999568844719425 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.35, Z:-1.00 [[ 9.96302792e-01 8.41340417e-02 1.73841624e-02 3.70503289e+01] [-8.41259684e-02 9.96454409e-01 -1.19647060e-03 -1.34872463e+00] [-1.74231892e-02 -2.70412502e-04 9.99848168e-01 -9.97872708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54587156 meters Centerline goodness [0,1] 0.9999789056237607 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.35, Z:-0.99 [[ 9.96220499e-01 8.47752639e-02 1.89175023e-02 3.70796049e+01] [-8.47658451e-02 9.96400050e-01 -1.30063485e-03 -1.34637882e+00] [-1.89596619e-02 -3.07838973e-04 9.99820202e-01 -9.94994330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.57587156 meters Centerline goodness [0,1] 0.9999787500796872 Centerline is valid? [True, True] Translation: X:37.11, Y:-1.35, Z:-0.99 [[ 9.96173051e-01 8.51823095e-02 1.95761848e-02 3.71102842e+01] [-8.51628454e-02 9.96365370e-01 -1.82731330e-03 -1.34594810e+00] [-1.96606874e-02 1.53156658e-04 9.99806698e-01 -9.92714022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605871560000004 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:37.14, Y:-1.34, Z:-0.99 [[ 9.96079362e-01 8.61363126e-02 2.01603653e-02 3.71362081e+01] [-8.61340339e-02 9.96283073e-01 -9.82951727e-04 -1.34210869e+00] [-2.01700985e-02 -7.57395657e-04 9.99796276e-01 -9.93451245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:-1.34, Z:-0.99 [[ 9.96035410e-01 8.63363908e-02 2.14357238e-02 3.71667260e+01] [-8.63773778e-02 9.96261996e-01 9.91888648e-04 -1.34213563e+00] [-2.12699609e-02 -2.83951783e-03 9.99769736e-01 -9.94785004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:-1.33, Z:-0.99 [[ 9.95973300e-01 8.72811519e-02 2.04740400e-02 3.71929348e+01] [-8.72181104e-02 9.96181393e-01 -3.95380119e-03 -1.33467056e+00] [-2.07409500e-02 2.15217333e-03 9.99782567e-01 -9.92752255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:-1.33, Z:-0.99 [[ 9.96042462e-01 8.64053461e-02 2.08214065e-02 3.72210588e+01] [-8.63943973e-02 9.96259993e-01 -1.42648068e-03 -1.33383103e+00] [-2.08667899e-02 -3.78017542e-04 9.99782193e-01 -9.94894726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72587156 meters Centerline goodness [0,1] 0.9999787654216126 Centerline is valid? [True, True] Translation: X:37.25, Y:-1.34, Z:-1.00 [[ 9.96148970e-01 8.49439454e-02 2.17199280e-02 3.72503708e+01] [-8.50514847e-02 9.96368226e-01 4.07463299e-03 -1.34176454e+00] [-2.12949307e-02 -5.90625358e-03 9.99755791e-01 -9.96720798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.28, Y:-1.34, Z:-1.00 [[ 9.96505262e-01 8.12989820e-02 1.91765134e-02 3.72780000e+01] [-8.11797355e-02 9.96675468e-01 -6.91822159e-03 -1.33664029e+00] [-1.96752049e-02 5.33729993e-03 9.99792178e-01 -9.97888478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-1.34, Z:-1.00 [[ 9.96712962e-01 7.87215627e-02 1.91359955e-02 3.73062971e+01] [-7.87109570e-02 9.96896622e-01 -1.30793969e-03 -1.34445917e+00] [-1.91795723e-02 -2.02572073e-04 9.99816035e-01 -1.00041119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815871560000005 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:37.33, Y:-1.35, Z:-1.00 [[ 9.96943487e-01 7.59558079e-02 1.82865671e-02 3.73341120e+01] [-7.59456699e-02 9.97111175e-01 -1.24921345e-03 -1.34765284e+00] [-1.83286254e-02 -1.43390373e-04 9.99832006e-01 -1.00416687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84587156 meters Centerline goodness [0,1] 0.999871627548728 Centerline is valid? [True, True] Translation: X:37.36, Y:-1.35, Z:-1.01 [[ 9.97190325e-01 7.28453032e-02 1.74647722e-02 3.73624771e+01] [-7.28355993e-02 9.97343248e-01 -1.19190407e-03 -1.35298042e+00] [-1.75051972e-02 -8.35019431e-05 9.99846769e-01 -1.00566891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.36, Z:-1.01 [[ 9.97497691e-01 6.83918217e-02 1.79140897e-02 3.73904858e+01] [-6.83809098e-02 9.97658538e-01 -1.22167273e-03 -1.35854517e+00] [-1.79556969e-02 -6.36602099e-06 9.99838783e-01 -1.00699190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:-1.36, Z:-1.01 [[ 9.97630326e-01 6.62022675e-02 1.87347876e-02 3.74192516e+01] [-6.61899649e-02 9.97806223e-01 -1.27667430e-03 -1.36259610e+00] [-1.87782064e-02 3.35940691e-05 9.99823673e-01 -1.00596657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.37, Z:-1.00 [[ 9.97858779e-01 6.22339275e-02 2.01195421e-02 3.74484442e+01] [-6.22189568e-02 9.98061584e-01 -1.36981022e-03 -1.36798589e+00] [-2.01657907e-02 1.15060233e-04 9.99796643e-01 -1.00445208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.48, Y:-1.37, Z:-1.01 [[ 9.97948479e-01 6.07167306e-02 2.03054651e-02 3.74779148e+01] [-6.07011838e-02 9.98155027e-01 -1.38168865e-03 -1.37242452e+00] [-2.03518937e-02 1.46288317e-04 9.99792868e-01 -1.00640246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.51, Y:-1.38, Z:-1.01 [[ 9.98054236e-01 5.90120213e-02 2.01326344e-02 3.75085792e+01] [-5.89963855e-02 9.98257256e-01 -1.37021265e-03 -1.37600540e+00] [-2.01784074e-02 1.79793877e-04 9.99796379e-01 -1.00725082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:-1.38, Z:-1.01 [[ 9.98025407e-01 5.90246329e-02 2.14797720e-02 3.75361140e+01] [-5.91542255e-02 9.98233988e-01 5.44816216e-03 -1.38340361e+00] [-2.11202627e-02 -6.70802353e-03 9.99754438e-01 -1.01037219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05587156 meters Centerline goodness [0,1] 0.9996996288270505 Centerline is valid? [True, True] Translation: X:37.57, Y:-1.39, Z:-1.01 [[ 9.98127264e-01 5.70563590e-02 2.20575880e-02 3.75659314e+01] [-5.71583223e-02 9.98357035e-01 4.01958969e-03 -1.38726278e+00] [-2.17920050e-02 -5.27283678e-03 9.99748621e-01 -1.01414751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.60, Y:-1.39, Z:-1.01 [[ 9.98435673e-01 5.29328800e-02 1.80088008e-02 3.75995848e+01] [-5.26987622e-02 9.98522736e-01 -1.32357554e-02 -1.38553521e+00] [-1.86828038e-02 1.22660088e-02 9.99750218e-01 -1.01115877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11587156 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:37.63, Y:-1.40, Z:-1.01 [[ 9.98500902e-01 5.14412429e-02 1.87015413e-02 3.76302991e+01] [-5.14263741e-02 9.98675974e-01 -1.27542754e-03 -1.39647138e+00] [-1.87423896e-02 3.11763085e-04 9.99824297e-01 -1.01420819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14587156 meters Centerline goodness [0,1] 0.9998712805440543 Centerline is valid? [True, True] Translation: X:37.66, Y:-1.40, Z:-1.02 [[ 9.98578824e-01 5.00604151e-02 1.82835041e-02 3.76610231e+01] [-5.00459646e-02 9.98746137e-01 -1.24733601e-03 -1.40187907e+00] [-1.83230212e-02 3.30547727e-04 9.99832065e-01 -1.01704245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175871560000004 meters Centerline goodness [0,1] 0.9999571771154505 Centerline is valid? [True, True] Translation: X:37.69, Y:-1.41, Z:-1.02 [[ 9.98628342e-01 4.90905995e-02 1.82084551e-02 3.76927624e+01] [-4.90761267e-02 9.98794270e-01 -1.24109806e-03 -1.40915034e+00] [-1.82474269e-02 3.45795245e-04 9.99833442e-01 -1.01782513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.72, Y:-1.42, Z:-1.02 [[ 9.98613285e-01 4.93523958e-02 1.83261415e-02 3.77240190e+01] [-4.93377209e-02 9.98781368e-01 -1.25230114e-03 -1.41578777e+00] [-1.83656127e-02 3.46394500e-04 9.99831278e-01 -1.01975891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.42, Z:-1.02 [[ 9.98591308e-01 4.98288242e-02 1.82342308e-02 3.77564854e+01] [-4.98143273e-02 9.98757715e-01 -1.24866044e-03 -1.41829310e+00] [-1.82737979e-02 3.38575525e-04 9.99832963e-01 -1.01982854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:-1.42, Z:-1.02 [[ 9.98551262e-01 5.04896479e-02 1.86057130e-02 3.77882249e+01] [-5.04745864e-02 9.98724527e-01 -1.27852041e-03 -1.42084573e+00] [-1.86465340e-02 3.37552495e-04 9.99826081e-01 -1.01975363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.82, Y:-1.42, Z:-1.02 [[ 9.98397694e-01 5.31129886e-02 1.95206536e-02 3.78197658e+01] [-5.30968941e-02 9.98588463e-01 -1.34222087e-03 -1.42016660e+00] [-1.95643889e-02 3.03584139e-04 9.99808553e-01 -1.01883792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32587156 meters Centerline goodness [0,1] 0.9998508861622358 Centerline is valid? [True, True] Translation: X:37.85, Y:-1.42, Z:-1.02 [[ 9.98309955e-01 5.46947898e-02 1.96396206e-02 3.78509467e+01] [-5.46788191e-02 9.98503082e-01 -1.34965827e-03 -1.42196161e+00] [-1.96840410e-02 2.73506025e-04 9.99806213e-01 -1.02192665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.42, Z:-1.02 [[ 9.98190747e-01 5.66942348e-02 2.00248907e-02 3.78824742e+01] [-5.66779485e-02 9.98391559e-01 -1.38036540e-03 -1.42196384e+00] [-2.00709406e-02 2.42898245e-04 9.99798529e-01 -1.02040076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.91, Y:-1.42, Z:-1.02 [[ 9.98080528e-01 5.86467558e-02 1.98951867e-02 3.79129921e+01] [-5.86310658e-02 9.98278777e-01 -1.37151931e-03 -1.42459385e+00] [-1.99413778e-02 2.02410717e-04 9.99801130e-01 -1.02276792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.42, Z:-1.02 [[ 9.97864951e-01 6.24563068e-02 1.90984283e-02 3.79434344e+01] [-6.24425146e-02 9.98047692e-01 -1.31822739e-03 -1.42183522e+00] [-1.91434739e-02 1.22859025e-04 9.99816739e-01 -1.02373369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.97, Y:-1.42, Z:-1.03 [[ 9.97738068e-01 6.44441906e-02 1.91231040e-02 3.79724822e+01] [-6.44307190e-02 9.97921309e-01 -1.32038967e-03 -1.42244330e+00] [-1.91684444e-02 8.52877025e-05 9.99816265e-01 -1.02582765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.42, Z:-1.03 [[ 9.97602644e-01 6.64829439e-02 1.92089170e-02 3.80014664e+01] [-6.64697291e-02 9.97787561e-01 -1.32630968e-03 -1.42232899e+00] [-1.92545954e-02 4.63185333e-05 9.99814612e-01 -1.02681667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:-1.42, Z:-1.03 [[ 9.97257256e-01 7.13834591e-02 1.95542229e-02 3.80310813e+01] [-7.13707174e-02 9.97448946e-01 -1.34959264e-03 -1.41749005e+00] [-1.96006776e-02 -4.97078619e-05 9.99807887e-01 -1.02517384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:-1.42, Z:-1.03 [[ 9.97068150e-01 7.38950059e-02 1.98653609e-02 3.80596195e+01] [-7.38823695e-02 9.97266022e-01 -1.37027962e-03 -1.41568855e+00] [-1.99123063e-02 -1.01437768e-04 9.99801725e-01 -1.02528557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.09, Y:-1.41, Z:-1.03 [[ 9.96888743e-01 7.62106934e-02 2.01187400e-02 3.80882207e+01] [-7.61982335e-02 9.97091725e-01 -1.38629728e-03 -1.41466233e+00] [-2.01658798e-02 -1.51028292e-04 9.99796637e-01 -1.02602946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:-1.41, Z:-1.03 [[ 9.96568401e-01 7.99789684e-02 2.13257154e-02 3.81162815e+01] [-7.99658519e-02 9.96796522e-01 -1.46848008e-03 -1.41161918e+00] [-2.13748465e-02 -2.41888151e-04 9.99771503e-01 -1.02606416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.14, Y:-1.42, Z:-1.03 [[ 9.96296641e-01 8.22765702e-02 2.49713567e-02 3.81399511e+01] [-8.26281959e-02 9.96490482e-01 1.33903424e-02 -1.42317588e+00] [-2.37820078e-02 -1.54040913e-02 9.99598484e-01 -1.02882449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.17, Y:-1.41, Z:-1.03 [[ 9.96201373e-01 8.37198510e-02 2.39543369e-02 3.81681956e+01] [-8.36857289e-02 9.96489246e-01 -2.42515993e-03 -1.41398431e+00] [-2.40732732e-02 4.11311504e-04 9.99710112e-01 -1.02752868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.20, Y:-1.41, Z:-1.02 [[ 9.96381359e-01 8.24387794e-02 2.06890102e-02 3.82038804e+01] [-8.21147116e-02 9.96493571e-01 -1.60542085e-02 -1.40669342e+00] [-2.19399550e-02 1.42972420e-02 9.99657055e-01 -1.02430140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715871560000004 meters Centerline goodness [0,1] 0.9998479318734793 Centerline is valid? [True, True] Translation: X:38.23, Y:-1.42, Z:-1.03 [[ 9.96488639e-01 8.09490858e-02 2.13924643e-02 3.82311733e+01] [-8.09362935e-02 9.96718201e-01 -1.46454104e-03 -1.42266600e+00] [-2.14408118e-02 -2.72028260e-04 9.99770082e-01 -1.02952461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:-1.42, Z:-1.03 [[ 9.96519806e-01 8.07829384e-02 2.05522091e-02 3.82590303e+01] [-8.07711138e-02 9.96731684e-01 -1.40615783e-03 -1.42276331e+00] [-2.05986315e-02 -2.58760691e-04 9.99787792e-01 -1.03177815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.28, Y:-1.44, Z:-1.04 [[ 9.96378732e-01 8.16328710e-02 2.37801746e-02 3.82804230e+01] [-8.19995304e-02 9.96521383e-01 1.48731701e-02 -1.43838479e+00] [-2.24833129e-02 -1.67692735e-02 9.99606569e-01 -1.03754525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.31, Y:-1.43, Z:-1.04 [[ 9.96359544e-01 8.21305473e-02 2.28523831e-02 3.83093353e+01] [-8.21352453e-02 9.96620922e-01 -7.34548895e-04 -1.43094822e+00] [-2.28354920e-02 -1.14511129e-03 9.99738580e-01 -1.03560188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:-1.42, Z:-1.03 [[ 9.96573356e-01 8.04061939e-02 1.94007535e-02 3.83459640e+01] [-8.00673493e-02 9.96633121e-01 -1.76533856e-02 -1.42376738e+00] [-2.07548751e-02 1.60395268e-02 9.99655925e-01 -1.03171153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.44, Z:-1.03 [[ 9.96583459e-01 7.99104882e-02 2.08740037e-02 3.83742418e+01] [-7.98980681e-02 9.96802014e-01 -1.42965161e-03 -1.43733913e+00] [-2.09214931e-02 -2.43025425e-04 9.99781092e-01 -1.03350081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89587156 meters Centerline goodness [0,1] 0.9999573478919196 Centerline is valid? [True, True] Translation: X:38.40, Y:-1.44, Z:-1.04 [[ 9.96584928e-01 7.98424764e-02 2.10632451e-02 3.84017358e+01] [-7.98298343e-02 9.96807463e-01 -1.44169128e-03 -1.43845892e+00] [-2.11111081e-02 -2.44707567e-04 9.99777106e-01 -1.03541811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.43, Y:-1.44, Z:-1.04 [[ 9.96522611e-01 8.05859423e-02 2.11799758e-02 3.84294699e+01] [-8.05733536e-02 9.96747629e-01 -1.44845513e-03 -1.43804323e+00] [-2.12278158e-02 -2.63123388e-04 9.99774630e-01 -1.03569983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.45, Y:-1.46, Z:-1.04 [[ 9.96285014e-01 8.18107630e-02 2.68918039e-02 3.84524847e+01] [-8.23129337e-02 9.96441650e-01 1.81278513e-02 -1.45588298e+00] [-2.53130601e-02 -2.02740499e-02 9.99473968e-01 -1.03882055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98587156 meters Centerline goodness [0,1] 0.9998078565328778 Centerline is valid? [True, True] Translation: X:38.49, Y:-1.43, Z:-1.03 [[ 9.96365317e-01 8.24768209e-02 2.13009093e-02 3.84892817e+01] [-8.20299905e-02 9.96407257e-01 -2.10632052e-02 -1.43015074e+00] [-2.29616068e-02 1.92393337e-02 9.99551206e-01 -1.03359980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.52, Y:-1.45, Z:-1.03 [[ 9.96276578e-01 8.32257428e-02 2.25045926e-02 3.85165970e+01] [-8.32122176e-02 9.96530662e-01 -1.53840665e-03 -1.44568230e+00] [-2.25545516e-02 -3.39978551e-04 9.99745556e-01 -1.03384700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-1.44, Z:-1.04 [[ 9.96185605e-01 8.43643406e-02 2.22911998e-02 3.85442246e+01] [-8.43513850e-02 9.96434908e-01 -1.52250308e-03 -1.44475534e+00] [-2.23401746e-02 -3.63597920e-04 9.99750361e-01 -1.03567846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.57, Y:-1.44, Z:-1.04 [[ 9.96183102e-01 8.45337024e-02 2.17549993e-02 3.85717351e+01] [-8.45214304e-02 9.96420556e-01 -1.48462354e-03 -1.44436850e+00] [-2.18026293e-02 -3.59806776e-04 9.99762230e-01 -1.03750004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105871560000004 meters Centerline goodness [0,1] 0.9999785237205506 Centerline is valid? [True, True] Translation: X:38.59, Y:-1.45, Z:-1.04 [[ 9.96212276e-01 8.44529321e-02 2.07075716e-02 3.85938516e+01] [-8.44803035e-02 9.96425048e-01 4.49040677e-04 -1.44841906e+00] [-2.05956202e-02 -2.19672177e-03 9.99785474e-01 -1.03984652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135871560000005 meters Centerline goodness [0,1] 0.9999789774638412 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.45, Z:-1.04 [[ 9.96244402e-01 8.40262131e-02 2.08970528e-02 3.86311427e+01] [-8.39826035e-02 9.96462832e-01 -2.95733932e-03 -1.44830768e+00] [-2.10716305e-02 1.19124384e-03 9.99777259e-01 -1.04035636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.65, Y:-1.46, Z:-1.04 [[ 9.96359423e-01 8.26637507e-02 2.08471827e-02 3.86537580e+01] [-8.27277641e-02 9.96569698e-01 2.22563295e-03 -1.45694293e+00] [-2.05916914e-02 -3.94217117e-03 9.99780197e-01 -1.04302459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.46, Z:-1.04 [[ 9.96415228e-01 8.19491111e-02 2.10008799e-02 3.86895240e+01] [-8.18663484e-02 9.96631891e-01 -4.77224961e-03 -1.45708860e+00] [-2.13212282e-02 3.03587684e-03 9.99768067e-01 -1.04149291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.72, Y:-1.47, Z:-1.04 [[ 9.96607325e-01 7.92639383e-02 2.21600575e-02 3.87183487e+01] [-7.92499612e-02 9.96853633e-01 -1.50960521e-03 -1.46650761e+00] [-2.22099910e-02 -2.51700084e-04 9.99753296e-01 -1.04094135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.75, Y:-1.47, Z:-1.04 [[ 9.96711977e-01 7.78631698e-02 2.24178896e-02 3.87466584e+01] [-7.78485273e-02 9.96964030e-01 -1.52645958e-03 -1.47118274e+00] [-2.24686845e-02 -2.23759147e-04 9.99747522e-01 -1.04067820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.78, Y:-1.47, Z:-1.04 [[ 9.96789344e-01 7.66996668e-02 2.29818161e-02 3.87751646e+01] [-7.66839974e-02 9.97054221e-01 -1.56362591e-03 -1.47484757e+00] [-2.30340463e-02 -2.03731878e-04 9.99734660e-01 -1.04022554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.80, Y:-1.50, Z:-1.05 [[ 9.96753012e-01 7.38591275e-02 3.20665261e-02 3.87996351e+01] [-7.46242153e-02 9.96938189e-01 2.33554015e-02 -1.49627909e+00] [-3.02433348e-02 -2.56725062e-02 9.99212822e-01 -1.04657835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.84, Y:-1.47, Z:-1.04 [[ 9.96936735e-01 7.50074300e-02 2.21592393e-02 3.88359625e+01] [-7.44073937e-02 9.96868683e-01 -2.67650782e-02 -1.47102373e+00] [-2.40974314e-02 2.50342784e-02 9.99396117e-01 -1.03615886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.86, Y:-1.49, Z:-1.04 [[ 9.97007599e-01 7.36047182e-02 2.36261267e-02 3.88646177e+01] [-7.35872579e-02 9.97287485e-01 -1.60877048e-03 -1.49076178e+00] [-2.36804535e-02 -1.34625484e-04 9.99719570e-01 -1.04202332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40587156 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:38.89, Y:-1.50, Z:-1.04 [[ 9.97095325e-01 7.26616851e-02 2.28296293e-02 3.88945430e+01] [-7.26451501e-02 9.97356640e-01 -1.55388592e-03 -1.49718972e+00] [-2.28821904e-02 -1.09089462e-04 9.99738162e-01 -1.04460628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.92, Y:-1.50, Z:-1.05 [[ 9.97142420e-01 7.21602069e-02 2.23584159e-02 3.89240423e+01] [-7.21442231e-02 9.97393050e-01 -1.52173420e-03 -1.50101473e+00] [-2.24099373e-02 -9.56448192e-05 9.99748861e-01 -1.04729826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.95, Y:-1.50, Z:-1.05 [[ 9.97186448e-01 7.18249877e-02 2.14559781e-02 3.89544064e+01] [-7.18101836e-02 9.97417247e-01 -1.46064406e-03 -1.50493367e+00] [-2.15054734e-02 -8.42232631e-05 9.99768727e-01 -1.04880216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495871560000005 meters Centerline goodness [0,1] 0.9999355282386315 Centerline is valid? [True, True] Translation: X:38.98, Y:-1.51, Z:-1.05 [[ 9.97223978e-01 7.14618281e-02 2.09175937e-02 3.89837659e+01] [-7.14476759e-02 9.97443333e-01 -1.42408433e-03 -1.50734374e+00] [-2.09658821e-02 -7.43824134e-05 9.99780189e-01 -1.05350621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.01, Y:-1.51, Z:-1.05 [[ 9.97144401e-01 7.28221546e-02 1.99994352e-02 3.90130560e+01] [-7.28094955e-02 9.97344937e-01 -1.36136046e-03 -1.50848454e+00] [-2.00454727e-02 -9.86758318e-05 9.99799064e-01 -1.05454308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55587156 meters Centerline goodness [0,1] 0.9998501840595839 Centerline is valid? [True, True] Translation: X:39.04, Y:-1.51, Z:-1.06 [[ 9.97114870e-01 7.32376352e-02 1.99545814e-02 3.90430623e+01] [-7.32251184e-02 9.97314513e-01 -1.35819213e-03 -1.51051158e+00] [-2.00004644e-02 -1.06903020e-04 9.99799965e-01 -1.05675573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.07, Y:-1.51, Z:-1.05 [[ 9.97010088e-01 7.45945286e-02 2.01628492e-02 3.90722583e+01] [-7.45820357e-02 9.97213938e-01 -1.37191464e-03 -1.51274983e+00] [-2.02090115e-02 -1.35973596e-04 9.99795768e-01 -1.05441149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61587156 meters Centerline goodness [0,1] 0.9998924823671083 Centerline is valid? [True, True] Translation: X:39.10, Y:-1.51, Z:-1.06 [[ 9.96964528e-01 7.52504420e-02 1.99775308e-02 3.91006523e+01] [-7.52383164e-02 9.97164655e-01 -1.35894762e-03 -1.51298990e+00] [-2.00231490e-02 -1.48253214e-04 9.99799506e-01 -1.05850093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.13, Y:-1.52, Z:-1.06 [[ 9.96807671e-01 7.59497618e-02 2.46191316e-02 3.91272277e+01] [-7.63746578e-02 9.96937599e-01 1.68028486e-02 -1.52314553e+00] [-2.32675656e-02 -1.86294861e-02 9.99555683e-01 -1.06069177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.16, Y:-1.50, Z:-1.06 [[ 9.96599734e-01 8.02642390e-02 1.86177680e-02 3.91597854e+01] [-7.98978057e-02 9.96609243e-01 -1.96559821e-02 -1.49864375e+00] [-2.01323121e-02 1.81016277e-02 9.99633443e-01 -1.05568534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705871560000006 meters Centerline goodness [0,1] 0.9998282119006205 Centerline is valid? [True, True] Translation: X:39.19, Y:-1.51, Z:-1.06 [[ 9.96454948e-01 8.17332331e-02 1.99302652e-02 3.91881930e+01] [-8.17225035e-02 9.96654203e-01 -1.35358869e-03 -1.50869877e+00] [-1.99742158e-02 -2.79961021e-04 9.99800456e-01 -1.06059562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.22, Y:-1.51, Z:-1.06 [[ 9.96330907e-01 8.33050650e-02 1.96211546e-02 3.92167664e+01] [-8.32949876e-02 9.96524045e-01 -1.33171275e-03 -1.50823665e+00] [-1.96638907e-02 -3.07517254e-04 9.99806600e-01 -1.05955674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.25, Y:-1.52, Z:-1.06 [[ 9.96508129e-01 8.08660512e-02 2.07901568e-02 3.92462195e+01] [-8.10377933e-02 9.96682403e-01 7.55403602e-03 -1.51563984e+00] [-2.01103184e-02 -9.21244673e-03 9.99755323e-01 -1.06166375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.27, Y:-1.50, Z:-1.06 [[ 9.96142905e-01 8.56739844e-02 1.89546923e-02 3.92749619e+01] [-8.54906512e-02 9.96285924e-01 -1.02813105e-02 -1.50216139e+00] [-1.97651340e-02 8.62120550e-03 9.99767480e-01 -1.05922966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82587156 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:39.30, Y:-1.50, Z:-1.06 [[ 9.95984442e-01 8.75407679e-02 1.87511416e-02 3.93031833e+01] [-8.75323554e-02 9.96160867e-01 -1.27048848e-03 -1.50472172e+00] [-1.87903731e-02 -3.75944836e-04 9.99823375e-01 -1.06227514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.33, Y:-1.50, Z:-1.06 [[ 9.95935185e-01 8.81641159e-02 1.84443958e-02 3.93308779e+01] [-8.81561028e-02 9.96105889e-01 -1.24864155e-03 -1.50075831e+00] [-1.84826567e-02 -3.82420001e-04 9.99829108e-01 -1.06472783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885871560000005 meters Centerline goodness [0,1] 0.9999787757874183 Centerline is valid? [True, True] Translation: X:39.36, Y:-1.50, Z:-1.07 [[ 9.95907232e-01 8.84319849e-02 1.86699850e-02 3.93591664e+01] [-8.84238432e-02 9.96082140e-01 -1.26276167e-03 -1.49924475e+00] [-1.87085071e-02 -3.93278345e-04 9.99824903e-01 -1.06604945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.39, Y:-1.50, Z:-1.06 [[ 9.95954047e-01 8.76471182e-02 1.98373145e-02 3.93876836e+01] [-8.76377968e-02 9.96151504e-01 -1.34041741e-03 -1.50232751e+00] [-1.98784544e-02 -4.03504388e-04 9.99802323e-01 -1.06333341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.42, Y:-1.50, Z:-1.06 [[ 9.96051536e-01 8.63282704e-02 2.07066917e-02 3.94153602e+01] [-8.63178486e-02 9.96266668e-01 -1.39822400e-03 -1.50477403e+00] [-2.07500930e-02 -3.94653914e-04 9.99784616e-01 -1.06344995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.44, Y:-1.51, Z:-1.06 [[ 9.96195606e-01 8.45210305e-02 2.12252193e-02 3.94440563e+01] [-8.45096988e-02 9.96421628e-01 -1.43188848e-03 -1.51143172e+00] [-2.12702923e-02 -3.67295880e-04 9.99773694e-01 -1.06144657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.47, Y:-1.52, Z:-1.06 [[ 9.96604414e-01 7.94364312e-02 2.16678532e-02 3.94728935e+01] [-7.94234477e-02 9.96839898e-01 -1.46047742e-03 -1.51798876e+00] [-2.17153957e-02 -2.65417364e-04 9.99764158e-01 -1.06179516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-1.52, Z:-1.06 [[ 9.96853945e-01 7.61620226e-02 2.19444339e-02 3.95015104e+01] [-7.61479205e-02 9.97095436e-01 -1.47874447e-03 -1.52402625e+00] [-2.19933190e-02 -1.96930747e-04 9.99758098e-01 -1.06237349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-1.53, Z:-1.06 [[ 9.97118261e-01 7.24778802e-02 2.24082562e-02 3.95301113e+01] [-7.24622737e-02 9.97370013e-01 -1.50872813e-03 -1.53104322e+00] [-2.24586722e-02 -1.19372826e-04 9.99747765e-01 -1.06310620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-1.55, Z:-1.06 [[ 9.97651076e-01 6.45257764e-02 2.29946789e-02 3.95606882e+01] [-6.45072477e-02 9.97916039e-01 -1.54740562e-03 -1.54544793e+00] [-2.30466064e-02 6.04474327e-05 9.99734390e-01 -1.06281302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-1.55, Z:-1.06 [[ 9.97906541e-01 6.05073722e-02 2.28340222e-02 3.95913566e+01] [-6.04880554e-02 9.98167739e-01 -1.53633777e-03 -1.55465145e+00] [-2.28851441e-02 1.51935914e-04 9.99738089e-01 -1.06443137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15587156 meters Centerline goodness [0,1] 0.9997428755088922 Centerline is valid? [True, True] Translation: X:39.62, Y:-1.56, Z:-1.07 [[ 9.98148054e-01 5.66497277e-02 2.21646407e-02 3.96225434e+01] [-5.66305041e-02 9.98394087e-01 -1.49452782e-03 -1.56374722e+00] [-2.22137108e-02 2.36565259e-04 9.99753217e-01 -1.06823180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-1.57, Z:-1.07 [[ 9.98332251e-01 5.33303858e-02 2.21040046e-02 3.96527220e+01] [-5.33103683e-02 9.98576873e-01 -1.49429655e-03 -1.57405489e+00] [-2.21522392e-02 3.13431813e-04 9.99754560e-01 -1.06712773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-1.59, Z:-1.07 [[ 9.98637527e-01 4.76599479e-02 2.12513248e-02 3.96826632e+01] [-4.76401148e-02 9.98863529e-01 -1.43884313e-03 -1.58889770e+00] [-2.12957485e-02 4.24467188e-04 9.99773130e-01 -1.06913670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245871560000005 meters Centerline goodness [0,1] 0.9998714267346677 Centerline is valid? [True, True] Translation: X:39.71, Y:-1.59, Z:-1.07 [[ 9.98732274e-01 4.57499942e-02 2.09948330e-02 3.97146468e+01] [-4.57302359e-02 9.98952816e-01 -1.42049172e-03 -1.59460598e+00] [-2.10378350e-02 4.58592258e-04 9.99778575e-01 -1.07017613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27587156 meters Centerline goodness [0,1] 0.9999138747739212 Centerline is valid? [True, True] Translation: X:39.75, Y:-1.60, Z:-1.07 [[ 9.98794219e-01 4.44591956e-02 2.08203538e-02 3.97466979e+01] [-4.44394133e-02 9.99011083e-01 -1.41207970e-03 -1.60117876e+00] [-2.08625441e-02 4.85132731e-04 9.99782236e-01 -1.07056896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30587156 meters Centerline goodness [0,1] 0.999785121835919 Centerline is valid? [True, True] Translation: X:39.78, Y:-1.61, Z:-1.07 [[ 9.98831670e-01 4.35411557e-02 2.09633648e-02 3.97778907e+01] [-4.35208130e-02 9.99051503e-01 -1.42585471e-03 -1.60771681e+00] [-2.10055645e-02 5.11846166e-04 9.99779228e-01 -1.07327483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33587156 meters Centerline goodness [0,1] 0.9997238625260206 Centerline is valid? [True, True] Translation: X:39.81, Y:-1.62, Z:-1.07 [[ 9.98802390e-01 4.43086811e-02 2.07491091e-02 3.98092423e+01] [-4.42888929e-02 9.99017767e-01 -1.41247298e-03 -1.61652414e+00] [-2.07913135e-02 4.91826313e-04 9.99783716e-01 -1.07364502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36587156 meters Centerline goodness [0,1] 0.9998723377093129 Centerline is valid? [True, True] Translation: X:39.84, Y:-1.62, Z:-1.07 [[ 9.98721808e-01 4.60776434e-02 2.07750023e-02 3.98417165e+01] [-4.60581187e-02 9.98937756e-01 -1.41757283e-03 -1.61870403e+00] [-2.08182526e-02 4.58903377e-04 9.99783171e-01 -1.07405932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39587156 meters Centerline goodness [0,1] 0.9999150346233909 Centerline is valid? [True, True] Translation: X:39.87, Y:-1.62, Z:-1.08 [[ 9.98612294e-01 4.84274355e-02 2.06946760e-02 3.98724357e+01] [-4.84084938e-02 9.98826619e-01 -1.41556385e-03 -1.62064268e+00] [-2.07389454e-02 4.11801364e-04 9.99784840e-01 -1.07652380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425871560000004 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:39.90, Y:-1.62, Z:-1.07 [[ 9.98301169e-01 5.43634916e-02 2.09615375e-02 3.99038364e+01] [-5.43452762e-02 9.98521168e-01 -1.43807946e-03 -1.61949472e+00] [-2.10087179e-02 2.96475861e-04 9.99779249e-01 -1.07453115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.94, Y:-1.62, Z:-1.08 [[ 9.98094871e-01 5.79483859e-02 2.11804892e-02 3.99366454e+01] [-5.79305901e-02 9.98319555e-01 -1.45331891e-03 -1.61877461e+00] [-2.12291140e-02 2.23551916e-04 9.99774612e-01 -1.07545292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.97, Y:-1.62, Z:-1.08 [[ 9.97874470e-01 6.17003043e-02 2.09669827e-02 3.99691127e+01] [-6.16836856e-02 9.98094711e-01 -1.43903690e-03 -1.61767273e+00] [-2.10158235e-02 1.42657413e-04 9.99779133e-01 -1.07659981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.00, Y:-1.61, Z:-1.08 [[ 9.97487112e-01 6.80398440e-02 1.97494453e-02 4.00009161e+01] [-6.80262606e-02 9.97682605e-01 -1.35955647e-03 -1.61499259e+00] [-1.97961820e-02 1.26591480e-05 9.99804036e-01 -1.07830253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.03, Y:-1.62, Z:-1.08 [[ 9.97276187e-01 7.11691998e-02 1.93688242e-02 4.00314614e+01] [-7.11567073e-02 9.97464256e-01 -1.33427193e-03 -1.61506765e+00] [-1.94146689e-02 -4.75841328e-05 9.99811516e-01 -1.08155806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.06, Y:-1.61, Z:-1.08 [[ 9.97035242e-01 7.44092398e-02 1.95956937e-02 4.00625335e+01] [-7.43970714e-02 9.97227784e-01 -1.35025628e-03 -1.61429773e+00] [-1.96418417e-02 -1.11609128e-04 9.99807074e-01 -1.08194752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.09, Y:-1.61, Z:-1.08 [[ 9.96781975e-01 7.76259127e-02 1.99977966e-02 4.00926443e+01] [-7.76138848e-02 9.96982540e-01 -1.37806686e-03 -1.61260203e+00] [-2.00444278e-02 -1.78474481e-04 9.99799074e-01 -1.08182353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.14, Y:-1.60, Z:-1.08 [[ 9.96358397e-01 8.27421618e-02 2.05834721e-02 4.01376413e+01] [-8.25587433e-02 9.96539883e-01 -9.60805282e-03 -1.60360837e+00] [-2.13072420e-02 7.87371852e-03 9.99741970e-01 -1.08100499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.17, Y:-1.61, Z:-1.08 [[ 9.96152091e-01 8.51525174e-02 2.07379112e-02 4.01676822e+01] [-8.51412506e-02 9.96367869e-01 -1.42721965e-03 -1.61077286e+00] [-2.07841198e-02 -3.43923859e-04 9.99783928e-01 -1.08243807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69587156 meters Centerline goodness [0,1] 0.9997867258147074 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.61, Z:-1.09 [[ 9.95906850e-01 8.84181643e-02 1.87556582e-02 4.01853959e+01] [-8.84973094e-02 9.96070507e-01 3.43101243e-03 -1.60697949e+00] [-1.83785941e-02 -5.07679407e-03 9.99818210e-01 -1.08934545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72587156 meters Centerline goodness [0,1] 0.9999788211872842 Centerline is valid? [True, True] Translation: X:40.22, Y:-1.60, Z:-1.09 [[ 9.95397550e-01 9.40723871e-02 1.82785166e-02 4.02155933e+01] [-9.40655358e-02 9.95565240e-01 -1.23614029e-03 -1.59624571e+00] [-1.83137424e-02 -4.88927443e-04 9.99832170e-01 -1.08873883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75587156 meters Centerline goodness [0,1] 0.9999788211872842 Centerline is valid? [True, True] Translation: X:40.24, Y:-1.60, Z:-1.09 [[ 9.95401725e-01 9.40282034e-02 1.82785045e-02 4.02438577e+01] [-9.40213413e-02 9.95569414e-01 -1.23631957e-03 -1.59806188e+00] [-1.83137689e-02 -4.87934875e-04 9.99832170e-01 -1.08954506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.28, Y:-1.61, Z:-1.09 [[ 9.95126020e-01 9.63148734e-02 2.11577186e-02 4.02832524e+01] [-9.63052810e-02 9.95350752e-01 -1.47419365e-03 -1.60694407e+00] [-2.12013379e-02 -5.70591581e-04 9.99775064e-01 -1.08757404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815871560000005 meters Centerline goodness [0,1] 0.9998517514507179 Centerline is valid? [True, True] Translation: X:40.30, Y:-1.60, Z:-1.09 [[ 9.95075373e-01 9.74165767e-02 1.83033476e-02 4.03038254e+01] [-9.74028475e-02 9.95243683e-01 -1.64220335e-03 -1.59528452e+00] [-1.83762689e-02 -1.48682062e-04 9.99831131e-01 -1.09145005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84587156 meters Centerline goodness [0,1] 0.9997464074387151 Centerline is valid? [True, True] Translation: X:40.33, Y:-1.59, Z:-1.10 [[ 9.94947320e-01 9.89546890e-02 1.69646948e-02 4.03332681e+01] [-9.89495142e-02 9.95091795e-01 -1.14621360e-03 -1.59278775e+00] [-1.69948518e-02 -5.38226160e-04 9.99855432e-01 -1.09533093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87587156 meters Centerline goodness [0,1] 0.9998721091335394 Centerline is valid? [True, True] Translation: X:40.36, Y:-1.59, Z:-1.10 [[ 9.94958920e-01 9.89273532e-02 1.64355323e-02 4.03613748e+01] [-9.89224967e-02 9.95094522e-01 -1.11020285e-03 -1.59296042e+00] [-1.64647376e-02 -5.21237661e-04 9.99864311e-01 -1.09735911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90587156 meters Centerline goodness [0,1] 0.9995935481110684 Centerline is valid? [True, True] Translation: X:40.39, Y:-1.59, Z:-1.10 [[ 9.94971923e-01 9.89105075e-02 1.57348260e-02 4.03904973e+01] [-9.89060691e-02 9.95096207e-01 -1.06192013e-03 -1.59393687e+00] [-1.57627007e-02 -4.99689073e-04 9.99875636e-01 -1.10115445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93587156 meters Centerline goodness [0,1] 0.9999154870061272 Centerline is valid? [True, True] Translation: X:40.42, Y:-1.60, Z:-1.09 [[ 9.94999278e-01 9.83578983e-02 1.73827962e-02 4.04194110e+01] [-9.83524125e-02 9.95150958e-01 -1.17227186e-03 -1.60210211e+00] [-1.74138085e-02 -5.43230292e-04 9.99848221e-01 -1.09483732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965871560000004 meters Centerline goodness [0,1] 0.9999358027861591 Centerline is valid? [True, True] Translation: X:40.46, Y:-1.61, Z:-1.10 [[ 9.94781910e-01 9.94705413e-02 2.26839621e-02 4.04563648e+01] [-9.95699612e-02 9.95025113e-01 3.29349789e-03 -1.61184089e+00] [-2.22435060e-02 -5.53495335e-03 9.99737261e-01 -1.09516893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995871560000005 meters Centerline goodness [0,1] 0.9999146265980834 Centerline is valid? [True, True] Translation: X:40.48, Y:-1.60, Z:-1.09 [[ 9.95090745e-01 9.71110935e-02 1.90747256e-02 4.04790769e+01] [-9.70042176e-02 9.95263053e-01 -6.45274156e-03 -1.60148227e+00] [-1.96110024e-02 4.57073458e-03 9.99797238e-01 -1.09135721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02587156 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:40.51, Y:-1.61, Z:-1.09 [[ 9.95203813e-01 9.58334709e-02 1.96294974e-02 4.05079693e+01] [-9.58260121e-02 9.95397221e-01 -1.32239339e-03 -1.60595851e+00] [-1.96658767e-02 -5.64965512e-04 9.99806448e-01 -1.09298919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05587156 meters Centerline goodness [0,1] 0.9999788059258631 Centerline is valid? [True, True] Translation: X:40.54, Y:-1.61, Z:-1.09 [[ 9.95348265e-01 9.42903874e-02 1.97776001e-02 4.05369566e+01] [-9.42825303e-02 9.95544591e-01 -1.33141308e-03 -1.60781602e+00] [-1.98150222e-02 -5.39462478e-04 9.99803518e-01 -1.09439582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08587156 meters Centerline goodness [0,1] 0.9998080818850624 Centerline is valid? [True, True] Translation: X:40.57, Y:-1.60, Z:-1.10 [[ 9.95534658e-01 9.24502763e-02 1.90706741e-02 4.05651451e+01] [-9.24426477e-02 9.95717184e-01 -1.28307438e-03 -1.60337510e+00] [-1.91076185e-02 -4.85598589e-04 9.99817315e-01 -1.09925690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11587156 meters Centerline goodness [0,1] 0.9999571128361281 Centerline is valid? [True, True] Translation: X:40.59, Y:-1.61, Z:-1.10 [[ 9.95751904e-01 9.01907772e-02 1.85410148e-02 4.05932498e+01] [-9.01831966e-02 9.95924414e-01 -1.24627220e-03 -1.61361215e+00] [-1.85778516e-02 -4.31110074e-04 9.99827324e-01 -1.09908635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.62, Y:-1.62, Z:-1.10 [[ 9.96241821e-01 8.48173230e-02 1.75572375e-02 4.06214108e+01] [-8.48097120e-02 9.96396469e-01 -1.17896015e-03 -1.61958015e+00] [-1.75939657e-02 -3.14494847e-04 9.99845165e-01 -1.10275043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175871560000004 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:40.65, Y:-1.63, Z:-1.10 [[ 9.96516416e-01 8.16714490e-02 1.68762172e-02 4.06504567e+01] [-8.16639573e-02 9.96659276e-01 -1.13373708e-03 -1.62502096e+00] [-1.69124324e-02 -2.48391071e-04 9.99856944e-01 -1.10496591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205871560000006 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:40.68, Y:-1.63, Z:-1.11 [[ 9.96796373e-01 7.82869821e-02 1.63749714e-02 4.06792756e+01] [-7.82794932e-02 9.96930847e-01 -1.09877820e-03 -1.63110210e+00] [-1.64107342e-02 -1.86566340e-04 9.99865317e-01 -1.10726319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.71, Y:-1.64, Z:-1.11 [[ 9.97306308e-01 7.16027816e-02 1.59113328e-02 4.07083288e+01] [-7.15948703e-02 9.97433224e-01 -1.06701107e-03 -1.64305951e+00] [-1.59468929e-02 -7.50329388e-05 9.99872837e-01 -1.10648253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.74, Y:-1.65, Z:-1.11 [[ 9.97460243e-01 6.92988319e-02 1.64540378e-02 4.07371559e+01] [-6.92900652e-02 9.97595945e-01 -1.10297930e-03 -1.64796613e+00] [-1.64909166e-02 -3.99233530e-05 9.99864015e-01 -1.10834065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29587156 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:40.77, Y:-1.65, Z:-1.11 [[ 9.97625485e-01 6.68322368e-02 1.66386010e-02 4.07662683e+01] [-6.68229361e-02 9.97764227e-01 -1.11494120e-03 -1.65350883e+00] [-1.66759149e-02 4.53588495e-07 9.99860947e-01 -1.10748843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.80, Y:-1.67, Z:-1.11 [[ 9.97532310e-01 6.60513580e-02 2.38014541e-02 4.07986287e+01] [-6.62107298e-02 9.97787800e-01 5.97034879e-03 -1.66596961e+00] [-2.33544509e-02 -7.53152746e-03 9.99698878e-01 -1.10872887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.83, Y:-1.66, Z:-1.11 [[ 9.97975587e-01 6.11265818e-02 1.75575668e-02 4.08264650e+01] [-6.09777433e-02 9.98099522e-01 -8.89148729e-03 -1.66009175e+00] [-1.80677053e-02 7.80286645e-03 9.99806318e-01 -1.10506235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385871560000005 meters Centerline goodness [0,1] 0.9998719699556162 Centerline is valid? [True, True] Translation: X:40.86, Y:-1.67, Z:-1.11 [[ 9.98054698e-01 5.97643614e-02 1.77494003e-02 4.08568148e+01] [-5.97526610e-02 9.98212505e-01 -1.18927313e-03 -1.66818318e+00] [-1.77887495e-02 1.26385738e-04 9.99841760e-01 -1.10817773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.89, Y:-1.67, Z:-1.11 [[ 9.98124981e-01 5.83638688e-02 1.84439897e-02 4.08887832e+01] [-5.83509421e-02 9.98295364e-01 -1.23870053e-03 -1.67219541e+00] [-1.84848447e-02 1.60153773e-04 9.99829128e-01 -1.10711501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.92, Y:-1.68, Z:-1.11 [[ 9.98160917e-01 5.78497144e-02 1.81161305e-02 4.09212290e+01] [-5.78371073e-02 9.98325289e-01 -1.21950885e-03 -1.67569099e+00] [-1.81563395e-02 1.69481490e-04 9.99835146e-01 -1.10811271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.95, Y:-1.68, Z:-1.11 [[ 9.98141064e-01 5.83762280e-02 1.75109379e-02 4.09538447e+01] [-5.83644832e-02 9.98294642e-01 -1.18144965e-03 -1.67754543e+00] [-1.75500441e-02 1.57236563e-04 9.99845974e-01 -1.10852570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50587156 meters Centerline goodness [0,1] 0.9998075401492633 Centerline is valid? [True, True] Translation: X:40.99, Y:-1.68, Z:-1.11 [[ 9.98084975e-01 5.95517233e-02 1.67324739e-02 4.09850624e+01] [-5.95411183e-02 9.98225212e-01 -1.13169408e-03 -1.68089671e+00] [-1.67701716e-02 1.33256652e-04 9.99859362e-01 -1.11447700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535871560000004 meters Centerline goodness [0,1] 0.9998073753825739 Centerline is valid? [True, True] Translation: X:41.02, Y:-1.68, Z:-1.11 [[ 9.97913137e-01 6.25251421e-02 1.61238269e-02 4.10155763e+01] [-6.25156139e-02 9.98043386e-01 -1.09478785e-03 -1.67759222e+00] [-1.61607306e-02 8.45122438e-05 9.99869403e-01 -1.11416103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565871560000005 meters Centerline goodness [0,1] 0.9998088360237893 Centerline is valid? [True, True] Translation: X:41.05, Y:-1.67, Z:-1.11 [[ 9.97744406e-01 6.51644888e-02 1.61148839e-02 4.10464659e+01] [-6.51553153e-02 9.97874535e-01 -1.09418063e-03 -1.67479511e+00] [-1.61519340e-02 4.17422652e-05 9.99869548e-01 -1.11418604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.08, Y:-1.67, Z:-1.11 [[ 9.97539279e-01 6.80638774e-02 1.68135280e-02 4.10764204e+01] [-6.80542984e-02 9.97680965e-01 -1.14188943e-03 -1.67095765e+00] [-1.68522582e-02 -5.15328977e-06 9.99857991e-01 -1.11307933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.10, Y:-1.68, Z:-1.11 [[ 9.96657025e-01 7.74143802e-02 2.61110599e-02 4.11010422e+01] [-7.78562294e-02 9.96830503e-01 1.63510196e-02 -1.67930399e+00] [-2.47624969e-02 -1.83292672e-02 9.99525316e-01 -1.11461351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.14, Y:-1.64, Z:-1.11 [[ 9.96611882e-01 8.08817252e-02 1.49299733e-02 4.11391251e+01] [-8.05976450e-02 9.96570552e-01 -1.87391402e-02 -1.64283820e+00] [-1.63944257e-02 1.74723291e-02 9.99712929e-01 -1.11333097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68587156 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:41.17, Y:-1.65, Z:-1.12 [[ 9.96275652e-01 8.49373288e-02 1.48484338e-02 4.11682691e+01] [-8.49317192e-02 9.96386263e-01 -1.00911004e-03 -1.64718906e+00] [-1.48804866e-02 -2.55751245e-04 9.99889247e-01 -1.11854894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.20, Y:-1.64, Z:-1.12 [[ 9.95942615e-01 8.86070321e-02 1.57194411e-02 4.11978157e+01] [-8.86012060e-02 9.96066607e-01 -1.06804130e-03 -1.64183472e+00] [-1.57522463e-02 -3.29053592e-04 9.99875872e-01 -1.11845299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745871560000005 meters Centerline goodness [0,1] 0.9999783531041648 Centerline is valid? [True, True] Translation: X:41.23, Y:-1.63, Z:-1.12 [[ 9.95398895e-01 9.46979273e-02 1.46062596e-02 4.12282327e+01] [-9.46935635e-02 9.95505975e-01 -9.91621948e-04 -1.63204868e+00] [-1.46345232e-02 -3.96059377e-04 9.99892831e-01 -1.12035646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775871560000006 meters Centerline goodness [0,1] 0.9999355974410716 Centerline is valid? [True, True] Translation: X:41.26, Y:-1.63, Z:-1.12 [[ 9.95189129e-01 9.68780483e-02 1.46027883e-02 4.12568039e+01] [-9.68739167e-02 9.95296167e-01 -9.91686373e-04 -1.62569783e+00] [-1.46301719e-02 -4.27713799e-04 9.99892882e-01 -1.12271994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80587156 meters Centerline goodness [0,1] 0.9998077374975968 Centerline is valid? [True, True] Translation: X:41.29, Y:-1.62, Z:-1.12 [[ 9.95055268e-01 9.82267017e-02 1.47149223e-02 4.12854760e+01] [-9.82226615e-02 9.95163962e-01 -9.98778468e-04 -1.62263323e+00] [-1.47418671e-02 -4.51499054e-04 9.99891231e-01 -1.12371735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83587156 meters Centerline goodness [0,1] 0.9997029114676174 Centerline is valid? [True, True] Translation: X:41.31, Y:-1.62, Z:-1.13 [[ 9.95034703e-01 9.84249624e-02 1.47806229e-02 4.13135652e+01] [-9.84209161e-02 9.95144370e-01 -1.00267881e-03 -1.61841993e+00] [-1.48075423e-02 -4.57022234e-04 9.99890258e-01 -1.12659149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86587156 meters Centerline goodness [0,1] 0.9998714267346677 Centerline is valid? [True, True] Translation: X:41.34, Y:-1.63, Z:-1.12 [[ 9.95201587e-01 9.67731283e-02 1.44486451e-02 4.13419722e+01] [-9.67691116e-02 9.95306376e-01 -9.78518740e-04 -1.62544640e+00] [-1.44755229e-02 -4.24359142e-04 9.99895134e-01 -1.12474352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89587156 meters Centerline goodness [0,1] 0.9999146193088433 Centerline is valid? [True, True] Translation: X:41.37, Y:-1.62, Z:-1.13 [[ 9.95329920e-01 9.54560288e-02 1.43700226e-02 4.13702204e+01] [-9.54519261e-02 9.95433566e-01 -9.72661727e-04 -1.62172745e+00] [-1.43972493e-02 -4.03527019e-04 9.99896273e-01 -1.12830960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925871560000004 meters Centerline goodness [0,1] 0.9999574667177066 Centerline is valid? [True, True] Translation: X:41.40, Y:-1.62, Z:-1.13 [[ 9.95593112e-01 9.26275371e-02 1.46456429e-02 4.14002828e+01] [-9.26229932e-02 9.95700759e-01 -9.89714120e-04 -1.62475792e+00] [-1.46743526e-02 -3.71170726e-04 9.99892257e-01 -1.12795201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955871560000006 meters Centerline goodness [0,1] 0.9999151211645376 Centerline is valid? [True, True] Translation: X:41.43, Y:-1.62, Z:-1.13 [[ 9.95716185e-01 9.12742069e-02 1.47749336e-02 4.14278826e+01] [-9.12694268e-02 9.95825735e-01 -9.98902894e-04 -1.62493279e+00] [-1.48044332e-02 -3.53875943e-04 9.99890346e-01 -1.12922413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98587156 meters Centerline goodness [0,1] 0.999849885269456 Centerline is valid? [True, True] Translation: X:41.46, Y:-1.63, Z:-1.13 [[ 9.95826049e-01 9.02521784e-02 1.36023362e-02 4.14563481e+01] [-9.02480425e-02 9.95918896e-01 -9.18829814e-04 -1.62906205e+00] [-1.36297500e-02 -3.12589549e-04 9.99907062e-01 -1.12900067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01587156 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:41.49, Y:-1.63, Z:-1.13 [[ 9.96124490e-01 8.65954089e-02 1.54024661e-02 4.14861968e+01] [-8.65896901e-02 9.96243517e-01 -1.03904234e-03 -1.63179712e+00] [-1.54345833e-02 -2.98679251e-04 9.99880835e-01 -1.12790399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04587156 meters Centerline goodness [0,1] 0.9999362041467305 Centerline is valid? [True, True] Translation: X:41.51, Y:-1.63, Z:-1.13 [[ 9.96296255e-01 8.46009414e-02 1.53770083e-02 4.15141537e+01] [-8.45949963e-02 9.96414878e-01 -1.03782445e-03 -1.63397092e+00] [-1.54096808e-02 -2.66837348e-04 9.99881228e-01 -1.12896833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:-1.64, Z:-1.13 [[ 9.96519802e-01 8.17989321e-02 1.60380440e-02 4.15426437e+01] [-8.17921232e-02 9.96648825e-01 -1.08111930e-03 -1.63796150e+00] [-1.60727322e-02 -2.34428882e-04 9.99870798e-01 -1.12870152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:-1.64, Z:-1.13 [[ 9.96983158e-01 7.59004851e-02 1.62388162e-02 4.15716708e+01] [-7.58927373e-02 9.97115388e-01 -1.09372308e-03 -1.64383571e+00] [-1.62749876e-02 -1.41984718e-04 9.99867544e-01 -1.12894764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:-1.65, Z:-1.13 [[ 9.97253526e-01 7.22887807e-02 1.61163303e-02 4.15993666e+01] [-7.22806822e-02 9.97383740e-01 -1.08518926e-03 -1.64868858e+00] [-1.61526128e-02 -8.26905277e-05 9.99869535e-01 -1.13049737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:-1.65, Z:-1.13 [[ 9.97495171e-01 6.88933181e-02 1.60341608e-02 4.16278383e+01] [-6.88848807e-02 9.97624032e-01 -1.07856681e-03 -1.65384990e+00] [-1.60703702e-02 -2.86460696e-05 9.99870863e-01 -1.13068342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.66, Y:-1.66, Z:-1.13 [[ 9.97725173e-01 6.54784844e-02 1.60326888e-02 4.16555160e+01] [-6.54696174e-02 9.97853981e-01 -1.07785714e-03 -1.65919273e+00] [-1.60688588e-02 2.57511998e-05 9.99870887e-01 -1.13163857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:-1.67, Z:-1.13 [[ 9.98074721e-01 6.02102351e-02 1.48855595e-02 4.16843721e+01] [-6.02020236e-02 9.98185713e-01 -9.99525837e-04 -1.66774869e+00] [-1.49187345e-02 1.01460666e-04 9.99888704e-01 -1.13339711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25587156 meters Centerline goodness [0,1] 0.9998507430862066 Centerline is valid? [True, True] Translation: X:41.71, Y:-1.67, Z:-1.14 [[ 9.98202750e-01 5.83208169e-02 1.37822996e-02 4.17127325e+01] [-5.83135990e-02 9.98297885e-01 -9.25338049e-04 -1.67201163e+00] [-1.38128070e-02 1.19979492e-04 9.99904591e-01 -1.13536584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285871560000004 meters Centerline goodness [0,1] 0.999934997399896 Centerline is valid? [True, True] Translation: X:41.74, Y:-1.67, Z:-1.13 [[ 9.98280650e-01 5.70317882e-02 1.35321232e-02 4.17426714e+01] [-5.70247201e-02 9.98372354e-01 -9.07906649e-04 -1.67375111e+00] [-1.35618772e-02 1.34680102e-04 9.99908024e-01 -1.13439035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.77, Y:-1.68, Z:-1.13 [[ 9.98320049e-01 5.58384535e-02 1.54644064e-02 4.17708046e+01] [-5.58290843e-02 9.98439802e-01 -1.03723752e-03 -1.67605017e+00] [-1.54981966e-02 1.72131361e-04 9.99879881e-01 -1.13465622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34587156 meters Centerline goodness [0,1] 0.9999785949740999 Centerline is valid? [True, True] Translation: X:41.80, Y:-1.67, Z:-1.13 [[ 9.98405385e-01 5.45750180e-02 1.44310242e-02 4.18000855e+01] [-5.43332933e-02 9.98384141e-01 -1.66433005e-02 -1.66940583e+00] [-1.53160141e-02 1.58326758e-02 9.99757344e-01 -1.12943939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.83, Y:-1.69, Z:-1.14 [[ 9.98429085e-01 5.34856304e-02 1.66927927e-02 4.18294924e+01] [-5.37311518e-02 9.98448356e-01 1.46233806e-02 -1.69040821e+00] [-1.58847507e-02 -1.54973315e-02 9.99753723e-01 -1.13716920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40587156 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:41.86, Y:-1.68, Z:-1.14 [[ 9.98444792e-01 5.36501774e-02 1.51543868e-02 4.18594015e+01] [-5.36409210e-02 9.98559772e-01 -1.01691010e-03 -1.68393109e+00] [-1.51871184e-02 2.02433334e-04 9.99884649e-01 -1.13719299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.89, Y:-1.68, Z:-1.14 [[ 9.98462260e-01 5.33485090e-02 1.50682359e-02 4.18896422e+01] [-5.33393235e-02 9.98575933e-01 -1.01111208e-03 -1.68290599e+00] [-1.51007191e-02 2.05827740e-04 9.99885956e-01 -1.13655610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:-1.68, Z:-1.14 [[ 9.98436737e-01 5.38059887e-02 1.51326734e-02 4.19196075e+01] [-5.37967825e-02 9.98551389e-01 -1.01507295e-03 -1.68449547e+00] [-1.51653690e-02 1.99396985e-04 9.99884979e-01 -1.13800735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.95, Y:-1.69, Z:-1.14 [[ 9.98423908e-01 5.41850442e-02 1.46178244e-02 4.19491562e+01] [-5.41765015e-02 9.98530894e-01 -9.80055534e-04 -1.68599981e+00] [-1.46494536e-02 1.86568293e-04 9.99892674e-01 -1.13937113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525871560000006 meters Centerline goodness [0,1] 0.9999361511939727 Centerline is valid? [True, True] Translation: X:41.98, Y:-1.68, Z:-1.14 [[ 9.98318040e-01 5.63126185e-02 1.37833341e-02 4.19789607e+01] [-5.63052257e-02 9.98413175e-01 -9.24137486e-04 -1.68373236e+00] [-1.38135030e-02 1.46509384e-04 9.99904578e-01 -1.14042023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.01, Y:-1.68, Z:-1.14 [[ 9.98240314e-01 5.76289768e-02 1.39705854e-02 4.20086778e+01] [-5.76215154e-02 9.98338061e-01 -9.36354647e-04 -1.68249679e+00] [-1.40013283e-02 1.29700653e-04 9.99901968e-01 -1.14135556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.04, Y:-1.68, Z:-1.14 [[ 9.98150111e-01 5.92840169e-02 1.34819171e-02 4.20363722e+01] [-5.92772161e-02 9.98241151e-01 -9.03830056e-04 -1.68075454e+00] [-1.35117871e-02 1.02987560e-04 9.99908706e-01 -1.14393733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61587156 meters Centerline goodness [0,1] 0.9999140247178936 Centerline is valid? [True, True] Translation: X:42.07, Y:-1.67, Z:-1.14 [[ 9.97976485e-01 6.23371465e-02 1.25305546e-02 4.20657137e+01] [-6.23315221e-02 9.98055147e-01 -8.39271417e-04 -1.67422807e+00] [-1.25585023e-02 5.65245972e-05 9.99921137e-01 -1.14255394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64587156 meters Centerline goodness [0,1] 0.9999140247178936 Centerline is valid? [True, True] Translation: X:42.09, Y:-1.68, Z:-1.14 [[ 9.97979459e-01 6.22895123e-02 1.25305946e-02 4.20939686e+01] [-6.22838917e-02 9.98058121e-01 -8.38673750e-04 -1.67603169e+00] [-1.25585023e-02 5.65249788e-05 9.99921137e-01 -1.14336008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.12, Y:-1.67, Z:-1.14 [[ 9.97971934e-01 6.16278334e-02 1.59382647e-02 4.21233050e+01] [-6.15330745e-02 9.98084721e-01 -6.36942402e-03 -1.67102628e+00] [-1.63002723e-02 5.37577598e-03 9.99852690e-01 -1.13883899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.15, Y:-1.68, Z:-1.14 [[ 9.97828670e-01 6.41571193e-02 1.48932608e-02 4.21508157e+01] [-6.42278026e-02 9.97925927e-01 4.31672867e-03 -1.67778245e+00] [-1.45854222e-02 -5.26391704e-03 9.99879771e-01 -1.14493213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.18, Y:-1.68, Z:-1.15 [[ 9.97844405e-01 6.40024915e-02 1.44991071e-02 4.21786837e+01] [-6.39951790e-02 9.97949738e-01 -9.68217733e-04 -1.67571546e+00] [-1.45313484e-02 3.82576968e-05 9.99894414e-01 -1.14562526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.21, Y:-1.68, Z:-1.14 [[ 9.97848156e-01 6.38570433e-02 1.48773293e-02 4.22071581e+01] [-6.38493463e-02 9.97959055e-01 -9.92253177e-04 -1.67633839e+00] [-1.49103278e-02 4.02102536e-05 9.99888834e-01 -1.14488373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:-1.68, Z:-1.15 [[ 9.97876895e-01 6.34155333e-02 1.48382218e-02 4.22350822e+01] [-6.34078360e-02 9.97987208e-01 -9.89102981e-04 -1.67751657e+00] [-1.48710800e-02 4.61434781e-05 9.99889418e-01 -1.14585283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82587156 meters Centerline goodness [0,1] 0.999914842885123 Centerline is valid? [True, True] Translation: X:42.26, Y:-1.68, Z:-1.15 [[ 9.97971629e-01 6.20722115e-02 1.41304046e-02 4.22632609e+01] [-6.20651072e-02 9.98071659e-01 -9.41161640e-04 -1.67971518e+00] [-1.41615764e-02 6.22475357e-05 9.99899718e-01 -1.14651043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.29, Y:-1.68, Z:-1.15 [[ 9.98007942e-01 6.12094503e-02 1.52823471e-02 4.22908550e+01] [-6.12010550e-02 9.98124941e-01 -1.01685807e-03 -1.68271917e+00] [-1.53159331e-02 7.95366638e-05 9.99882701e-01 -1.14766607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885871560000005 meters Centerline goodness [0,1] 0.9998716742236291 Centerline is valid? [True, True] Translation: X:42.32, Y:-1.69, Z:-1.15 [[ 9.98099366e-01 6.00304099e-02 1.39285587e-02 4.23191070e+01] [-6.00233326e-02 9.98196545e-01 -9.25979237e-04 -1.68622854e+00] [-1.39590260e-02 8.81807815e-05 9.99902564e-01 -1.14761595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.35, Y:-1.69, Z:-1.15 [[ 9.98207759e-01 5.78443914e-02 1.53393575e-02 4.23463939e+01] [-5.78355603e-02 9.98325603e-01 -1.01906569e-03 -1.69108997e+00] [-1.53726206e-02 1.30078938e-04 9.99881826e-01 -1.14928055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.38, Y:-1.69, Z:-1.15 [[ 9.98274605e-01 5.66755008e-02 1.53525459e-02 4.23756747e+01] [-5.66665373e-02 9.98392641e-01 -1.01857703e-03 -1.69414650e+00] [-1.53855972e-02 1.46843967e-04 9.99881624e-01 -1.14952250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:-1.70, Z:-1.15 [[ 9.98320409e-01 5.57566186e-02 1.57340267e-02 4.24028409e+01] [-5.57470891e-02 9.98444376e-01 -1.04394250e-03 -1.69763610e+00] [-1.57677571e-02 1.65062914e-04 9.99875668e-01 -1.14990544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.43, Y:-1.70, Z:-1.15 [[ 9.98366681e-01 5.49319554e-02 1.56987607e-02 4.24324148e+01] [-5.49223875e-02 9.98490085e-01 -1.04027637e-03 -1.70032970e+00] [-1.57322014e-02 1.76363849e-04 9.99876226e-01 -1.14974708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:-1.70, Z:-1.15 [[ 9.98513252e-01 5.22593290e-02 1.54999306e-02 4.24626451e+01] [-5.20590583e-02 9.98558676e-01 -1.30546893e-02 -1.69574524e+00] [-1.61598195e-02 1.22283685e-02 9.99794643e-01 -1.14753446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.49, Y:-1.71, Z:-1.15 [[ 9.98418783e-01 5.38876160e-02 1.60018424e-02 4.24898572e+01] [-5.40666351e-02 9.98477030e-01 1.09735596e-02 -1.71382502e+00] [-1.53861331e-02 -1.18213738e-02 9.99811743e-01 -1.15486084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.52, Y:-1.71, Z:-1.15 [[ 9.98563570e-01 4.98618703e-02 1.96109892e-02 4.25237246e+01] [-4.98602512e-02 9.98756040e-01 -5.71811492e-04 -1.70804277e+00] [-1.96151055e-02 -4.06818722e-04 9.99807523e-01 -1.15282845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.55, Y:-1.71, Z:-1.15 [[ 9.98378440e-01 5.46294715e-02 1.60034660e-02 4.25495129e+01] [-5.46050041e-02 9.98506106e-01 -1.96220184e-03 -1.71183299e+00] [-1.60867526e-02 1.08515069e-03 9.99870011e-01 -1.15379766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.58, Y:-1.71, Z:-1.15 [[ 9.98347875e-01 5.51790651e-02 1.60246949e-02 4.25788062e+01] [-5.51691497e-02 9.98476460e-01 -1.06050045e-03 -1.71426708e+00] [-1.60587980e-02 1.74679581e-04 9.99871034e-01 -1.15410856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18587156 meters Centerline goodness [0,1] 0.9999146120183584 Centerline is valid? [True, True] Translation: X:42.61, Y:-1.72, Z:-1.16 [[ 9.98332448e-01 5.56540259e-02 1.53281979e-02 4.26069918e+01] [-5.56450125e-02 9.98450101e-01 -1.01422670e-03 -1.71625875e+00] [-1.53608865e-02 1.59597662e-04 9.99882002e-01 -1.15508175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:-1.72, Z:-1.16 [[ 9.98288574e-01 5.62148805e-02 1.61186241e-02 4.26363143e+01] [-5.62049988e-02 9.98418681e-01 -1.06576854e-03 -1.71805309e+00] [-1.61530474e-02 1.57997305e-04 9.99869519e-01 -1.15609698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.66, Y:-1.72, Z:-1.16 [[ 9.98210825e-01 5.77707178e-02 1.54172911e-02 4.26647578e+01] [-5.77618678e-02 9.98329869e-01 -1.01907489e-03 -1.71951393e+00] [-1.54504149e-02 1.26720056e-04 9.99880627e-01 -1.15854413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.69, Y:-1.72, Z:-1.16 [[ 9.98137088e-01 5.90677317e-02 1.52760375e-02 4.26935148e+01] [-5.90591960e-02 9.98253972e-01 -1.00967724e-03 -1.71882678e+00] [-1.53090045e-02 1.05605807e-04 9.99882805e-01 -1.15938520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.72, Y:-1.72, Z:-1.16 [[ 9.97922327e-01 6.24977481e-02 1.56543922e-02 4.27217869e+01] [-6.24892181e-02 9.98045103e-01 -1.03392673e-03 -1.71573698e+00] [-1.56884076e-02 5.35478442e-05 9.99876928e-01 -1.16120329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33587156 meters Centerline goodness [0,1] 0.999829703897652 Centerline is valid? [True, True] Translation: X:42.75, Y:-1.71, Z:-1.16 [[ 9.97817242e-01 6.43995993e-02 1.46096720e-02 4.27506253e+01] [-6.43923825e-02 9.97924191e-01 -9.64331793e-04 -1.71484197e+00] [-1.46414477e-02 2.14753061e-05 9.99892808e-01 -1.16185736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-1.71, Z:-1.16 [[ 9.97664256e-01 6.65299706e-02 1.54853360e-02 4.27799229e+01] [-6.65221311e-02 9.97784427e-01 -1.02136425e-03 -1.71273217e+00] [-1.55189784e-02 -1.11389460e-05 9.99879573e-01 -1.16167787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-1.71, Z:-1.16 [[ 9.97400092e-01 7.04341495e-02 1.52344246e-02 4.28083545e+01] [-7.04270255e-02 9.97516429e-01 -1.00427643e-03 -1.70709116e+00] [-1.52673242e-02 -7.12498089e-05 9.99883445e-01 -1.16415209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.84, Y:-1.71, Z:-1.16 [[ 9.97299661e-01 7.19252695e-02 1.48371579e-02 4.28368664e+01] [-7.19186915e-02 9.97410020e-01 -9.77124395e-04 -1.70689591e+00] [-1.48690099e-02 -9.25831565e-05 9.99889446e-01 -1.16465866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.87, Y:-1.71, Z:-1.17 [[ 9.97222366e-01 7.29521942e-02 1.50176596e-02 4.28650502e+01] [-7.29455793e-02 9.97335433e-01 -9.88507103e-04 -1.70682460e+00] [-1.50497577e-02 -1.09710483e-04 9.99886740e-01 -1.16598118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:-1.71, Z:-1.16 [[ 9.97160056e-01 7.35671297e-02 1.61152290e-02 4.28938544e+01] [-7.35596151e-02 9.97290259e-01 -1.05936430e-03 -1.70767738e+00] [-1.61494953e-02 -1.29074276e-04 9.99869580e-01 -1.16499584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.92, Y:-1.71, Z:-1.17 [[ 9.97193660e-01 7.31121453e-02 1.61064932e-02 4.29215021e+01] [-7.31045896e-02 9.97323718e-01 -1.05816710e-03 -1.70927929e+00] [-1.61407526e-02 -1.22261056e-04 9.99869722e-01 -1.16702853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:-1.71, Z:-1.17 [[ 9.97272016e-01 7.20343601e-02 1.61114184e-02 4.29491080e+01] [-7.20266749e-02 9.97402145e-01 -1.05751322e-03 -1.71187131e+00] [-1.61457406e-02 -1.05823551e-04 9.99869643e-01 -1.16876918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.98, Y:-1.72, Z:-1.17 [[ 9.97367382e-01 7.08283748e-02 1.55449907e-02 4.29777332e+01] [-7.08210891e-02 9.97488513e-01 -1.01936397e-03 -1.71570542e+00] [-1.55781496e-02 -8.42328053e-05 9.99878650e-01 -1.16890337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605871560000004 meters Centerline goodness [0,1] 0.9999148174964863 Centerline is valid? [True, True] Translation: X:43.01, Y:-1.72, Z:-1.17 [[ 9.97602263e-01 6.77775541e-02 1.39974380e-02 4.30053104e+01] [-6.77713503e-02 9.97700457e-01 -9.17612269e-04 -1.72160758e+00] [-1.40274438e-02 -3.32131965e-05 9.99901610e-01 -1.17257428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:-1.73, Z:-1.17 [[ 9.97698701e-01 6.61689692e-02 1.47976012e-02 4.30337247e+01] [-6.61618777e-02 9.97808432e-01 -9.68803107e-04 -1.72632145e+00] [-1.48292759e-02 -1.24634756e-05 9.99890040e-01 -1.17168109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.06, Y:-1.73, Z:-1.17 [[ 9.97804631e-01 6.45721008e-02 1.47092635e-02 4.30609046e+01] [-6.45649280e-02 9.97913044e-01 -9.62489496e-04 -1.73133468e+00] [-1.47407159e-02 1.06739358e-05 9.99891350e-01 -1.17332248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.09, Y:-1.74, Z:-1.17 [[ 9.97969061e-01 6.19158331e-02 1.49727624e-02 4.30894494e+01] [-6.19081183e-02 9.98081373e-01 -9.78645344e-04 -1.73815098e+00] [-1.50046289e-02 4.97222261e-05 9.99887423e-01 -1.17365537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.12, Y:-1.74, Z:-1.18 [[ 9.98048236e-01 6.06071345e-02 1.50497146e-02 4.31168564e+01] [-6.05991999e-02 9.98161696e-01 -9.83118927e-04 -1.74199030e+00] [-1.50816326e-02 6.91994493e-05 9.99886263e-01 -1.17532963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.15, Y:-1.74, Z:-1.17 [[ 9.98096269e-01 5.98325526e-02 1.49634057e-02 4.31460232e+01] [-5.98246366e-02 9.98208425e-01 -9.76480182e-04 -1.74446100e+00] [-1.49950229e-02 7.94409204e-05 9.99887565e-01 -1.17406012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.17, Y:-1.75, Z:-1.18 [[ 9.98189861e-01 5.81500697e-02 1.53483144e-02 4.31746347e+01] [-5.81415563e-02 9.98307847e-01 -1.00068618e-03 -1.75014029e+00] [-1.53805327e-02 1.06499906e-04 9.99881707e-01 -1.17556351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.20, Y:-1.75, Z:-1.18 [[ 9.98217049e-01 5.77402232e-02 1.51257772e-02 4.32027145e+01] [-5.77319159e-02 9.98331635e-01 -9.85652667e-04 -1.75367617e+00] [-1.51574537e-02 1.10655199e-04 9.99885113e-01 -1.17718616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.23, Y:-1.76, Z:-1.18 [[ 9.98245992e-01 5.73443823e-02 1.47160503e-02 4.32319317e+01] [-5.73364853e-02 9.98354451e-01 -9.58317121e-04 -1.75714004e+00] [-1.47467884e-02 1.12869624e-04 9.99891254e-01 -1.17817768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.26, Y:-1.76, Z:-1.18 [[ 9.98260809e-01 5.71022533e-02 1.46523090e-02 4.32601383e+01] [-5.70943988e-02 9.98368328e-01 -9.54149566e-04 -1.76007016e+00] [-1.46828853e-02 1.15925347e-04 9.99892194e-01 -1.17926421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:-1.76, Z:-1.18 [[ 9.98267704e-01 5.69170299e-02 1.49010833e-02 4.32877043e+01] [-5.69088940e-02 9.98378905e-01 -9.69791845e-04 -1.76299067e+00] [-1.49321249e-02 1.20107707e-04 9.99888502e-01 -1.17987373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:-1.77, Z:-1.18 [[ 9.98253708e-01 5.71896060e-02 1.47947423e-02 4.33159663e+01] [-5.71816305e-02 9.98363329e-01 -9.61879511e-04 -1.76521791e+00] [-1.48255377e-02 1.14212301e-04 9.99890089e-01 -1.18048024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965871560000004 meters Centerline goodness [0,1] 0.9999144714334588 Centerline is valid? [True, True] Translation: X:43.34, Y:-1.77, Z:-1.18 [[ 9.98299520e-01 5.65889858e-02 1.39912395e-02 4.33440774e+01] [-5.65818044e-02 9.98397553e-01 -9.08905509e-04 -1.76999650e+00] [-1.40202533e-02 1.15710355e-04 9.99901705e-01 -1.18240468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:-1.77, Z:-1.18 [[ 9.98292599e-01 5.63991093e-02 1.51995663e-02 4.33740759e+01] [-5.63906233e-02 9.98408295e-01 -9.86655711e-04 -1.77325060e+00] [-1.52310196e-02 1.27858076e-04 9.99883993e-01 -1.18147826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025871560000006 meters Centerline goodness [0,1] 0.9998922506680459 Centerline is valid? [True, True] Translation: X:43.40, Y:-1.78, Z:-1.18 [[ 9.98344405e-01 5.55898002e-02 1.47723565e-02 4.34022202e+01] [-5.55816984e-02 9.98453682e-01 -9.58754855e-04 -1.77842272e+00] [-1.48028107e-02 1.36094882e-04 9.99890423e-01 -1.18282428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.43, Y:-1.78, Z:-1.18 [[ 9.98359350e-01 5.49090348e-02 1.62359427e-02 4.34310337e+01] [-5.48991711e-02 9.98491348e-01 -1.05293781e-03 -1.78414830e+00] [-1.62692641e-02 1.59870516e-04 9.99867634e-01 -1.18311857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08587156 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:43.46, Y:-1.79, Z:-1.18 [[ 9.98435111e-01 5.33521294e-02 1.67594764e-02 4.34613682e+01] [-5.33414112e-02 9.98575743e-01 -1.08621633e-03 -1.79258782e+00] [-1.67935586e-02 1.90542399e-04 9.99858960e-01 -1.18313729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:-1.80, Z:-1.18 [[ 9.98486705e-01 5.23087545e-02 1.69733128e-02 4.34911074e+01] [-5.22976103e-02 9.98630938e-01 -1.10007551e-03 -1.79822186e+00] [-1.70076188e-02 2.10747071e-04 9.99855338e-01 -1.18387045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:-1.80, Z:-1.18 [[ 9.98527884e-01 5.15644935e-02 1.68275827e-02 4.35219660e+01] [-5.15534387e-02 9.98669642e-01 -1.09036900e-03 -1.80364360e+00] [-1.68614203e-02 2.21244096e-04 9.99857812e-01 -1.18440739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.55, Y:-1.81, Z:-1.19 [[ 9.98585270e-01 5.04715298e-02 1.67357012e-02 4.35521013e+01] [-5.04604334e-02 9.98725472e-01 -1.08492292e-03 -1.81147669e+00] [-1.67691288e-02 2.38897317e-04 9.99859360e-01 -1.18579524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205871560000006 meters Centerline goodness [0,1] 0.999978566070089 Centerline is valid? [True, True] Translation: X:43.58, Y:-1.82, Z:-1.19 [[ 9.98605388e-01 5.01950484e-02 1.63626324e-02 4.35831975e+01] [-5.01844034e-02 9.98739406e-01 -1.06078237e-03 -1.81656229e+00] [-1.63952518e-02 2.38154048e-04 9.99865560e-01 -1.18746796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23587156 meters Centerline goodness [0,1] 0.9999355116079106 Centerline is valid? [True, True] Translation: X:43.61, Y:-1.82, Z:-1.19 [[ 9.98610830e-01 5.02155765e-02 1.59626642e-02 4.36137583e+01] [-5.02054427e-02 9.98738375e-01 -1.03519311e-03 -1.82224760e+00] [-1.59945081e-02 2.32342432e-04 9.99872053e-01 -1.18873239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.64, Y:-1.83, Z:-1.19 [[ 9.98539869e-01 5.10910171e-02 1.75453382e-02 4.36444500e+01] [-5.10789011e-02 9.98693972e-01 -1.13828593e-03 -1.82980527e+00] [-1.75805797e-02 2.40427291e-04 9.99845421e-01 -1.18826708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:-1.83, Z:-1.19 [[ 9.98492447e-01 5.19691491e-02 1.76646804e-02 4.36757165e+01] [-5.19570106e-02 9.98648665e-01 -1.14571616e-03 -1.83290201e+00] [-1.77003514e-02 2.26184942e-04 9.99843311e-01 -1.18903940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.71, Y:-1.83, Z:-1.19 [[ 9.98323032e-01 5.52660112e-02 1.72276668e-02 4.37073349e+01] [-5.52549189e-02 9.98471652e-01 -1.11955423e-03 -1.83191099e+00] [-1.72632103e-02 1.65763444e-04 9.99850966e-01 -1.18855849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:-1.83, Z:-1.19 [[ 9.98211841e-01 5.71471672e-02 1.75306052e-02 4.37375429e+01] [-5.71359617e-02 9.98365756e-01 -1.13979361e-03 -1.83323015e+00] [-1.75670919e-02 1.36127493e-04 9.99845677e-01 -1.18890122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385871560000005 meters Centerline goodness [0,1] 0.9999359124991989 Centerline is valid? [True, True] Translation: X:43.77, Y:-1.83, Z:-1.19 [[ 9.98102517e-01 5.91123249e-02 1.72365395e-02 4.37681613e+01] [-5.91017817e-02 9.98251333e-01 -1.12087277e-03 -1.83430236e+00] [-1.72726559e-02 1.00035736e-04 9.99850812e-01 -1.19123998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.80, Y:-1.83, Z:-1.19 [[ 9.97794631e-01 6.38935351e-02 1.79858251e-02 4.37991057e+01] [-6.38828255e-02 9.97956720e-01 -1.16994297e-03 -1.83352735e+00] [-1.80238268e-02 1.83774901e-05 9.99837557e-01 -1.19200615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-1.83, Z:-1.19 [[ 9.97655737e-01 6.60929117e-02 1.77413915e-02 4.38295966e+01] [-6.60828389e-02 9.97813473e-01 -1.15404304e-03 -1.83442234e+00] [-1.77788736e-02 -2.10638557e-05 9.99841943e-01 -1.19285623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.86, Y:-1.83, Z:-1.19 [[ 9.97527984e-01 6.80193507e-02 1.76433666e-02 4.38584247e+01] [-6.80096837e-02 9.97684001e-01 -1.14803931e-03 -1.83494832e+00] [-1.76805935e-02 -5.47184428e-05 9.99843685e-01 -1.19445361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.89, Y:-1.84, Z:-1.20 [[ 9.97406579e-01 6.97947775e-02 1.75728768e-02 4.38875974e+01] [-6.97854756e-02 9.97561367e-01 -1.14273793e-03 -1.83507453e+00] [-1.76097801e-02 -8.65572406e-05 9.99844932e-01 -1.19621775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535871560000004 meters Centerline goodness [0,1] 0.9998503154068213 Centerline is valid? [True, True] Translation: X:43.92, Y:-1.84, Z:-1.20 [[ 9.97291749e-01 7.17428709e-02 1.61903605e-02 4.39173631e+01] [-7.17352377e-02 9.97423154e-01 -1.05247476e-03 -1.83619387e+00] [-1.62241480e-02 -1.11794965e-04 9.99868374e-01 -1.19907109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565871560000005 meters Centerline goodness [0,1] 0.9998503154068213 Centerline is valid? [True, True] Translation: X:43.95, Y:-1.84, Z:-1.20 [[ 9.97293412e-01 7.17197425e-02 1.61903848e-02 4.39464567e+01] [-7.17121122e-02 9.97424817e-01 -1.05210036e-03 -1.83803934e+00] [-1.62241480e-02 -1.11793936e-04 9.99868374e-01 -1.19990076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.98, Y:-1.84, Z:-1.20 [[ 9.97191255e-01 7.28740035e-02 1.72910589e-02 4.39754720e+01] [-7.28654773e-02 9.97341145e-01 -1.12343439e-03 -1.83985070e+00] [-1.73269537e-02 -1.39642309e-04 9.99849867e-01 -1.19870905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.00, Y:-1.84, Z:-1.20 [[ 9.97126760e-01 7.35226129e-02 1.82386906e-02 4.40045298e+01] [-7.35132560e-02 9.97293537e-01 -1.18384818e-03 -1.84160992e+00] [-1.82763679e-02 -1.60338838e-04 9.99832960e-01 -1.19898123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65587156 meters Centerline goodness [0,1] 0.999893219434063 Centerline is valid? [True, True] Translation: X:44.03, Y:-1.84, Z:-1.20 [[ 9.97075871e-01 7.41398885e-02 1.85198497e-02 4.40337485e+01] [-7.41303555e-02 9.97247836e-01 -1.20166308e-03 -1.84383986e+00] [-1.85579712e-02 -1.74733779e-04 9.99827771e-01 -1.19941601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.06, Y:-1.85, Z:-1.20 [[ 9.96888735e-01 7.60541747e-02 2.07029431e-02 4.40633029e+01] [-7.60426856e-02 9.97103659e-01 -1.34276307e-03 -1.84604340e+00] [-2.07451031e-02 -2.35722021e-04 9.99784769e-01 -1.19528555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.09, Y:-1.85, Z:-1.20 [[ 9.96799571e-01 7.71615671e-02 2.08975547e-02 4.40916640e+01] [-7.71501132e-02 9.97018568e-01 -1.35496261e-03 -1.84532477e+00] [-2.09398011e-02 -2.61622565e-04 9.99780704e-01 -1.19645540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.12, Y:-1.84, Z:-1.20 [[ 9.96641886e-01 7.91633832e-02 2.09310638e-02 4.41213448e+01] [-7.91523517e-02 9.96861608e-01 -1.35628109e-03 -1.84495561e+00] [-2.09727418e-02 -3.05016378e-04 9.99780001e-01 -1.19765019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775871560000006 meters Centerline goodness [0,1] 0.999957848592143 Centerline is valid? [True, True] Translation: X:44.15, Y:-1.84, Z:-1.20 [[ 9.96582253e-01 7.99284124e-02 2.08629286e-02 4.41503080e+01] [-7.99176286e-02 9.96800555e-01 -1.35146383e-03 -1.83989658e+00] [-2.09041992e-02 -3.20470910e-04 9.99781432e-01 -1.20143430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.18, Y:-1.85, Z:-1.20 [[ 9.96503391e-01 8.08117572e-02 2.12238662e-02 4.41795163e+01] [-8.08008154e-02 9.96729322e-01 -1.37399574e-03 -1.84591296e+00] [-2.12654848e-02 -3.45714282e-04 9.99773804e-01 -1.19949749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.21, Y:-1.84, Z:-1.20 [[ 9.96406734e-01 8.22130567e-02 2.03625499e-02 4.42084474e+01] [-8.22032848e-02 9.96614712e-01 -1.31787139e-03 -1.84417115e+00] [-2.04019630e-02 -3.60732558e-04 9.99791793e-01 -1.20262183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.24, Y:-1.84, Z:-1.20 [[ 9.96344548e-01 8.30102690e-02 2.01702069e-02 4.42373264e+01] [-8.30008564e-02 9.96548622e-01 -1.30481419e-03 -1.84412072e+00] [-2.02089048e-02 -3.74099937e-04 9.99795709e-01 -1.20399508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:-1.84, Z:-1.21 [[ 9.96323209e-01 8.33668600e-02 1.97491753e-02 4.42663657e+01] [-8.33579240e-02 9.96518854e-01 -1.27668046e-03 -1.84475528e+00] [-1.97868583e-02 -3.74263876e-04 9.99804151e-01 -1.20558517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925871560000004 meters Centerline goodness [0,1] 0.9998085024894676 Centerline is valid? [True, True] Translation: X:44.29, Y:-1.84, Z:-1.21 [[ 9.96318173e-01 8.35104324e-02 1.93934387e-02 4.42939784e+01] [-8.35018581e-02 9.96506834e-01 -1.25289259e-03 -1.84090958e+00] [-1.94303238e-02 -3.71108507e-04 9.99811145e-01 -1.21094275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:-1.84, Z:-1.21 [[ 9.96336107e-01 8.32635964e-02 1.95329123e-02 4.43222911e+01] [-8.32548756e-02 9.96527489e-01 -1.26063619e-03 -1.84452383e+00] [-1.95700491e-02 -3.70192827e-04 9.99808420e-01 -1.20874979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98587156 meters Centerline goodness [0,1] 0.9999579160003367 Centerline is valid? [True, True] Translation: X:44.35, Y:-1.84, Z:-1.21 [[ 9.96387341e-01 8.26402640e-02 1.95666457e-02 4.43505903e+01] [-8.26314089e-02 9.96579378e-01 -1.26200335e-03 -1.84449344e+00] [-1.96040079e-02 -3.59375347e-04 9.99807758e-01 -1.20994943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.38, Y:-1.84, Z:-1.21 [[ 9.96477610e-01 8.12456132e-02 2.07731444e-02 4.43795156e+01] [-8.12353585e-02 9.96694048e-01 -1.33842075e-03 -1.84496592e+00] [-2.08132102e-02 -3.53807521e-04 9.99783319e-01 -1.20916544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:-1.85, Z:-1.21 [[ 9.96547638e-01 8.02698604e-02 2.12027196e-02 4.44084018e+01] [-8.02589774e-02 9.96773110e-01 -1.36510747e-03 -1.84683015e+00] [-2.12438777e-02 -3.41313968e-04 9.99774265e-01 -1.20930026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07587156 meters Centerline goodness [0,1] 0.9999576307092619 Centerline is valid? [True, True] Translation: X:44.44, Y:-1.84, Z:-1.21 [[ 9.96650194e-01 7.87883160e-02 2.19269889e-02 4.44360599e+01] [-7.87763396e-02 9.96891317e-01 -1.41077115e-03 -1.84337121e+00] [-2.19699771e-02 -3.21282582e-04 9.99758579e-01 -1.21158240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.47, Y:-1.85, Z:-1.21 [[ 9.96788454e-01 7.69440480e-02 2.21898927e-02 4.44655210e+01] [-7.69313590e-02 9.97035371e-01 -1.42619374e-03 -1.84685380e+00] [-2.22338451e-02 -2.85485149e-04 9.99752757e-01 -1.21217834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-1.86, Z:-1.21 [[ 9.97148981e-01 7.20142800e-02 2.25355854e-02 4.44946613e+01] [-7.19999440e-02 9.97403585e-01 -1.44794340e-03 -1.86037013e+00] [-2.25813463e-02 -1.78745605e-04 9.99744993e-01 -1.21126490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-1.87, Z:-1.21 [[ 9.97555242e-01 6.65759462e-02 2.12410587e-02 4.45265441e+01] [-6.67394110e-02 9.97745312e-01 7.08114427e-03 -1.87331179e+00] [-2.07217328e-02 -8.48144833e-03 9.99749306e-01 -1.21208894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-1.87, Z:-1.21 [[ 9.97691388e-01 6.42672298e-02 2.19458039e-02 4.45550419e+01] [-6.40631539e-02 9.97896942e-01 -9.87957312e-03 -1.87003794e+00] [-2.25345834e-02 8.45084760e-03 9.99710346e-01 -1.21153624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-1.88, Z:-1.21 [[ 9.97822328e-01 6.18545660e-02 2.29044501e-02 4.45860116e+01] [-6.18370355e-02 9.98085172e-01 -1.47352949e-03 -1.87901990e+00] [-2.29517365e-02 5.39773372e-05 9.99736573e-01 -1.21284672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:-1.88, Z:-1.21 [[ 9.97906476e-01 6.03688175e-02 2.32006772e-02 4.46180090e+01] [-6.03504337e-02 9.98176136e-01 -1.49238599e-03 -1.88216049e+00] [-2.32484559e-02 8.90907141e-05 9.99729714e-01 -1.21214399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:-1.89, Z:-1.21 [[ 9.98053135e-01 5.78679669e-02 2.32645053e-02 4.46498013e+01] [-5.78487128e-02 9.98324234e-01 -1.50033231e-03 -1.88768664e+00] [-2.33123406e-02 1.51589678e-04 9.99728219e-01 -1.21368398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:-1.89, Z:-1.22 [[ 9.98122164e-01 5.68658963e-02 2.27687502e-02 4.46809014e+01] [-5.68471094e-02 9.98381810e-01 -1.47204495e-03 -1.89352824e+00] [-2.28156152e-02 1.74943058e-04 9.99739675e-01 -1.21656312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.71, Y:-1.90, Z:-1.22 [[ 9.98171630e-01 5.58165791e-02 2.31928160e-02 4.47124999e+01] [-5.57967195e-02 9.98441018e-01 -1.50303895e-03 -1.89768781e+00] [-2.32405533e-02 2.06207797e-04 9.99729881e-01 -1.21701362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.75, Y:-1.90, Z:-1.22 [[ 9.98266948e-01 5.36144533e-02 2.42609101e-02 4.47450025e+01] [-5.35919795e-02 9.98561674e-01 -1.57605074e-03 -1.90132150e+00] [-2.43105141e-02 2.73129161e-04 9.99704418e-01 -1.21559573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.78, Y:-1.91, Z:-1.22 [[ 9.98326647e-01 5.22375678e-02 2.48020712e-02 4.47772598e+01] [-5.22135525e-02 9.98634636e-01 -1.61533462e-03 -1.90582529e+00] [-2.48525885e-02 3.17627348e-04 9.99691076e-01 -1.21531313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43587156 meters Centerline goodness [0,1] 0.9999149008595013 Centerline is valid? [True, True] Translation: X:44.81, Y:-1.91, Z:-1.22 [[ 9.98387212e-01 5.08690582e-02 2.52054275e-02 4.48091302e+01] [-5.08437143e-02 9.98705266e-01 -1.64576257e-03 -1.91015329e+00] [-2.52565116e-02 3.61570745e-04 9.99680938e-01 -1.21569064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.84, Y:-1.91, Z:-1.22 [[ 9.98438366e-01 4.97532014e-02 2.54056593e-02 4.48405758e+01] [-4.97269855e-02 9.98761464e-01 -1.66301623e-03 -1.91439627e+00] [-2.54569339e-02 3.97072353e-04 9.99675841e-01 -1.21651616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.87, Y:-1.92, Z:-1.22 [[ 9.98584437e-01 4.74655845e-02 2.40029232e-02 4.48709849e+01] [-4.74414418e-02 9.98872780e-01 -1.57459450e-03 -1.92454221e+00] [-2.40506057e-02 4.33632281e-04 9.99710648e-01 -1.22092700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.90, Y:-1.93, Z:-1.22 [[ 9.98631639e-01 4.68077868e-02 2.33212429e-02 4.49022903e+01] [-4.67847375e-02 9.98903818e-01 -1.53327456e-03 -1.93019451e+00] [-2.33674478e-02 4.40098264e-04 9.99726847e-01 -1.22359527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.94, Y:-1.93, Z:-1.22 [[ 9.98645980e-01 4.66549918e-02 2.30112705e-02 4.49353525e+01] [-4.66324372e-02 9.98910966e-01 -1.51608170e-03 -1.93446406e+00] [-2.30569432e-02 4.40957274e-04 9.99734056e-01 -1.22482889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-1.94, Z:-1.22 [[ 9.98569326e-01 4.82619449e-02 2.30235950e-02 4.49678726e+01] [-4.82396926e-02 9.98834630e-01 -1.52124774e-03 -1.93629327e+00] [-2.30701824e-02 4.08420189e-04 9.99733764e-01 -1.22497566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61587156 meters Centerline goodness [0,1] 0.9998291364985797 Centerline is valid? [True, True] Translation: X:45.00, Y:-1.94, Z:-1.23 [[ 9.98503875e-01 4.95411318e-02 2.31449455e-02 4.49995584e+01] [-4.95189008e-02 9.98772010e-01 -1.53301259e-03 -1.93859862e+00] [-2.31924709e-02 3.84606750e-04 9.99730944e-01 -1.22750398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64587156 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:45.03, Y:-1.94, Z:-1.23 [[ 9.98281356e-01 5.37364982e-02 2.33821238e-02 4.50302353e+01] [-5.37148598e-02 9.98555107e-01 -1.55296932e-03 -1.93708428e+00] [-2.34317903e-02 2.94332811e-04 9.99725395e-01 -1.22664206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-1.94, Z:-1.23 [[ 9.98131363e-01 5.63882366e-02 2.35403511e-02 4.50627909e+01] [-5.63670143e-02 9.98408890e-01 -1.56462608e-03 -1.93634313e+00] [-2.35911223e-02 2.34803060e-04 9.99721663e-01 -1.22717922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705871560000006 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:45.09, Y:-1.94, Z:-1.23 [[ 9.97979961e-01 5.90776417e-02 2.33630178e-02 4.50938516e+01] [-5.90573839e-02 9.98253376e-01 -1.55671694e-03 -1.93722681e+00] [-2.34141785e-02 1.73813603e-04 9.99725835e-01 -1.22881649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.13, Y:-1.93, Z:-1.23 [[ 9.97626384e-01 6.48383875e-02 2.31858235e-02 4.51268818e+01] [-6.48198982e-02 9.97895777e-01 -1.54890001e-03 -1.93333289e+00] [-2.32374636e-02 4.23207937e-05 9.99729973e-01 -1.22960455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:-1.93, Z:-1.23 [[ 9.97414293e-01 6.81277430e-02 2.28766191e-02 4.51589389e+01] [-6.81105929e-02 9.97676606e-01 -1.52891915e-03 -1.93144754e+00] [-2.29276295e-02 -3.31742722e-05 9.99737127e-01 -1.23154318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:-1.93, Z:-1.23 [[ 9.97187336e-01 7.13143350e-02 2.30582471e-02 4.51903320e+01] [-7.12976504e-02 9.97453886e-01 -1.54593496e-03 -1.92922210e+00] [-2.31097855e-02 -1.02412071e-04 9.99732928e-01 -1.23141405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:-1.93, Z:-1.23 [[ 9.96936115e-01 7.47864173e-02 2.29210274e-02 4.52197850e+01] [-7.47708334e-02 9.97199558e-01 -1.53737323e-03 -1.92503581e+00] [-2.29718131e-02 -1.81161430e-04 9.99736097e-01 -1.23291922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:-1.92, Z:-1.23 [[ 9.96386951e-01 8.18690383e-02 2.25943653e-02 4.52509353e+01] [-8.18557102e-02 9.96643038e-01 -1.51566950e-03 -1.91575690e+00] [-2.26426033e-02 -3.39284505e-04 9.99743566e-01 -1.23444876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:-1.91, Z:-1.24 [[ 9.96157232e-01 8.46817421e-02 2.23555723e-02 4.52810194e+01] [-8.46693989e-02 9.96407970e-01 -1.49979028e-03 -1.91339218e+00] [-2.24022752e-02 -3.98805934e-04 9.99748958e-01 -1.23637551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.31, Y:-1.91, Z:-1.24 [[ 9.95960596e-01 8.71255675e-02 2.17169539e-02 4.53094033e+01] [-8.71145124e-02 9.96197240e-01 -1.45638425e-03 -1.91042359e+00] [-2.17612579e-02 -4.41360526e-04 9.99763098e-01 -1.23902917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94587156 meters Centerline goodness [0,1] 0.9999363867684479 Centerline is valid? [True, True] Translation: X:45.34, Y:-1.91, Z:-1.24 [[ 9.95638152e-01 9.07473354e-02 2.16700691e-02 4.53393321e+01] [-9.07371887e-02 9.95873813e-01 -1.45306849e-03 -1.90608551e+00] [-2.17125164e-02 -5.19550720e-04 9.99764121e-01 -1.23993382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97587156 meters Centerline goodness [0,1] 0.9999570852287357 Centerline is valid? [True, True] Translation: X:45.37, Y:-1.91, Z:-1.24 [[ 9.95546572e-01 9.15980649e-02 2.22894029e-02 4.53683909e+01] [-9.15875518e-02 9.95795907e-01 -1.49420015e-03 -1.90573096e+00] [-2.23325620e-02 -5.53886005e-04 9.99750444e-01 -1.23972969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00587156 meters Centerline goodness [0,1] 0.9998726763432646 Centerline is valid? [True, True] Translation: X:45.40, Y:-1.90, Z:-1.24 [[ 9.95422561e-01 9.27915538e-02 2.28834569e-02 4.53963809e+01] [-9.27808113e-02 9.95685377e-01 -1.53300675e-03 -1.89803393e+00] [-2.29269735e-02 -5.97156194e-04 9.99736964e-01 -1.24100024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035871560000004 meters Centerline goodness [0,1] 0.9999362163541268 Centerline is valid? [True, True] Translation: X:45.42, Y:-1.90, Z:-1.24 [[ 9.95394979e-01 9.30660097e-02 2.29685382e-02 4.54249297e+01] [-9.30552988e-02 9.95659756e-01 -1.53703074e-03 -1.89770172e+00] [-2.30118944e-02 -6.07391497e-04 9.99735007e-01 -1.24197078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065871560000005 meters Centerline goodness [0,1] 0.9999139544388754 Centerline is valid? [True, True] Translation: X:45.45, Y:-1.91, Z:-1.24 [[ 9.95407968e-01 9.29967987e-02 2.26841861e-02 4.54530941e+01] [-9.29863554e-02 9.95666227e-01 -1.51703105e-03 -1.90536230e+00] [-2.27269570e-02 -5.99254998e-04 9.99741530e-01 -1.24377846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095871560000006 meters Centerline goodness [0,1] 0.9999570437509396 Centerline is valid? [True, True] Translation: X:45.48, Y:-1.90, Z:-1.25 [[ 9.95458394e-01 9.27289504e-02 2.15389824e-02 4.54816378e+01] [-9.27194912e-02 9.95691229e-01 -1.43956832e-03 -1.89945179e+00] [-2.15796655e-02 -5.64053126e-04 9.99766973e-01 -1.24642886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12587156 meters Centerline goodness [0,1] 0.9999574132827971 Centerline is valid? [True, True] Translation: X:45.51, Y:-1.90, Z:-1.25 [[ 9.95501872e-01 9.23661278e-02 2.10836528e-02 4.55103288e+01] [-9.23570143e-02 9.95724962e-01 -1.40765472e-03 -1.90125565e+00] [-2.11235390e-02 -5.45900311e-04 9.99776724e-01 -1.24708918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15587156 meters Centerline goodness [0,1] 0.9999145773715458 Centerline is valid? [True, True] Translation: X:45.54, Y:-1.90, Z:-1.25 [[ 9.95564004e-01 9.16974433e-02 2.10687467e-02 4.55380519e+01] [-9.16882124e-02 9.95786772e-01 -1.40574022e-03 -1.89915080e+00] [-2.11088821e-02 -5.32251361e-04 9.99777041e-01 -1.24889658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18587156 meters Centerline goodness [0,1] 0.9999572375454351 Centerline is valid? [True, True] Translation: X:45.57, Y:-1.90, Z:-1.25 [[ 9.95644261e-01 9.08531086e-02 2.09336384e-02 4.55668410e+01] [-9.08438369e-02 9.95864173e-01 -1.39540850e-03 -1.90117057e+00] [-2.09738377e-02 -5.12361562e-04 9.99779894e-01 -1.24934366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.59, Y:-1.89, Z:-1.24 [[ 9.95542101e-01 9.32427584e-02 1.42025427e-02 4.55948490e+01] [-9.28888666e-02 9.95391560e-01 -2.38180776e-02 -1.89033294e+00] [-1.63579544e-02 2.23926410e-02 9.99615420e-01 -1.24418423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.63, Y:-1.92, Z:-1.26 [[ 9.95994623e-01 8.64584249e-02 2.27958610e-02 4.56251233e+01] [-8.69475147e-02 9.95982706e-01 2.14144656e-02 -1.91581174e+00] [-2.08528223e-02 -2.33107361e-02 9.99510765e-01 -1.25503924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.65, Y:-1.90, Z:-1.25 [[ 9.96118305e-01 8.53341168e-02 2.15965721e-02 4.56545835e+01] [-8.53230123e-02 9.96352307e-01 -1.43679001e-03 -1.90458224e+00] [-2.16404017e-02 -4.11471764e-04 9.99765734e-01 -1.25109990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:-1.90, Z:-1.24 [[ 9.96212177e-01 8.56484754e-02 1.50212420e-02 4.56801510e+01] [-8.52544603e-02 9.96041536e-01 -2.51582069e-02 -1.89753243e+00] [-1.71165430e-02 2.37822842e-02 9.99570621e-01 -1.24486454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:-1.93, Z:-1.25 [[ 9.96723214e-01 7.72174416e-02 2.40894346e-02 4.57118431e+01] [-7.77647292e-02 9.96713857e-01 2.26745371e-02 -1.92871826e+00] [-2.22594035e-02 -2.44735458e-02 9.99452632e-01 -1.25483822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36587156 meters Centerline goodness [0,1] 0.9998509242695289 Centerline is valid? [True, True] Translation: X:45.74, Y:-1.91, Z:-1.25 [[ 9.96813438e-01 7.76128498e-02 1.84177931e-02 4.57390715e+01] [-7.72651330e-02 9.96831512e-01 -1.88953940e-02 -1.90933714e+00] [-1.98259619e-02 1.74121294e-02 9.99651814e-01 -1.24825633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-1.93, Z:-1.25 [[ 9.97288690e-01 6.95296177e-02 2.41018955e-02 4.57737934e+01] [-6.99290236e-02 9.97421327e-01 1.61439913e-02 -1.93315256e+00] [-2.29172591e-02 -1.77856420e-02 9.99579147e-01 -1.25367058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:-1.91, Z:-1.25 [[ 9.97227602e-01 7.24959607e-02 1.67763431e-02 4.57999326e+01] [-7.21096798e-02 9.97140925e-01 -2.25869420e-02 -1.91450702e+00] [-1.83658404e-02 2.13145852e-02 9.99604114e-01 -1.24835484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.83, Y:-1.93, Z:-1.25 [[ 9.97244482e-01 7.19614004e-02 1.80277628e-02 4.58273838e+01] [-7.19397319e-02 9.97407268e-01 -1.84843179e-03 -1.92883453e+00] [-1.81140374e-02 5.46425976e-04 9.99835778e-01 -1.25309719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-1.94, Z:-1.26 [[ 9.97680286e-01 6.54705425e-02 1.86454967e-02 4.58542263e+01] [-6.55042322e-02 9.97851568e-01 1.20123778e-03 -1.93945359e+00] [-1.85267924e-02 -2.41981019e-03 9.99825436e-01 -1.25532822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.88, Y:-1.94, Z:-1.25 [[ 9.97810327e-01 6.34882499e-02 1.85416578e-02 4.58834032e+01] [-6.34848109e-02 9.97982504e-01 -7.74619073e-04 -1.94280028e+00] [-1.85534293e-02 -4.04190729e-04 9.99827789e-01 -1.25361277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54587156 meters Centerline goodness [0,1] 0.9999570040416201 Centerline is valid? [True, True] Translation: X:45.92, Y:-1.96, Z:-1.26 [[ 9.98202977e-01 5.55091707e-02 2.25731977e-02 4.59192643e+01] [-5.58077851e-02 9.98359214e-01 1.28207426e-02 -1.95784191e+00] [-2.18244911e-02 -1.40574636e-02 9.99662983e-01 -1.25858013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57587156 meters Centerline goodness [0,1] 0.9998080532332366 Centerline is valid? [True, True] Translation: X:45.95, Y:-1.96, Z:-1.26 [[ 9.98362879e-01 5.28342054e-02 2.19114010e-02 4.59515436e+01] [-5.28144069e-02 9.98603246e-01 -1.48168124e-03 -1.95549856e+00] [-2.19590796e-02 3.22017896e-04 9.99758818e-01 -1.25717231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605871560000004 meters Centerline goodness [0,1] 0.9999786416061512 Centerline is valid? [True, True] Translation: X:45.97, Y:-1.96, Z:-1.25 [[ 9.98466825e-01 5.21508029e-02 1.85551534e-02 4.59739403e+01] [-5.18626330e-02 9.98531013e-01 -1.56870473e-02 -1.95645817e+00] [-1.93459882e-02 1.47006772e-02 9.99704768e-01 -1.25354263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635871560000005 meters Centerline goodness [0,1] 0.9998082699559021 Centerline is valid? [True, True] Translation: X:46.00, Y:-1.98, Z:-1.26 [[ 9.98566956e-01 4.94030857e-02 2.05759506e-02 4.60041821e+01] [-4.95174263e-02 9.98760316e-01 5.08477839e-03 -1.97629525e+00] [-2.02992391e-02 -6.09635979e-03 9.99775362e-01 -1.26104035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66587156 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:46.03, Y:-1.98, Z:-1.26 [[ 9.98740978e-01 4.65385355e-02 1.87249699e-02 4.60343561e+01] [-4.64552299e-02 9.98908551e-01 -4.85979055e-03 -1.97635909e+00] [-1.89307001e-02 3.98379919e-03 9.99812861e-01 -1.25822203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69587156 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:46.07, Y:-1.99, Z:-1.26 [[ 9.98827675e-01 4.43513136e-02 1.93968041e-02 4.60660396e+01] [-4.43288764e-02 9.99015734e-01 -1.58539329e-03 -1.98710400e+00] [-1.94480268e-02 7.23696159e-04 9.99810607e-01 -1.26094241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72587156 meters Centerline goodness [0,1] 0.9997429526175992 Centerline is valid? [True, True] Translation: X:46.10, Y:-2.00, Z:-1.27 [[ 9.99058007e-01 3.81619729e-02 2.06582521e-02 4.61046778e+01] [-3.84022806e-02 9.99197747e-01 1.13634291e-02 -2.00169937e+00] [-2.02080280e-02 -1.21460488e-02 9.99722016e-01 -1.26647140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75587156 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:46.13, Y:-1.99, Z:-1.26 [[ 9.98956376e-01 4.16993178e-02 1.86367037e-02 4.61258170e+01] [-4.15150723e-02 9.99086156e-01 -1.01662266e-02 -1.99395647e+00] [-1.90435974e-02 9.38191278e-03 9.99774635e-01 -1.26252851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785871560000004 meters Centerline goodness [0,1] 0.9998919923098525 Centerline is valid? [True, True] Translation: X:46.17, Y:-2.01, Z:-1.27 [[ 9.99163806e-01 3.62496444e-02 1.89117094e-02 4.61650710e+01] [-3.64053542e-02 9.99305442e-01 7.95514310e-03 -2.01185555e+00] [-1.86102030e-02 -8.63697853e-03 9.99789509e-01 -1.26832468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815871560000005 meters Centerline goodness [0,1] 0.9997025643204657 Centerline is valid? [True, True] Translation: X:46.19, Y:-2.00, Z:-1.26 [[ 9.98992978e-01 4.14604583e-02 1.71482006e-02 4.61850973e+01] [-4.12263639e-02 9.99054709e-01 -1.37867620e-02 -2.00246992e+00] [-1.77035960e-02 1.30659205e-02 9.99757903e-01 -1.26476136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845871560000006 meters Centerline goodness [0,1] 0.9999569104815254 Centerline is valid? [True, True] Translation: X:46.22, Y:-2.02, Z:-1.27 [[ 9.98888753e-01 4.17243052e-02 2.19167033e-02 4.62156254e+01] [-4.19105552e-02 9.99088464e-01 8.10843784e-03 -2.02102233e+00] [-2.15584065e-02 -9.01796856e-03 9.99726918e-01 -1.26750097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87587156 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:46.26, Y:-2.02, Z:-1.27 [[ 9.99100936e-01 3.80347065e-02 1.87264530e-02 4.62558191e+01] [-3.80727060e-02 9.99273565e-01 1.67674393e-03 -2.02409769e+00] [-1.86490750e-02 -2.38820317e-03 9.99823239e-01 -1.26865808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90587156 meters Centerline goodness [0,1] 0.9999358206400821 Centerline is valid? [True, True] Translation: X:46.29, Y:-2.03, Z:-1.27 [[ 9.99060856e-01 3.91960875e-02 1.84681639e-02 4.62864915e+01] [-3.91791453e-02 9.99231385e-01 -1.27843378e-03 -2.02768462e+00] [-1.85040786e-02 5.53666266e-04 9.99828632e-01 -1.26972182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.03, Z:-1.27 [[ 9.98684507e-01 4.63726576e-02 2.18822433e-02 4.63044699e+01] [-4.63746961e-02 9.98924029e-01 -4.14557256e-04 -2.02531305e+00] [-2.18779228e-02 -6.00770475e-04 9.99760469e-01 -1.26882219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965871560000004 meters Centerline goodness [0,1] 0.999914486061228 Centerline is valid? [True, True] Translation: X:46.34, Y:-2.03, Z:-1.27 [[ 9.98655280e-01 4.73156156e-02 2.11864029e-02 4.63383571e+01] [-4.72271002e-02 9.98873312e-01 -4.65924444e-03 -2.02911567e+00] [-2.13829874e-02 3.65240668e-03 9.99764686e-01 -1.27124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995871560000005 meters Centerline goodness [0,1] 0.9999573669849932 Centerline is valid? [True, True] Translation: X:46.38, Y:-2.04, Z:-1.27 [[ 9.98760625e-01 4.61565853e-02 1.86221201e-02 4.63784641e+01] [-4.62411502e-02 9.98921743e-01 4.13612587e-03 -2.04204624e+00] [-1.84111312e-02 -4.99210791e-03 9.99818038e-01 -1.27485313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025871560000006 meters Centerline goodness [0,1] 0.999957422349009 Centerline is valid? [True, True] Translation: X:46.40, Y:-2.03, Z:-1.27 [[ 9.98311203e-01 5.35433444e-02 2.25355936e-02 4.63967801e+01] [-5.34528577e-02 9.98559783e-01 -4.59911448e-03 -2.03321421e+00] [-2.27493895e-02 3.38675563e-03 9.99735463e-01 -1.27234985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.43, Y:-2.04, Z:-1.27 [[ 9.98180699e-01 5.55636249e-02 2.34088694e-02 4.64282394e+01] [-5.56046878e-02 9.98452250e-01 1.10641235e-03 -2.03986323e+00] [-2.33111621e-02 -2.40604233e-03 9.99725363e-01 -1.27432598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08587156 meters Centerline goodness [0,1] 0.9999361022364217 Centerline is valid? [True, True] Translation: X:46.46, Y:-2.04, Z:-1.27 [[ 9.97926081e-01 5.96550160e-02 2.41829805e-02 4.64593759e+01] [-5.96856048e-02 9.98217077e-01 5.44431915e-04 -2.04119529e+00] [-2.41073860e-02 -1.98667863e-03 9.99707401e-01 -1.27475329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.49, Y:-2.04, Z:-1.27 [[ 9.97661505e-01 6.32893520e-02 2.58065688e-02 4.64879257e+01] [-6.33898868e-02 9.97984038e-01 3.09559906e-03 -2.04291376e+00] [-2.55586252e-02 -4.72423549e-03 9.99662162e-01 -1.27437018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.52, Y:-2.04, Z:-1.28 [[ 9.97564934e-01 6.51507927e-02 2.48912780e-02 4.65220314e+01] [-6.50638315e-02 9.97871889e-01 -4.28856248e-03 -2.04011807e+00] [-2.51177098e-02 2.65859764e-03 9.99680965e-01 -1.27515908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.55, Y:-2.04, Z:-1.28 [[ 9.97176811e-01 7.03116462e-02 2.63567963e-02 4.65514001e+01] [-7.04932043e-02 9.97494078e-01 6.02265644e-03 -2.04495129e+00] [-2.58672853e-02 -7.86362837e-03 9.99634457e-01 -1.27883001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.59, Y:-2.04, Z:-1.28 [[ 9.97536356e-01 6.80195269e-02 1.71628364e-02 4.65949839e+01] [-6.78379406e-02 9.97636261e-01 -1.09500820e-02 -2.03611155e+00] [-1.78670873e-02 9.75881343e-03 9.99792745e-01 -1.27844169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.63, Y:-2.04, Z:-1.28 [[ 9.97409590e-01 6.97508346e-02 1.75764064e-02 4.66254455e+01] [-6.97399976e-02 9.97564445e-01 -1.22949583e-03 -2.04325904e+00] [-1.76193564e-02 5.32398164e-07 9.99844767e-01 -1.27980314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26587156 meters Centerline goodness [0,1] 0.9998706589924335 Centerline is valid? [True, True] Translation: X:46.66, Y:-2.04, Z:-1.28 [[ 9.97165645e-01 7.32388449e-02 1.72263975e-02 4.66558101e+01] [-7.32289556e-02 9.97314428e-01 -1.20501219e-03 -2.04373994e+00] [-1.72683884e-02 -5.98743385e-05 9.99850888e-01 -1.28135358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.68, Y:-2.04, Z:-1.28 [[ 9.97032592e-01 7.50881097e-02 1.69642861e-02 4.66847277e+01] [-7.50787795e-02 9.97176899e-01 -1.18709948e-03 -2.04405391e+00] [-1.70055312e-02 -9.00810195e-05 9.99855391e-01 -1.28171794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:-2.05, Z:-1.28 [[ 9.96919243e-01 7.64801385e-02 1.74014799e-02 4.67134373e+01] [-7.64705471e-02 9.97071098e-01 -1.21688923e-03 -2.04533872e+00] [-1.74435806e-02 -1.17560403e-04 9.99847842e-01 -1.28274731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-2.05, Z:-1.28 [[ 9.96733882e-01 7.88687287e-02 1.73577642e-02 4.67424693e+01] [-7.88595544e-02 9.96884997e-01 -1.21344037e-03 -2.04526119e+00] [-1.73993972e-02 -1.59348425e-04 9.99848606e-01 -1.28332616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385871560000005 meters Centerline goodness [0,1] 0.9999788314987299 Centerline is valid? [True, True] Translation: X:46.77, Y:-2.05, Z:-1.28 [[ 9.96676958e-01 7.95659280e-02 1.74443357e-02 4.67714322e+01] [-7.95567755e-02 9.96829591e-01 -1.21910896e-03 -2.04611382e+00] [-1.74860295e-02 -1.72757286e-04 9.99847093e-01 -1.28433292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-2.07, Z:-1.29 [[ 9.95922488e-01 8.55754211e-02 2.85525063e-02 4.67827157e+01] [-8.62031934e-02 9.96044913e-01 2.15300190e-02 -2.06584966e+00] [-2.65971382e-02 -2.39035473e-02 9.99360402e-01 -1.28729089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44587156 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:46.83, Y:-2.04, Z:-1.28 [[ 9.96666261e-01 8.02117174e-02 1.49146079e-02 4.68313618e+01] [-7.98482491e-02 9.96528814e-01 -2.35495128e-02 -2.04068444e+00] [-1.67517834e-02 2.22800995e-02 9.99611412e-01 -1.28457866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.86, Y:-2.06, Z:-1.29 [[ 9.96747041e-01 7.89546076e-02 1.61711614e-02 4.68593459e+01] [-7.89466694e-02 9.96878201e-01 -1.12966789e-03 -2.05821625e+00] [-1.62098708e-02 -1.50666205e-04 9.99868600e-01 -1.28857783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-2.06, Z:-1.29 [[ 9.96790577e-01 7.83731178e-02 1.63156441e-02 4.68876676e+01] [-7.83649741e-02 9.96924086e-01 -1.13885419e-03 -2.06133395e+00] [-1.63547142e-02 -1.43375910e-04 9.99866242e-01 -1.28872368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535871560000004 meters Centerline goodness [0,1] 0.9999786784929959 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.09, Z:-1.29 [[ 9.96284604e-01 7.99076956e-02 3.21208329e-02 4.69019778e+01] [-8.07641652e-02 9.96385856e-01 2.63130367e-02 -2.08668741e+00] [-2.99021295e-02 -2.88094856e-02 9.99137566e-01 -1.29123219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:-2.06, Z:-1.28 [[ 9.96945300e-01 7.64522608e-02 1.59724657e-02 4.69476332e+01] [-7.59720541e-02 9.96694708e-01 -2.87733579e-02 -2.05704757e+00] [-1.81194603e-02 2.74720029e-02 9.99458340e-01 -1.28442893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.10, Z:-1.29 [[ 9.96516830e-01 7.68029795e-02 3.24886094e-02 4.69627158e+01] [-7.77973023e-02 9.96501478e-01 3.05349622e-02 -2.10019268e+00] [-3.00297712e-02 -3.29561299e-02 9.99005559e-01 -1.29205130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-2.09, Z:-1.29 [[ 9.96668602e-01 7.61634413e-02 2.91689478e-02 4.69959402e+01] [-7.60005045e-02 9.97085563e-01 -6.65609044e-03 -2.08708162e+00] [-2.95908875e-02 4.41706161e-03 9.99552334e-01 -1.28995420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:-2.10, Z:-1.29 [[ 9.96600394e-01 7.56287888e-02 3.26793553e-02 4.70236349e+01] [-7.58917667e-02 9.97092316e-01 6.88142319e-03 -2.10189984e+00] [-3.20639004e-02 -9.33812308e-03 9.99442197e-01 -1.29265309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-2.08, Z:-1.29 [[ 9.97313881e-01 7.17132487e-02 1.49074588e-02 4.70700253e+01] [-7.11505319e-02 9.96838646e-01 -3.53597923e-02 -2.08134149e+00] [-1.73960966e-02 3.42041381e-02 9.99263455e-01 -1.28568306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:-2.13, Z:-1.30 [[ 9.96781872e-01 7.21582497e-02 3.49154350e-02 4.70821466e+01] [-7.33550889e-02 9.96715718e-01 3.43046323e-02 -2.13208128e+00] [-3.23254006e-02 -3.67554604e-02 9.98801334e-01 -1.29674723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:-2.09, Z:-1.29 [[ 9.97464330e-01 6.96159459e-02 1.47827472e-02 4.71300783e+01] [-6.90335776e-02 9.96935234e-01 -3.68035854e-02 -2.09453080e+00] [-1.72995580e-02 3.56897577e-02 9.99213174e-01 -1.29022005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.16, Y:-2.12, Z:-1.29 [[ 9.97543615e-01 6.79787129e-02 1.69005868e-02 4.71598204e+01] [-6.79683439e-02 9.97686771e-01 -1.18783048e-03 -2.12354561e+00] [-1.69422390e-02 3.62078153e-05 9.99856469e-01 -1.29089701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.19, Y:-2.13, Z:-1.29 [[ 9.97515251e-01 6.83977499e-02 1.68840827e-02 4.71905881e+01] [-6.83874160e-02 9.97658131e-01 -1.18934112e-03 -2.12718607e+00] [-1.69258907e-02 3.17271189e-05 9.99856746e-01 -1.29317890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.22, Y:-2.13, Z:-1.30 [[ 9.97445749e-01 6.92603596e-02 1.74637052e-02 4.72220062e+01] [-6.92493843e-02 9.97598618e-01 -1.23313249e-03 -2.13038186e+00] [-1.75071754e-02 2.06319269e-05 9.99846737e-01 -1.29517560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:-2.13, Z:-1.29 [[ 9.97267056e-01 7.20544159e-02 1.63272867e-02 4.72533564e+01] [-7.20451353e-02 9.97400702e-01 -1.15665527e-03 -2.13138046e+00] [-1.63681893e-02 -2.28073775e-05 9.99866032e-01 -1.29443611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89587156 meters Centerline goodness [0,1] 0.9999142606048914 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.13, Z:-1.30 [[ 9.97097022e-01 7.42138024e-02 1.70246885e-02 4.72840843e+01] [-7.42040144e-02 9.97242352e-01 -1.20677836e-03 -2.13206937e+00] [-1.70673000e-02 -6.00251281e-05 9.99854341e-01 -1.29576592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:-2.13, Z:-1.30 [[ 9.96912092e-01 7.69274276e-02 1.57623433e-02 4.73149255e+01] [-7.69193872e-02 9.97036690e-01 -1.11661809e-03 -2.13081780e+00] [-1.58015331e-02 -9.92597134e-05 9.99875143e-01 -1.29707762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955871560000006 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:47.35, Y:-2.13, Z:-1.30 [[ 9.96501918e-01 8.20931984e-02 1.56407856e-02 4.73450929e+01] [-8.20858894e-02 9.96624641e-01 -1.10979921e-03 -2.12645029e+00] [-1.56790993e-02 -1.77970750e-04 9.99877060e-01 -1.29929759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98587156 meters Centerline goodness [0,1] 0.9998924037013127 Centerline is valid? [True, True] Translation: X:47.37, Y:-2.12, Z:-1.30 [[ 9.96312448e-01 8.45051052e-02 1.48456606e-02 4.73746110e+01] [-8.44987928e-02 9.96423025e-01 -1.05306707e-03 -2.12414502e+00] [-1.48815476e-02 -2.05256564e-04 9.99889243e-01 -1.30096842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01587156 meters Centerline goodness [0,1] 0.9998516257577684 Centerline is valid? [True, True] Translation: X:47.40, Y:-2.12, Z:-1.30 [[ 9.95956985e-01 8.85810741e-02 1.49358051e-02 4.74047039e+01] [-8.85751481e-02 9.96068934e-01 -1.05910466e-03 -2.11856217e+00] [-1.49709081e-02 -2.68118461e-04 9.99887894e-01 -1.30240679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04587156 meters Centerline goodness [0,1] 0.9997430186739763 Centerline is valid? [True, True] Translation: X:47.43, Y:-2.12, Z:-1.30 [[ 9.95869819e-01 8.96710974e-02 1.42266794e-02 4.74331607e+01] [-8.96658310e-02 9.95971396e-01 -1.00888717e-03 -2.11964395e+00] [-1.42598338e-02 -2.70926749e-04 9.99898287e-01 -1.30262154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.07587156 meters Centerline goodness [0,1] 0.99972444199504 Centerline is valid? [True, True] Translation: X:47.46, Y:-2.12, Z:-1.31 [[ 9.95798800e-01 9.04061392e-02 1.45423305e-02 4.74615393e+01] [-9.04007231e-02 9.95904939e-01 -1.03071047e-03 -2.11711892e+00] [-1.45759614e-02 -2.88256942e-04 9.99893723e-01 -1.30609099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105871560000004 meters Centerline goodness [0,1] 0.9996812918304473 Centerline is valid? [True, True] Translation: X:47.49, Y:-2.12, Z:-1.31 [[ 9.95838925e-01 9.00923640e-02 1.37186720e-02 4.74904715e+01] [-9.00875272e-02 9.95933378e-01 -9.71394631e-04 -2.12068662e+00] [-1.37503986e-02 -2.68528655e-04 9.99905423e-01 -1.30672440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135871560000005 meters Centerline goodness [0,1] 0.9997862973885541 Centerline is valid? [True, True] Translation: X:47.52, Y:-2.12, Z:-1.31 [[ 9.95928079e-01 8.91623707e-02 1.33166703e-02 4.75192864e+01] [-8.91577378e-02 9.96017073e-01 -9.42351606e-04 -2.12476527e+00] [-1.33476533e-02 -2.48769773e-04 9.99910885e-01 -1.30815579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16587156 meters Centerline goodness [0,1] 0.9997854859815088 Centerline is valid? [True, True] Translation: X:47.55, Y:-2.13, Z:-1.31 [[ 9.96029795e-01 8.81078709e-02 1.27142044e-02 4.75474504e+01] [-8.81035687e-02 9.96110914e-01 -8.99179020e-04 -2.12911252e+00] [-1.27439825e-02 -2.24557687e-04 9.99918767e-01 -1.30985377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19587156 meters Centerline goodness [0,1] 0.9998286314075788 Centerline is valid? [True, True] Translation: X:47.58, Y:-2.13, Z:-1.31 [[ 9.96153824e-01 8.67379081e-02 1.24134815e-02 4.75757473e+01] [-8.67337075e-02 9.96231145e-01 -8.77363090e-04 -2.13439285e+00] [-1.24427975e-02 -2.02678677e-04 9.99922565e-01 -1.31008366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22587156 meters Centerline goodness [0,1] 0.9999356002060793 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.14, Z:-1.31 [[ 9.96373704e-01 8.41285445e-02 1.27212194e-02 4.76042586e+01] [-8.41239313e-02 9.96454895e-01 -8.98251519e-04 -2.13933728e+00] [-1.27516899e-02 -1.75164794e-04 9.99918679e-01 -1.31016532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25587156 meters Centerline goodness [0,1] 0.9999150761130337 Centerline is valid? [True, True] Translation: X:47.63, Y:-2.14, Z:-1.31 [[ 9.96469553e-01 8.28582113e-02 1.35257848e-02 4.76316621e+01] [-8.28528817e-02 9.96561332e-01 -9.54875387e-04 -2.14085396e+00] [-1.35583934e-02 -1.69146000e-04 9.99908066e-01 -1.31301739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285871560000004 meters Centerline goodness [0,1] 0.9998505423178752 Centerline is valid? [True, True] Translation: X:47.66, Y:-2.15, Z:-1.31 [[ 9.96693489e-01 7.99351277e-02 1.45761522e-02 4.76609592e+01] [-7.99286482e-02 9.96800058e-01 -1.02747976e-03 -2.14904434e+00] [-1.46116410e-02 -1.40969753e-04 9.99893234e-01 -1.31268575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:-2.15, Z:-1.31 [[ 9.96789000e-01 7.87554954e-02 1.44658886e-02 4.76907058e+01] [-7.87489941e-02 9.96893955e-01 -1.01937835e-03 -2.15289384e+00] [-1.45012385e-02 -1.23069046e-04 9.99894844e-01 -1.31064181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345871560000006 meters Centerline goodness [0,1] 0.9999786374997329 Centerline is valid? [True, True] Translation: X:47.72, Y:-2.16, Z:-1.31 [[ 9.96879120e-01 7.75820325e-02 1.45961708e-02 4.77204212e+01] [-7.75752927e-02 9.96985966e-01 -1.02822192e-03 -2.15781481e+00] [-1.46319490e-02 -1.07289267e-04 9.99892942e-01 -1.31009475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37587156 meters Centerline goodness [0,1] 0.9999786374997329 Centerline is valid? [True, True] Translation: X:47.75, Y:-2.16, Z:-1.31 [[ 9.96880984e-01 7.75580733e-02 1.45961955e-02 4.77495061e+01] [-7.75513361e-02 9.96987830e-01 -1.02787139e-03 -2.15981786e+00] [-1.46319490e-02 -1.07289022e-04 9.99892942e-01 -1.31094305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40587156 meters Centerline goodness [0,1] 0.9999575902796921 Centerline is valid? [True, True] Translation: X:47.78, Y:-2.17, Z:-1.31 [[ 9.97058194e-01 7.51583958e-02 1.50390363e-02 4.77783709e+01] [-7.51509789e-02 9.97171605e-01 -1.05850246e-03 -2.16644785e+00] [-1.50760553e-02 -7.48097509e-05 9.99886347e-01 -1.31239679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43587156 meters Centerline goodness [0,1] 0.9999575848832524 Centerline is valid? [True, True] Translation: X:47.81, Y:-2.17, Z:-1.31 [[ 9.97127903e-01 7.41884892e-02 1.52319864e-02 4.78089903e+01] [-7.41807730e-02 9.97244235e-01 -1.07173004e-03 -2.17104717e+00] [-1.52695207e-02 -6.12686003e-05 9.99883412e-01 -1.31244755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465871560000004 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:47.84, Y:-2.18, Z:-1.31 [[ 9.97249786e-01 7.24192971e-02 1.57578602e-02 4.78398954e+01] [-7.24108229e-02 9.97374275e-01 -1.10841829e-03 -2.17666949e+00] [-1.57967553e-02 -3.56697181e-05 9.99875223e-01 -1.31186381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:-2.18, Z:-1.31 [[ 9.97296260e-01 7.17979076e-02 1.56598472e-02 4.78713108e+01] [-7.17894562e-02 9.97419200e-01 -1.10188358e-03 -2.18055753e+00] [-1.56985452e-02 -2.53075367e-05 9.99876770e-01 -1.31217283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.90, Y:-2.18, Z:-1.31 [[ 9.97327037e-01 7.12284399e-02 1.62877185e-02 4.79017813e+01] [-7.12192119e-02 9.97460029e-01 -1.14663470e-03 -2.18485723e+00] [-1.63280212e-02 -1.64286849e-05 9.99866689e-01 -1.31337270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.19, Z:-1.31 [[ 9.97398356e-01 7.02179261e-02 1.63083801e-02 4.79339081e+01] [-7.02085684e-02 9.97531675e-01 -1.14632767e-03 -2.19036816e+00] [-1.63486185e-02 -1.64268873e-06 9.99866352e-01 -1.31327167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-2.19, Z:-1.31 [[ 9.97395392e-01 7.01964504e-02 1.65798134e-02 4.79657187e+01] [-7.01867296e-02 9.97533187e-01 -1.16818061e-03 -2.19299370e+00] [-1.66209163e-02 1.45507482e-06 9.99861863e-01 -1.31277827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-2.20, Z:-1.31 [[ 9.97379091e-01 7.03784858e-02 1.67874105e-02 4.79971346e+01] [-7.03684937e-02 9.97520360e-01 -1.18589975e-03 -2.19529133e+00] [-1.68292456e-02 1.48682402e-06 9.99858378e-01 -1.31442334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64587156 meters Centerline goodness [0,1] 0.9999787982869016 Centerline is valid? [True, True] Translation: X:48.03, Y:-2.20, Z:-1.31 [[ 9.97318080e-01 7.10383648e-02 1.76124379e-02 4.80296576e+01] [-7.10274178e-02 9.97473584e-01 -1.24709840e-03 -2.19865568e+00] [-1.76565334e-02 -7.21219942e-06 9.99844111e-01 -1.31421423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-2.20, Z:-1.31 [[ 9.97277536e-01 7.15284835e-02 1.79218395e-02 4.80620402e+01] [-7.15171731e-02 9.97438557e-01 -1.27203953e-03 -2.20115323e+00] [-1.79669208e-02 -1.31428522e-05 9.99838582e-01 -1.31486698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-2.20, Z:-1.32 [[ 9.97258252e-01 7.19089230e-02 1.74667201e-02 4.80938979e+01] [-7.18981909e-02 9.97411202e-01 -1.24242856e-03 -2.20346493e+00] [-1.75108440e-02 -1.68034461e-05 9.99846673e-01 -1.31505106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-2.21, Z:-1.32 [[ 9.97275840e-01 7.16939502e-02 1.73458059e-02 4.81260179e+01] [-7.16832851e-02 9.97426678e-01 -1.23662049e-03 -2.20687058e+00] [-1.73898278e-02 -1.01526119e-05 9.99848785e-01 -1.31837716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-2.21, Z:-1.32 [[ 9.97305785e-01 7.13227326e-02 1.71534040e-02 4.81576384e+01] [-7.13121920e-02 9.97453291e-01 -1.22615574e-03 -2.21146829e+00] [-1.71971720e-02 -3.94630253e-07 9.99852118e-01 -1.31991200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79587156 meters Centerline goodness [0,1] 0.9998297473876865 Centerline is valid? [True, True] Translation: X:48.19, Y:-2.22, Z:-1.32 [[ 9.97350330e-01 7.06188065e-02 1.74729256e-02 4.81897158e+01] [-7.06077143e-02 9.97503375e-01 -1.25168961e-03 -2.21768520e+00] [-1.75176951e-02 1.46497044e-05 9.99846553e-01 -1.32381157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:-2.23, Z:-1.32 [[ 9.97455517e-01 6.93298941e-02 1.66089350e-02 4.82214176e+01] [-6.93196402e-02 9.97593787e-01 -1.19297115e-03 -2.22554438e+00] [-1.66516789e-02 3.86102552e-05 9.99861350e-01 -1.32339275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855871560000004 meters Centerline goodness [0,1] 0.999807803190467 Centerline is valid? [True, True] Translation: X:48.25, Y:-2.23, Z:-1.33 [[ 9.97496442e-01 6.86792934e-02 1.68524016e-02 4.82530877e+01] [-6.86685971e-02 9.97638788e-01 -1.21322358e-03 -2.23060293e+00] [-1.68959328e-02 5.29554326e-05 9.99857252e-01 -1.32745308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:-2.24, Z:-1.33 [[ 9.97565042e-01 6.77780774e-02 1.64353309e-02 4.82854587e+01] [-6.77677328e-02 9.97700420e-01 -1.18616948e-03 -2.23619240e+00] [-1.64779328e-02 6.94960923e-05 9.99864227e-01 -1.32508048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:-2.24, Z:-1.33 [[ 9.97584053e-01 6.76359817e-02 1.58565572e-02 4.83172869e+01] [-6.76262956e-02 9.97710063e-01 -1.14687392e-03 -2.24087763e+00] [-1.58978167e-02 7.17829075e-05 9.99873619e-01 -1.32642658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94587156 meters Centerline goodness [0,1] 0.999957243030614 Centerline is valid? [True, True] Translation: X:48.35, Y:-2.25, Z:-1.33 [[ 9.97564005e-01 6.79256354e-02 1.58796587e-02 4.83503342e+01] [-6.79159202e-02 9.97690384e-01 -1.15090286e-03 -2.24600328e+00] [-1.59211586e-02 6.96176365e-05 9.99873248e-01 -1.32953039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97587156 meters Centerline goodness [0,1] 0.9998496143682729 Centerline is valid? [True, True] Translation: X:48.38, Y:-2.25, Z:-1.33 [[ 9.97452561e-01 6.94336933e-02 1.63508816e-02 4.83821993e+01] [-6.94235374e-02 9.97586568e-01 -1.18859483e-03 -2.25030938e+00] [-1.63939484e-02 5.04309162e-05 9.99865609e-01 -1.32935468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00587156 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:48.41, Y:-2.25, Z:-1.33 [[ 9.97345250e-01 7.09159106e-02 1.65343862e-02 4.84130551e+01] [-7.09056792e-02 9.97482297e-01 -1.20495006e-03 -2.25135261e+00] [-1.65782077e-02 2.93693327e-05 9.99862572e-01 -1.32887425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.45, Y:-2.25, Z:-1.33 [[ 9.97179512e-01 7.31721052e-02 1.66992044e-02 4.84460974e+01] [-7.31619474e-02 9.97319328e-01 -1.21921049e-03 -2.25094764e+00] [-1.67436515e-02 -5.97458766e-06 9.99859815e-01 -1.32842435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065871560000005 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:48.48, Y:-2.25, Z:-1.33 [[ 9.96807502e-01 7.79623179e-02 1.72244081e-02 4.84773345e+01] [-7.79521588e-02 9.96956303e-01 -1.26143434e-03 -2.24683796e+00] [-1.72703266e-02 -8.52725876e-05 9.99850853e-01 -1.32943497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095871560000006 meters Centerline goodness [0,1] 0.9999358782541786 Centerline is valid? [True, True] Translation: X:48.51, Y:-2.25, Z:-1.33 [[ 9.96615501e-01 8.03958000e-02 1.71481116e-02 4.85096139e+01] [-8.03860489e-02 9.96763011e-01 -1.25828329e-03 -2.24726080e+00] [-1.71937640e-02 -1.24444301e-04 9.99852169e-01 -1.33014172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12587156 meters Centerline goodness [0,1] 0.9999578388178004 Centerline is valid? [True, True] Translation: X:48.54, Y:-2.24, Z:-1.33 [[ 9.96340264e-01 8.37512502e-02 1.70823166e-02 4.85397152e+01] [-8.37419832e-02 9.96486677e-01 -1.25833293e-03 -2.24465653e+00] [-1.71276879e-02 -1.76779302e-04 9.99853295e-01 -1.33390941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15587156 meters Centerline goodness [0,1] 0.9999570815450644 Centerline is valid? [True, True] Translation: X:48.57, Y:-2.24, Z:-1.34 [[ 9.96188438e-01 8.56626927e-02 1.64468509e-02 4.85700747e+01] [-8.56543629e-02 9.96324175e-01 -1.21152269e-03 -2.24453517e+00] [-1.64901775e-02 -2.01839640e-04 9.99864007e-01 -1.33571905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18587156 meters Centerline goodness [0,1] 0.9998941328421097 Centerline is valid? [True, True] Translation: X:48.60, Y:-2.24, Z:-1.34 [[ 9.96081726e-01 8.69802225e-02 1.59885962e-02 4.86001784e+01] [-8.69725212e-02 9.96210015e-01 -1.17769535e-03 -2.24435399e+00] [-1.60304359e-02 -2.17487705e-04 9.99871481e-01 -1.33755090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215871560000004 meters Centerline goodness [0,1] 0.9999358686590136 Centerline is valid? [True, True] Translation: X:48.63, Y:-2.24, Z:-1.34 [[ 9.95954337e-01 8.84469039e-02 1.58778000e-02 4.86307729e+01] [-8.84394928e-02 9.96080864e-01 -1.16969134e-03 -2.24483489e+00] [-1.59190283e-02 -2.39265412e-04 9.99873256e-01 -1.33838131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245871560000005 meters Centerline goodness [0,1] 0.9999363165492061 Centerline is valid? [True, True] Translation: X:48.66, Y:-2.24, Z:-1.34 [[ 9.95804958e-01 9.00555435e-02 1.62013758e-02 4.86609424e+01] [-9.00480376e-02 9.95936708e-01 -1.19367959e-03 -2.24379692e+00] [-1.62430423e-02 -2.70230040e-04 9.99868037e-01 -1.33930759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275871560000006 meters Centerline goodness [0,1] 0.9999574169097452 Centerline is valid? [True, True] Translation: X:48.69, Y:-2.25, Z:-1.34 [[ 9.95766048e-01 9.05252745e-02 1.59735184e-02 4.86901129e+01] [-9.05180391e-02 9.95894121e-01 -1.17686286e-03 -2.24569111e+00] [-1.60144689e-02 -2.74011486e-04 9.99871723e-01 -1.34028176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30587156 meters Centerline goodness [0,1] 0.9999570566637322 Centerline is valid? [True, True] Translation: X:48.72, Y:-2.25, Z:-1.34 [[ 9.95772680e-01 9.04097434e-02 1.62125679e-02 4.87194018e+01] [-9.04022834e-02 9.95904615e-01 -1.19392846e-03 -2.24780629e+00] [-1.62541140e-02 -2.76771819e-04 9.99867855e-01 -1.34164452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33587156 meters Centerline goodness [0,1] 0.9999147594084303 Centerline is valid? [True, True] Translation: X:48.75, Y:-2.25, Z:-1.34 [[ 9.95813831e-01 8.99249588e-02 1.63803183e-02 4.87486283e+01] [-8.99172789e-02 9.95948507e-01 -1.20623013e-03 -2.25090037e+00] [-1.64224237e-02 -2.71692996e-04 9.99865106e-01 -1.34214418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36587156 meters Centerline goodness [0,1] 0.9999146521006251 Centerline is valid? [True, True] Translation: X:48.78, Y:-2.26, Z:-1.34 [[ 9.95852993e-01 8.94210866e-02 1.67536805e-02 4.87792807e+01] [-8.94129928e-02 9.95993874e-01 -1.23303624e-03 -2.25500284e+00] [-1.67968226e-02 -2.70073891e-04 9.99858887e-01 -1.34131544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39587156 meters Centerline goodness [0,1] 0.9998933515346714 Centerline is valid? [True, True] Translation: X:48.81, Y:-2.26, Z:-1.34 [[ 9.95931178e-01 8.85427299e-02 1.67712408e-02 4.88082802e+01] [-8.85344922e-02 9.96072347e-01 -1.23447228e-03 -2.25721225e+00] [-1.68146727e-02 -2.55383859e-04 9.99858591e-01 -1.34345361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425871560000004 meters Centerline goodness [0,1] 0.9998723377093129 Centerline is valid? [True, True] Translation: X:48.84, Y:-2.26, Z:-1.34 [[ 9.95962893e-01 8.81572761e-02 1.69177517e-02 4.88385162e+01] [-8.81488441e-02 9.96106536e-01 -1.24491285e-03 -2.26178484e+00] [-1.69616312e-02 -2.51393253e-04 9.99856110e-01 -1.34375128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455871560000006 meters Centerline goodness [0,1] 0.9998720818676047 Centerline is valid? [True, True] Translation: X:48.87, Y:-2.27, Z:-1.35 [[ 9.95989061e-01 8.77787813e-02 1.73399989e-02 4.88677965e+01] [-8.77698634e-02 9.96139961e-01 -1.27611981e-03 -2.26620240e+00] [-1.73850821e-02 -2.50927967e-04 9.99848837e-01 -1.34686974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48587156 meters Centerline goodness [0,1] 0.9999146029035013 Centerline is valid? [True, True] Translation: X:48.90, Y:-2.27, Z:-1.35 [[ 9.96008073e-01 8.76232021e-02 1.70321304e-02 4.88977462e+01] [-8.76145810e-02 9.96153660e-01 -1.25313181e-03 -2.26888638e+00] [-1.70764224e-02 -2.44133573e-04 9.99854157e-01 -1.34533652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51587156 meters Centerline goodness [0,1] 0.9999573751625072 Centerline is valid? [True, True] Translation: X:48.93, Y:-2.27, Z:-1.35 [[ 9.96010717e-01 8.75316458e-02 1.73454130e-02 4.89272234e+01] [-8.75226884e-02 9.96161709e-01 -1.27631571e-03 -2.27103856e+00] [-1.73905543e-02 -2.46893054e-04 9.99848742e-01 -1.34645382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54587156 meters Centerline goodness [0,1] 0.999914944288509 Centerline is valid? [True, True] Translation: X:48.96, Y:-2.27, Z:-1.35 [[ 9.95965388e-01 8.80030038e-02 1.75618236e-02 4.89568714e+01] [-8.79938984e-02 9.96120176e-01 -1.29203212e-03 -2.27147986e+00] [-1.76073896e-02 -2.58514057e-04 9.99844944e-01 -1.34697262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.57587156 meters Centerline goodness [0,1] 0.9998933947379642 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.27, Z:-1.35 [[ 9.95910162e-01 8.85310968e-02 1.80331352e-02 4.89870027e+01] [-8.85215888e-02 9.96073375e-01 -1.32636670e-03 -2.27240672e+00] [-1.80797505e-02 -2.75379705e-04 9.99836510e-01 -1.34978792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605871560000004 meters Centerline goodness [0,1] 0.9998505582715996 Centerline is valid? [True, True] Translation: X:49.02, Y:-2.27, Z:-1.35 [[ 9.95855900e-01 8.92192245e-02 1.76339292e-02 4.90174950e+01] [-8.92102430e-02 9.96011973e-01 -1.29687587e-03 -2.27210747e+00] [-1.76793109e-02 -2.81625617e-04 9.99843669e-01 -1.34868169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635871560000005 meters Centerline goodness [0,1] 0.9999142146349833 Centerline is valid? [True, True] Translation: X:49.05, Y:-2.27, Z:-1.35 [[ 9.95716367e-01 9.07268480e-02 1.78200942e-02 4.90473530e+01] [-9.07179067e-02 9.95875766e-01 -1.31115164e-03 -2.27060427e+00] [-1.78655566e-02 -3.11066500e-04 9.99840350e-01 -1.34956416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66587156000001 meters Centerline goodness [0,1] 0.9997882342975731 Centerline is valid? [True, True] Translation: X:49.08, Y:-2.27, Z:-1.35 [[ 9.95644871e-01 9.15391449e-02 1.76600166e-02 4.90773081e+01] [-9.15305005e-02 9.95801426e-01 -1.29885080e-03 -2.27017331e+00] [-1.77047654e-02 -3.23236018e-04 9.99843206e-01 -1.35051735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69587156 meters Centerline goodness [0,1] 0.999914159405983 Centerline is valid? [True, True] Translation: X:49.11, Y:-2.27, Z:-1.35 [[ 9.95532856e-01 9.26557052e-02 1.81453330e-02 4.91073410e+01] [-9.26467661e-02 9.95698145e-01 -1.33445222e-03 -2.26950098e+00] [-1.81909190e-02 -3.52615387e-04 9.99834469e-01 -1.35034675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72587156 meters Centerline goodness [0,1] 0.9996998477799456 Centerline is valid? [True, True] Translation: X:49.14, Y:-2.27, Z:-1.35 [[ 9.95332992e-01 9.45456038e-02 1.93226096e-02 4.91375305e+01] [-9.45358322e-02 9.95520446e-01 -1.42055840e-03 -2.26733782e+00] [-1.93703605e-02 -4.12750342e-04 9.99812292e-01 -1.35293947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75587156 meters Centerline goodness [0,1] 0.9997224949835631 Centerline is valid? [True, True] Translation: X:49.17, Y:-2.27, Z:-1.35 [[ 9.95328944e-01 9.47434060e-02 1.85467037e-02 4.91677936e+01] [-9.47344450e-02 9.95501646e-01 -1.36312856e-03 -2.26714238e+00] [-1.85924215e-02 -4.00250367e-04 9.99827066e-01 -1.35164236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785871560000004 meters Centerline goodness [0,1] 0.9997435568662649 Centerline is valid? [True, True] Translation: X:49.20, Y:-2.27, Z:-1.35 [[ 9.95346359e-01 9.46139245e-02 1.82710439e-02 4.91977853e+01] [-9.46052132e-02 9.95513963e-01 -1.34247364e-03 -2.26585734e+00] [-1.83160960e-02 -3.92309757e-04 9.99832169e-01 -1.35289577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815871560000005 meters Centerline goodness [0,1] 0.9998285065060344 Centerline is valid? [True, True] Translation: X:49.23, Y:-2.27, Z:-1.35 [[ 9.95405083e-01 9.40050815e-02 1.82144395e-02 4.92266967e+01] [-9.39963292e-02 9.95571645e-01 -1.33793879e-03 -2.27275855e+00] [-1.82595526e-02 -3.80299381e-04 9.99833208e-01 -1.35118969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845871560000006 meters Centerline goodness [0,1] 0.9999143707319161 Centerline is valid? [True, True] Translation: X:49.26, Y:-2.27, Z:-1.35 [[ 9.95530809e-01 9.26697318e-02 1.81859788e-02 4.92556718e+01] [-9.26607897e-02 9.95696839e-01 -1.33553701e-03 -2.27394315e+00] [-1.82314854e-02 -3.55558919e-04 9.99833729e-01 -1.35305484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87587156 meters Centerline goodness [0,1] 0.999978369492332 Centerline is valid? [True, True] Translation: X:49.29, Y:-2.28, Z:-1.35 [[ 9.95895896e-01 8.86505175e-02 1.82332124e-02 4.92856285e+01] [-8.86408747e-02 9.96062752e-01 -1.33794989e-03 -2.28251707e+00] [-1.82800337e-02 -2.83749091e-04 9.99832866e-01 -1.35403043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90587156 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:49.32, Y:-2.28, Z:-1.36 [[ 9.96099084e-01 8.64972850e-02 1.74595003e-02 4.93153010e+01] [-8.64881162e-02 9.96252059e-01 -1.28096330e-03 -2.28391343e+00] [-1.75048630e-02 -2.34072915e-04 9.99846751e-01 -1.35944229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-2.30, Z:-1.36 [[ 9.96535027e-01 8.13857868e-02 1.71549981e-02 4.93454273e+01] [-8.13761734e-02 9.96682664e-01 -1.25885845e-03 -2.29826155e+00] [-1.72005424e-02 -1.41511553e-04 9.99852050e-01 -1.35811207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.38, Y:-2.30, Z:-1.36 [[ 9.96728382e-01 7.89317407e-02 1.73871602e-02 4.93765034e+01] [-7.89214844e-02 9.96880018e-01 -1.27632212e-03 -2.30496840e+00] [-1.74336549e-02 -1.00074011e-04 9.99848017e-01 -1.35857742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.41, Y:-2.31, Z:-1.36 [[ 9.96889590e-01 7.71146523e-02 1.62626858e-02 4.94069365e+01] [-7.71054601e-02 9.97022230e-01 -1.19242358e-03 -2.31048537e+00] [-1.63062126e-02 -6.52272146e-05 9.99867043e-01 -1.36189028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:-2.32, Z:-1.36 [[ 9.97027450e-01 7.51917858e-02 1.68064993e-02 4.94386636e+01] [-7.51816498e-02 9.97169090e-01 -1.23499655e-03 -2.31622268e+00] [-1.68517832e-02 -3.22148861e-05 9.99857998e-01 -1.36096874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05587156 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:49.47, Y:-2.32, Z:-1.36 [[ 9.97208331e-01 7.22127294e-02 1.89964889e-02 4.94691679e+01] [-7.21991634e-02 9.97389253e-01 -1.39988815e-03 -2.32391066e+00] [-1.90479836e-02 2.44495161e-05 9.99818570e-01 -1.36131911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.50, Y:-2.33, Z:-1.36 [[ 9.97307050e-01 7.07937351e-02 1.91544818e-02 4.95023436e+01] [-7.07796292e-02 9.97490974e-01 -1.41421658e-03 -2.32913201e+00] [-1.92065404e-02 5.46610434e-05 9.99815536e-01 -1.35875373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.53, Y:-2.34, Z:-1.36 [[ 9.97396359e-01 6.93022960e-02 1.99422834e-02 4.95341189e+01] [-6.92866255e-02 9.97595701e-01 -1.47648568e-03 -2.33514018e+00] [-1.99966600e-02 9.09079165e-05 9.99800043e-01 -1.35816702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.57, Y:-2.34, Z:-1.36 [[ 9.97577445e-01 6.65691979e-02 2.01936459e-02 4.95658336e+01] [-6.65524955e-02 9.97781799e-01 -1.49877088e-03 -2.34421893e+00] [-2.02486243e-02 1.51202497e-04 9.99794964e-01 -1.35714713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.60, Y:-2.35, Z:-1.36 [[ 9.97645122e-01 6.57452712e-02 1.95389067e-02 4.95968195e+01] [-6.57294117e-02 9.97836425e-01 -1.45348053e-03 -2.35097731e+00] [-1.95921922e-02 1.65776924e-04 9.99808041e-01 -1.35962095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205871560000006 meters Centerline goodness [0,1] 0.999871611067126 Centerline is valid? [True, True] Translation: X:49.63, Y:-2.36, Z:-1.36 [[ 9.97707670e-01 6.44347843e-02 2.06776208e-02 4.96286432e+01] [-6.44166731e-02 9.97921899e-01 -1.54144863e-03 -2.36090166e+00] [-2.07339735e-02 2.05931578e-04 9.99785007e-01 -1.36252325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23587156 meters Centerline goodness [0,1] 0.999871611067126 Centerline is valid? [True, True] Translation: X:49.66, Y:-2.36, Z:-1.36 [[ 9.97695618e-01 6.46212188e-02 2.06773322e-02 4.96610521e+01] [-6.46030677e-02 9.97909843e-01 -1.54530898e-03 -2.36351620e+00] [-2.07339731e-02 2.05928909e-04 9.99785007e-01 -1.36346904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26587156 meters Centerline goodness [0,1] 0.9999351028619637 Centerline is valid? [True, True] Translation: X:49.69, Y:-2.37, Z:-1.36 [[ 9.97732693e-01 6.39817081e-02 2.08761862e-02 4.96933418e+01] [-6.39629819e-02 9.97951046e-01 -1.56419224e-03 -2.36849813e+00] [-2.09334916e-02 2.25342613e-04 9.99780845e-01 -1.36275457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29587156 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:49.72, Y:-2.37, Z:-1.36 [[ 9.97806825e-01 6.30969202e-02 2.00079521e-02 4.97242571e+01] [-6.30794566e-02 9.98007376e-01 -1.50337365e-03 -2.37483828e+00] [-2.00629421e-02 2.37985736e-04 9.99798691e-01 -1.36244682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.75, Y:-2.38, Z:-1.36 [[ 9.97842742e-01 6.26701060e-02 1.95529923e-02 4.97546849e+01] [-6.26533228e-02 9.98034268e-01 -1.47035770e-03 -2.38452010e+00] [-1.96067038e-02 2.42125825e-04 9.99807741e-01 -1.36429111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.79, Y:-2.39, Z:-1.36 [[ 9.97848538e-01 6.24079445e-02 2.00884169e-02 4.97872593e+01] [-6.23901191e-02 9.98050691e-01 -1.51345958e-03 -2.38943979e+00] [-2.01437103e-02 2.56884701e-04 9.99797062e-01 -1.36379934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.82, Y:-2.40, Z:-1.36 [[ 9.97814035e-01 6.30106545e-02 1.99200756e-02 4.98195176e+01] [-6.29931738e-02 9.98012824e-01 -1.50442756e-03 -2.39639034e+00] [-1.99752859e-02 2.46310150e-04 9.99800444e-01 -1.36492497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-2.40, Z:-1.37 [[ 9.97777083e-01 6.36748004e-02 1.96573531e-02 4.98519312e+01] [-6.36578351e-02 9.97970674e-01 -1.48821624e-03 -2.40093312e+00] [-1.97122237e-02 2.33563523e-04 9.99805668e-01 -1.36615125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.88, Y:-2.40, Z:-1.37 [[ 9.97506069e-01 6.73953388e-02 2.09644970e-02 4.98820936e+01] [-6.72460489e-02 9.97706345e-01 -7.74715235e-03 -2.40189668e+00] [-2.14385336e-02 6.31805190e-03 9.99750205e-01 -1.36776115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47587156 meters Centerline goodness [0,1] 0.9997611395813428 Centerline is valid? [True, True] Translation: X:49.91, Y:-2.41, Z:-1.37 [[ 9.97437266e-01 6.82321382e-02 2.15238417e-02 4.99132770e+01] [-6.82835517e-02 9.97664570e-01 1.66198524e-03 -2.41202961e+00] [-2.13601735e-02 -3.12745037e-03 9.99766954e-01 -1.36957287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.94, Y:-2.41, Z:-1.37 [[ 9.97197546e-01 7.14826515e-02 2.20745469e-02 4.99424396e+01] [-7.14685821e-02 9.97441831e-01 -1.42662521e-03 -2.41378287e+00] [-2.21200555e-02 -1.55009413e-04 9.99755310e-01 -1.36986188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.98, Y:-2.42, Z:-1.37 [[ 9.97337596e-01 7.06656571e-02 1.80023384e-02 4.99771999e+01] [-7.06753939e-02 9.97499363e-01 -9.55680495e-05 -2.41662626e+00] [-1.79640745e-02 -1.17700875e-03 9.99837940e-01 -1.37337806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.01, Y:-2.42, Z:-1.38 [[ 9.97202000e-01 7.27071841e-02 1.73734701e-02 5.00095908e+01] [-7.26951309e-02 9.97353329e-01 -1.32513057e-03 -2.41754585e+00] [-1.74238347e-02 5.84561696e-05 9.99848192e-01 -1.37557547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:-2.42, Z:-1.38 [[ 9.97019711e-01 7.52162766e-02 1.71524568e-02 5.00413798e+01] [-7.52048485e-02 9.97167243e-01 -1.31122982e-03 -2.41811136e+00] [-1.72024939e-02 1.73740638e-05 9.99852026e-01 -1.37651092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.07, Y:-2.41, Z:-1.38 [[ 9.96348659e-01 8.32516871e-02 1.89342644e-02 5.00720673e+01] [-8.30721376e-02 9.96492547e-01 -1.00808201e-02 -2.41073808e+00] [-1.97070986e-02 8.47110176e-03 9.99769909e-01 -1.37698104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:-2.42, Z:-1.38 [[ 9.96442853e-01 8.23671017e-02 1.78129633e-02 5.01049362e+01] [-8.25082344e-02 9.96563370e-01 7.33757440e-03 -2.41864179e+00] [-1.71473720e-02 -8.78118972e-03 9.99814412e-01 -1.37814856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68587156 meters Centerline goodness [0,1] 0.999957122949941 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.41, Z:-1.38 [[ 9.96010872e-01 8.74221682e-02 1.78803895e-02 5.01380112e+01] [-8.74115828e-02 9.96171334e-01 -1.37419707e-03 -2.41050445e+00] [-1.79320668e-02 -1.94237931e-04 9.99839189e-01 -1.37974466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.17, Y:-2.41, Z:-1.38 [[ 9.95814085e-01 8.96329310e-02 1.78954179e-02 5.01701207e+01] [-8.96226332e-02 9.95974841e-01 -1.37821627e-03 -2.41014890e+00] [-1.79469196e-02 -2.31387301e-04 9.99838914e-01 -1.37819141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.20, Y:-2.41, Z:-1.38 [[ 9.95635194e-01 9.15163811e-02 1.83115662e-02 5.02019648e+01] [-9.15058618e-02 9.95803535e-01 -1.41328086e-03 -2.41058704e+00] [-1.83640607e-02 -2.68503481e-04 9.99831330e-01 -1.37765656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775871560000006 meters Centerline goodness [0,1] 0.9999785738772712 Centerline is valid? [True, True] Translation: X:50.23, Y:-2.42, Z:-1.38 [[ 9.94769994e-01 9.87793077e-02 2.59866808e-02 5.02278711e+01] [-9.90227385e-02 9.95050967e-01 8.25051173e-03 -2.41753252e+00] [-2.50430921e-02 -1.07806338e-02 9.99628242e-01 -1.37744275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.26, Y:-2.41, Z:-1.38 [[ 9.94515672e-01 1.01098703e-01 2.67886098e-02 5.02589947e+01] [-1.01200036e-01 9.94863079e-01 2.45083658e-03 -2.41424419e+00] [-2.64032224e-02 -5.14840366e-03 9.99638116e-01 -1.37868520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83587156 meters Centerline goodness [0,1] 0.9999788175983393 Centerline is valid? [True, True] Translation: X:50.30, Y:-2.39, Z:-1.38 [[ 9.94760738e-01 1.00699541e-01 1.76260204e-02 5.02977184e+01] [-1.00424594e-01 9.94818462e-01 -1.58470140e-02 -2.39233974e+00] [-1.91304775e-02 1.39939014e-02 9.99719058e-01 -1.38067736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86587156 meters Centerline goodness [0,1] 0.9999575452673587 Centerline is valid? [True, True] Translation: X:50.32, Y:-2.41, Z:-1.39 [[ 9.94109713e-01 1.05535737e-01 2.46594341e-02 5.03237209e+01] [-1.05561045e-01 9.94412786e-01 -2.76802094e-04 -2.40581663e+00] [-2.45508691e-02 -2.32790399e-03 9.99695872e-01 -1.38508486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89587156 meters Centerline goodness [0,1] 0.9999572128447041 Centerline is valid? [True, True] Translation: X:50.35, Y:-2.42, Z:-1.39 [[ 9.93994943e-01 1.05644101e-01 2.85197512e-02 5.03523721e+01] [-1.06108276e-01 9.94237164e-01 1.52805572e-02 -2.42326619e+00] [-2.67410958e-02 -1.82149782e-02 9.99476427e-01 -1.38565368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925871560000004 meters Centerline goodness [0,1] 0.9999155048584706 Centerline is valid? [True, True] Translation: X:50.39, Y:-2.40, Z:-1.39 [[ 9.94124066e-01 1.05655946e-01 2.35406499e-02 5.03897733e+01] [-1.05306665e-01 9.94317163e-01 -1.56168362e-02 -2.39955667e+00] [-2.50568838e-02 1.30460854e-02 9.99600896e-01 -1.38995819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955871560000006 meters Centerline goodness [0,1] 0.9999365750528542 Centerline is valid? [True, True] Translation: X:50.42, Y:-2.42, Z:-1.39 [[ 9.94167716e-01 1.04690074e-01 2.58948114e-02 5.04187932e+01] [-1.04857543e-01 9.94473697e-01 5.19253848e-03 -2.41983619e+00] [-2.52081016e-02 -7.87752043e-03 9.99651187e-01 -1.39125052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98587156 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:50.45, Y:-2.40, Z:-1.39 [[ 9.94913085e-01 9.95092086e-02 1.56802526e-02 5.04547083e+01] [-9.92851852e-02 9.94953768e-01 -1.44724740e-02 -2.40448082e+00] [-1.70412709e-02 1.28420370e-02 9.99772313e-01 -1.39023767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01587156 meters Centerline goodness [0,1] 0.9998931235705277 Centerline is valid? [True, True] Translation: X:50.48, Y:-2.42, Z:-1.39 [[ 9.95016287e-01 9.82303881e-02 1.71283297e-02 5.04838464e+01] [-9.82216384e-02 9.95163644e-01 -1.35337466e-03 -2.41809358e+00] [-1.71784335e-02 -3.35742770e-04 9.99852383e-01 -1.39255390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04587156 meters Centerline goodness [0,1] 0.9999572192513368 Centerline is valid? [True, True] Translation: X:50.51, Y:-2.42, Z:-1.39 [[ 9.95119209e-01 9.72708306e-02 1.66176469e-02 5.05147035e+01] [-9.72624664e-02 9.95257901e-01 -1.31271008e-03 -2.42350340e+00] [-1.66665328e-02 -3.09970307e-04 9.99861056e-01 -1.38926521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.54, Y:-2.44, Z:-1.40 [[ 9.94620457e-01 9.99452079e-02 2.72231920e-02 5.05393618e+01] [-1.00411895e-01 9.94811622e-01 1.63489586e-02 -2.43853758e+00] [-2.54479477e-02 -1.89945410e-02 9.99495678e-01 -1.39550562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.57, Y:-2.44, Z:-1.40 [[ 9.94961126e-01 9.65470448e-02 2.70375051e-02 5.05698611e+01] [-9.65888500e-02 9.95324337e-01 2.41424708e-04 -2.43719620e+00] [-2.68877780e-02 -2.85172972e-03 9.99634391e-01 -1.39557783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.61, Y:-2.43, Z:-1.39 [[ 9.95798348e-01 9.02780432e-02 1.53468478e-02 5.06075498e+01] [-8.99336440e-02 9.95708717e-01 -2.18194972e-02 -2.42727995e+00] [-1.72508116e-02 2.03476213e-02 9.99644129e-01 -1.39344451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16587156000001 meters Centerline goodness [0,1] 0.9999143322196522 Centerline is valid? [True, True] Translation: X:50.64, Y:-2.45, Z:-1.40 [[ 9.96324240e-01 8.37950692e-02 1.77875213e-02 5.06375324e+01] [-8.37832415e-02 9.96483005e-01 -1.41042921e-03 -2.45149751e+00] [-1.78431497e-02 -8.50513758e-05 9.99840795e-01 -1.39519661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.67, Y:-2.47, Z:-1.40 [[ 9.96059298e-01 8.39325461e-02 2.86566441e-02 5.06651984e+01] [-8.43286405e-02 9.96354450e-01 1.29031391e-02 -2.46799686e+00] [-2.74691816e-02 -1.52688675e-02 9.99506031e-01 -1.39588150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:-2.46, Z:-1.39 [[ 9.96738558e-01 7.87213821e-02 1.77536101e-02 5.07011282e+01] [-7.84367387e-02 9.96787496e-01 -1.61976962e-02 -2.45728520e+00] [-1.89716816e-02 1.47523331e-02 9.99711180e-01 -1.39183213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25587156 meters Centerline goodness [0,1] 0.9999574305053 Centerline is valid? [True, True] Translation: X:50.73, Y:-2.48, Z:-1.40 [[ 9.97181248e-01 7.24480153e-02 1.95152251e-02 5.07308908e+01] [-7.24314651e-02 9.97372180e-01 -1.55449129e-03 -2.48006233e+00] [-1.95765624e-02 1.36593222e-04 9.99808351e-01 -1.39519657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.76, Y:-2.49, Z:-1.39 [[ 9.97361996e-01 6.99401182e-02 1.94275440e-02 5.07628309e+01] [-6.99231830e-02 9.97551174e-01 -1.55046030e-03 -2.48766120e+00] [-1.94884087e-02 1.87934464e-04 9.99810065e-01 -1.39469067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.79, Y:-2.50, Z:-1.40 [[ 9.97675144e-01 6.55119143e-02 1.87748916e-02 5.07945173e+01] [-6.54952343e-02 9.97851751e-01 -1.50259404e-03 -2.49840671e+00] [-1.88329962e-02 2.69434805e-04 9.99822607e-01 -1.39572394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.83, Y:-2.51, Z:-1.40 [[ 9.97771894e-01 6.40124139e-02 1.88058063e-02 5.08252376e+01] [-6.39954180e-02 9.97949058e-01 -1.50478985e-03 -2.50718866e+00] [-1.88635619e-02 2.97951589e-04 9.99822023e-01 -1.39798468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.86, Y:-2.51, Z:-1.40 [[ 9.97854753e-01 6.26318257e-02 1.90563935e-02 5.08567974e+01] [-6.26140668e-02 9.98036645e-01 -1.52773366e-03 -2.51369719e+00] [-1.91146638e-02 3.31257997e-04 9.99817243e-01 -1.39743183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.89, Y:-2.52, Z:-1.40 [[ 9.98019274e-01 6.00264988e-02 1.88241415e-02 5.08885160e+01] [-6.00086244e-02 9.98196711e-01 -1.51347739e-03 -2.52435345e+00] [-1.88810449e-02 3.80868764e-04 9.99821665e-01 -1.39833991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43587156 meters Centerline goodness [0,1] 0.999957742610239 Centerline is valid? [True, True] Translation: X:50.92, Y:-2.53, Z:-1.40 [[ 9.98060461e-01 5.92016985e-02 1.92477498e-02 5.09201617e+01] [-5.91828632e-02 9.98245959e-01 -1.54722482e-03 -2.53074431e+00] [-1.93055868e-02 4.05086974e-04 9.99813548e-01 -1.39846467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.95, Y:-2.55, Z:-1.40 [[ 9.97710224e-01 6.10043790e-02 2.92023183e-02 5.09460440e+01] [-6.15246918e-02 9.97956267e-01 1.72627273e-02 -2.54687354e+00] [-2.80895346e-02 -1.90198631e-02 9.99424446e-01 -1.39983013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.98, Y:-2.54, Z:-1.40 [[ 9.97845267e-01 6.11204719e-02 2.38560458e-02 5.09804821e+01] [-6.07960051e-02 9.98050647e-01 -1.40979222e-02 -2.53664897e+00] [-2.46712136e-02 1.26171926e-02 9.99615995e-01 -1.40267279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525871560000006 meters Centerline goodness [0,1] 0.9999785688262146 Centerline is valid? [True, True] Translation: X:51.01, Y:-2.55, Z:-1.40 [[ 9.98185517e-01 5.75391961e-02 1.77458187e-02 5.10130101e+01] [-5.74104389e-02 9.98321104e-01 -7.68210090e-03 -2.54985732e+00] [-1.81580472e-02 6.64936662e-03 9.99813018e-01 -1.40327008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55587156 meters Centerline goodness [0,1] 0.9999352708913198 Centerline is valid? [True, True] Translation: X:51.05, Y:-2.56, Z:-1.41 [[ 9.98174044e-01 5.79002506e-02 1.72087079e-02 5.10455169e+01] [-5.78848318e-02 9.98322295e-01 -1.39315494e-03 -2.55872041e+00] [-1.72605008e-02 3.94487941e-04 9.99850949e-01 -1.40584071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.08, Y:-2.56, Z:-1.41 [[ 9.98113882e-01 5.88995634e-02 1.73066501e-02 5.10771673e+01] [-5.88840539e-02 9.98263840e-01 -1.40481992e-03 -2.56357556e+00] [-1.73593463e-02 3.83084543e-04 9.99849242e-01 -1.40557231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.11, Y:-2.57, Z:-1.41 [[ 9.97918898e-01 6.20250696e-02 1.76284921e-02 5.11071500e+01] [-6.20093747e-02 9.98074534e-01 -1.43605779e-03 -2.56898742e+00] [-1.76836206e-02 3.39937441e-04 9.99843575e-01 -1.40708230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64587156 meters Centerline goodness [0,1] 0.9998487957662815 Centerline is valid? [True, True] Translation: X:51.14, Y:-2.57, Z:-1.41 [[ 9.97826543e-01 6.36719484e-02 1.69726993e-02 5.11389995e+01] [-6.36576702e-02 9.97970839e-01 -1.38073118e-03 -2.57116702e+00] [-1.70261728e-02 2.97287728e-04 9.99855000e-01 -1.40936018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675871560000004 meters Centerline goodness [0,1] 0.9999141059503103 Centerline is valid? [True, True] Translation: X:51.17, Y:-2.57, Z:-1.41 [[ 9.97710458e-01 6.54231164e-02 1.71364725e-02 5.11711431e+01] [-6.54087688e-02 9.97857576e-01 -1.39700595e-03 -2.57459043e+00] [-1.71911554e-02 2.72931878e-04 9.99852184e-01 -1.40991773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705871560000006 meters Centerline goodness [0,1] 0.9998498627316403 Centerline is valid? [True, True] Translation: X:51.20, Y:-2.58, Z:-1.41 [[ 9.97473893e-01 6.89211627e-02 1.71961202e-02 5.12027226e+01] [-6.89071839e-02 9.97622086e-01 -1.40480059e-03 -2.57998097e+00] [-1.72520498e-02 2.16315701e-04 9.99851149e-01 -1.41148880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73587156 meters Centerline goodness [0,1] 0.9998716797125625 Centerline is valid? [True, True] Translation: X:51.23, Y:-2.58, Z:-1.41 [[ 9.97354979e-01 7.06521520e-02 1.70680725e-02 5.12343606e+01] [-7.06385854e-02 9.97500997e-01 -1.39717810e-03 -2.58374390e+00] [-1.71241330e-02 1.87818040e-04 9.99853354e-01 -1.41272935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76587156 meters Centerline goodness [0,1] 0.9998305802626006 Centerline is valid? [True, True] Translation: X:51.26, Y:-2.59, Z:-1.42 [[ 9.97225770e-01 7.24533812e-02 1.70666777e-02 5.12649186e+01] [-7.24400284e-02 9.97371787e-01 -1.40010613e-03 -2.58813216e+00] [-1.71232652e-02 1.59911298e-04 9.99853373e-01 -1.41514876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.30, Y:-2.59, Z:-1.41 [[ 9.97002258e-01 7.54449161e-02 1.71628095e-02 5.12971474e+01] [-7.54318110e-02 9.97149965e-01 -1.41058254e-03 -2.59333227e+00] [-1.72203161e-02 1.11732182e-04 9.99851713e-01 -1.41465905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.33, Y:-2.60, Z:-1.42 [[ 9.96861381e-01 7.73034870e-02 1.70750669e-02 5.13281014e+01] [-7.72907372e-02 9.97007605e-01 -1.40633977e-03 -2.59751650e+00] [-1.71326865e-02 8.21813003e-05 9.99853221e-01 -1.41616528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.36, Y:-2.60, Z:-1.42 [[ 9.96711869e-01 7.92545726e-02 1.68571082e-02 5.13613208e+01] [-7.92423904e-02 9.96854408e-01 -1.39044846e-03 -2.60166435e+00] [-1.69142820e-02 5.00789378e-05 9.99856942e-01 -1.41728011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.39, Y:-2.61, Z:-1.42 [[ 9.96396721e-01 8.31424234e-02 1.67604230e-02 5.13942128e+01] [-8.31308780e-02 9.96537675e-01 -1.38558623e-03 -2.60549307e+00] [-1.68175940e-02 -1.27150999e-05 9.99858574e-01 -1.41826986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.43, Y:-2.61, Z:-1.42 [[ 9.96210194e-01 8.52474318e-02 1.72662703e-02 5.14274777e+01] [-8.52354357e-02 9.96359811e-01 -1.43083006e-03 -2.60889290e+00] [-1.73253924e-02 -4.62905770e-05 9.99849903e-01 -1.41863585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.46, Y:-2.61, Z:-1.42 [[ 9.95890640e-01 8.88805555e-02 1.73804513e-02 5.14588446e+01] [-8.88688874e-02 9.96042286e-01 -1.44406651e-03 -2.61210367e+00] [-1.74400139e-02 -1.06449055e-04 9.99847906e-01 -1.41854735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.49, Y:-2.61, Z:-1.42 [[ 9.95681824e-01 9.11433715e-02 1.76235723e-02 5.14900863e+01] [-9.11316802e-02 9.95837770e-01 -1.46702638e-03 -2.61392854e+00] [-1.76839287e-02 -1.45374248e-04 9.99843617e-01 -1.41935381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.52, Y:-2.62, Z:-1.42 [[ 9.95508325e-01 9.29660931e-02 1.79019829e-02 5.15217883e+01] [-9.29542761e-02 9.95669259e-01 -1.49287331e-03 -2.61608778e+00] [-1.79632406e-02 -1.77898047e-04 9.99838632e-01 -1.42074736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035871560000004 meters Centerline goodness [0,1] 0.9999362854412234 Centerline is valid? [True, True] Translation: X:51.55, Y:-2.62, Z:-1.42 [[ 9.95169921e-01 9.63715457e-02 1.86910066e-02 5.15535615e+01] [-9.63592049e-02 9.95345399e-01 -1.56183719e-03 -2.61882739e+00] [-1.87545241e-02 -2.46757145e-04 9.99824088e-01 -1.42004001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.59, Y:-2.62, Z:-1.42 [[ 9.95010847e-01 9.79330901e-02 1.90400656e-02 5.15852881e+01] [-9.79205098e-02 9.95192962e-01 -1.59414558e-03 -2.62181101e+00] [-1.91046589e-02 -2.78220788e-04 9.99817451e-01 -1.42098692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.62, Y:-2.62, Z:-1.42 [[ 9.94910112e-01 9.89124829e-02 1.92403001e-02 5.16159632e+01] [-9.88997572e-02 9.95096092e-01 -1.61414555e-03 -2.62475592e+00] [-1.93056065e-02 -2.96931278e-04 9.99813585e-01 -1.42249622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.65, Y:-2.63, Z:-1.42 [[ 9.94790922e-01 1.00036294e-01 1.95898195e-02 5.16476739e+01] [-1.00023264e-01 9.94983737e-01 -1.64629755e-03 -2.63069465e+00] [-1.96562413e-02 -3.21715825e-04 9.99806746e-01 -1.42243080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:-2.63, Z:-1.42 [[ 9.94562810e-01 1.02276722e-01 1.96032912e-02 5.16783063e+01] [-1.02264031e-01 9.94755920e-01 -1.65135948e-03 -2.63315748e+00] [-1.96693856e-02 -3.62330858e-04 9.99806473e-01 -1.42333087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:-2.64, Z:-1.42 [[ 9.94544742e-01 1.02452272e-01 1.96032515e-02 5.17106732e+01] [-1.02439606e-01 9.94737854e-01 -1.65183162e-03 -2.63609142e+00] [-1.96693302e-02 -3.65328916e-04 9.99806473e-01 -1.42432004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215871560000004 meters Centerline goodness [0,1] 0.9999787374285046 Centerline is valid? [True, True] Translation: X:51.74, Y:-2.64, Z:-1.43 [[ 9.94347306e-01 1.04423210e-01 1.92153325e-02 5.17431436e+01] [-1.04411340e-01 9.94532875e-01 -1.62271023e-03 -2.63685260e+00] [-1.92797285e-02 -3.92761063e-04 9.99814052e-01 -1.42630325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245871560000005 meters Centerline goodness [0,1] 0.9999575686856901 Centerline is valid? [True, True] Translation: X:51.78, Y:-2.64, Z:-1.43 [[ 9.94139502e-01 1.06519794e-01 1.84440739e-02 5.17752516e+01] [-1.06509145e-01 9.94310497e-01 -1.56155602e-03 -2.63696803e+00] [-1.85054729e-02 -4.12058012e-04 9.99828674e-01 -1.42821113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275871560000006 meters Centerline goodness [0,1] 0.999978561934571 Centerline is valid? [True, True] Translation: X:51.81, Y:-2.64, Z:-1.43 [[ 9.93894707e-01 1.08942564e-01 1.74593530e-02 5.18072334e+01] [-1.08933383e-01 9.94047952e-01 -1.47884184e-03 -2.64178499e+00] [-1.75165430e-02 -4.32093312e-04 9.99846480e-01 -1.42763877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30587156 meters Centerline goodness [0,1] 0.9998074042371068 Centerline is valid? [True, True] Translation: X:51.84, Y:-2.63, Z:-1.43 [[ 9.93301397e-01 1.14330118e-01 1.67618478e-02 5.18379628e+01] [-1.14322404e-01 9.93442685e-01 -1.42084159e-03 -2.62982695e+00] [-1.68143801e-02 -5.04930802e-04 9.99858501e-01 -1.43240363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33587156 meters Centerline goodness [0,1] 0.999595271061881 Centerline is valid? [True, True] Translation: X:51.87, Y:-2.62, Z:-1.43 [[ 9.92976277e-01 1.17140807e-01 1.66175855e-02 5.18689785e+01] [-1.17133609e-01 9.93115165e-01 -1.40915558e-03 -2.62438622e+00] [-1.66682458e-02 -5.47219707e-04 9.99860925e-01 -1.43493032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36587156 meters Centerline goodness [0,1] 0.9996577247251102 Centerline is valid? [True, True] Translation: X:51.90, Y:-2.63, Z:-1.43 [[ 9.92360777e-01 1.22208703e-01 1.68855295e-02 5.18999506e+01] [-1.22201999e-01 9.92504217e-01 -1.43215895e-03 -2.62554131e+00] [-1.69339815e-02 -6.42227087e-04 9.99856404e-01 -1.43192848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39587156 meters Centerline goodness [0,1] 0.9952787246204984 Centerline is valid? [True, True] Translation: X:51.93, Y:-2.61, Z:-1.44 [[ 9.92063919e-01 1.24524217e-01 1.74040048e-02 5.19308307e+01] [-1.24517461e-01 9.92216320e-01 -1.47551906e-03 -2.61205081e+00] [-1.74522754e-02 -7.03293261e-04 9.99847450e-01 -1.43560656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425871560000004 meters Centerline goodness [0,1] 0.9988283912747103 Centerline is valid? [True, True] Translation: X:51.96, Y:-2.62, Z:-1.43 [[ 9.91852072e-01 1.26121786e-01 1.79655679e-02 5.19624032e+01] [-1.26114826e-01 9.92014479e-01 -1.52437699e-03 -2.62251143e+00] [-1.80143606e-02 -7.53767992e-04 9.99837444e-01 -1.43189326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455871560000006 meters Centerline goodness [0,1] 0.9900804631955383 Centerline is valid? [True, True] Translation: X:51.99, Y:-2.61, Z:-1.44 [[ 9.91681685e-01 1.27312307e-01 1.89476123e-02 5.19945826e+01] [-1.27304787e-01 9.91862343e-01 -1.60748741e-03 -2.60675642e+00] [-1.89980761e-02 -8.18005924e-04 9.99819186e-01 -1.43551316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48587156000001 meters Centerline goodness [0,1] 0.9907769166720041 Centerline is valid? [True, True] Translation: X:52.03, Y:-2.61, Z:-1.44 [[ 9.91687003e-01 1.27233437e-01 1.91974144e-02 5.20256529e+01] [-1.27225616e-01 9.91872459e-01 -1.63310251e-03 -2.60731096e+00] [-1.92491718e-02 -8.22876343e-04 9.99814379e-01 -1.43562731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51587156 meters Centerline goodness [0,1] 0.9991670226398974 Centerline is valid? [True, True] Translation: X:52.06, Y:-2.63, Z:-1.43 [[ 9.91767629e-01 1.26579184e-01 1.93566660e-02 5.20570839e+01] [-1.26571110e-01 9.91956170e-01 -1.64663370e-03 -2.62505381e+00] [-1.94093939e-02 -8.16916707e-04 9.99811286e-01 -1.43217667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54587156 meters Centerline goodness [0,1] 0.9994857620363823 Centerline is valid? [True, True] Translation: X:52.09, Y:-2.63, Z:-1.43 [[ 9.92203639e-01 1.23162841e-01 1.90487066e-02 5.20878034e+01] [-1.23154361e-01 9.92386201e-01 -1.62209940e-03 -2.62653022e+00] [-1.91034560e-02 -7.36478359e-04 9.99817241e-01 -1.43430617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.57587156 meters Centerline goodness [0,1] 0.9992103971488935 Centerline is valid? [True, True] Translation: X:52.12, Y:-2.62, Z:-1.44 [[ 9.92503604e-01 1.20762229e-01 1.87904472e-02 5.21185824e+01] [-1.20753544e-01 9.92681228e-01 -1.60032785e-03 -2.62192304e+00] [-1.88461834e-02 -6.80681935e-04 9.99822163e-01 -1.43850905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605871560000004 meters Centerline goodness [0,1] 0.9999145134748135 Centerline is valid? [True, True] Translation: X:52.15, Y:-2.63, Z:-1.44 [[ 9.93185222e-01 1.15049591e-01 1.86200587e-02 5.21483508e+01] [-1.15040052e-01 9.93359588e-01 -1.58616900e-03 -2.63307192e+00] [-1.86789019e-02 -5.66692924e-04 9.99825373e-01 -1.43839672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635871560000005 meters Centerline goodness [0,1] 0.9998934560719385 Centerline is valid? [True, True] Translation: X:52.18, Y:-2.64, Z:-1.44 [[ 9.93552491e-01 1.11796341e-01 1.88421348e-02 5.21783509e+01] [-1.11785991e-01 9.93731008e-01 -1.60498559e-03 -2.63780267e+00] [-1.89034451e-02 -5.11649273e-04 9.99821183e-01 -1.43995880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66587156000001 meters Centerline goodness [0,1] 0.99995766747804 Centerline is valid? [True, True] Translation: X:52.21, Y:-2.65, Z:-1.44 [[ 9.93916020e-01 1.08515030e-01 1.88529667e-02 5.22092340e+01] [-1.08504076e-01 9.94094707e-01 -1.60599413e-03 -2.64563125e+00] [-1.89159089e-02 -4.49400442e-04 9.99820977e-01 -1.43973686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.24, Y:-2.65, Z:-1.44 [[ 9.94629565e-01 1.01641578e-01 1.95196810e-02 5.22383654e+01] [-1.01628499e-01 9.94821030e-01 -1.66340721e-03 -2.65386522e+00] [-1.95876605e-02 -3.29281893e-04 9.99808089e-01 -1.43986212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.27, Y:-2.66, Z:-1.44 [[ 9.94973729e-01 9.82171652e-02 1.95107153e-02 5.22704930e+01] [-9.82034457e-02 9.95164971e-01 -1.66235899e-03 -2.66084746e+00] [-1.95796527e-02 -2.62015947e-04 9.99808266e-01 -1.44057629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.30, Y:-2.67, Z:-1.44 [[ 9.95656295e-01 9.10658224e-02 1.93793331e-02 5.23010997e+01] [-9.10509021e-02 9.95844868e-01 -1.65269064e-03 -2.67166856e+00] [-1.94493131e-02 -1.18993923e-04 9.99810837e-01 -1.44134395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.33, Y:-2.68, Z:-1.44 [[ 9.95924783e-01 8.80086365e-02 1.97054884e-02 5.23327545e+01] [-8.79926092e-02 9.96119710e-01 -1.68060818e-03 -2.67834107e+00] [-1.97769334e-02 -6.01779997e-05 9.99804416e-01 -1.44254714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815871560000005 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:52.37, Y:-2.69, Z:-1.44 [[ 9.96169251e-01 8.54185432e-02 1.87215103e-02 5.23656585e+01] [-8.54036294e-02 9.96345157e-01 -1.59614821e-03 -2.68528026e+00] [-1.87894268e-02 -8.85116243e-06 9.99823463e-01 -1.44427633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845871560000006 meters Centerline goodness [0,1] 0.9999354727695088 Centerline is valid? [True, True] Translation: X:52.40, Y:-2.69, Z:-1.45 [[ 9.96499588e-01 8.16401927e-02 1.79847064e-02 5.23966512e+01] [-8.16257467e-02 9.96661866e-01 -1.53706897e-03 -2.69256112e+00] [-1.80501576e-02 6.36735018e-05 9.99837081e-01 -1.44707171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.43, Y:-2.70, Z:-1.45 [[ 9.96564959e-01 8.04735535e-02 1.95522475e-02 5.24276675e+01] [-8.04561856e-02 9.96756740e-01 -1.67456760e-03 -2.69638291e+00] [-1.96235929e-02 9.57161336e-05 9.99807434e-01 -1.44595232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.46, Y:-2.70, Z:-1.45 [[ 9.96643666e-01 7.93900642e-02 1.99654871e-02 5.24590898e+01] [-7.93716780e-02 9.96843620e-01 -1.71289767e-03 -2.70086305e+00] [-2.00384555e-02 1.22454397e-04 9.99799202e-01 -1.44572976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93587156 meters Centerline goodness [0,1] 0.9998280863865907 Centerline is valid? [True, True] Translation: X:52.49, Y:-2.71, Z:-1.45 [[ 9.96746377e-01 7.83508179e-02 1.89158639e-02 5.24911419e+01] [-7.83340673e-02 9.96925840e-01 -1.62599956e-03 -2.70574245e+00] [-1.89851119e-02 1.38952608e-04 9.99819757e-01 -1.44609416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.52, Y:-2.71, Z:-1.45 [[ 9.96709785e-01 7.83220241e-02 2.08629874e-02 5.25219292e+01] [-7.83015544e-02 9.96928100e-01 -1.79749693e-03 -2.70793590e+00] [-2.09396820e-02 1.57978441e-04 9.99780728e-01 -1.44653114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.55, Y:-2.71, Z:-1.45 [[ 9.96675373e-01 7.87981723e-02 2.07135102e-02 5.25548657e+01] [-7.87780385e-02 9.96890579e-01 -1.78746598e-03 -2.70844643e+00] [-2.07899522e-02 1.49753620e-04 9.99783854e-01 -1.44600211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.59, Y:-2.71, Z:-1.45 [[ 9.96523716e-01 8.06966109e-02 2.07012408e-02 5.25857975e+01] [-8.06768226e-02 9.96738704e-01 -1.79063275e-03 -2.70718564e+00] [-2.07782259e-02 1.14297673e-04 9.99784103e-01 -1.44835630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:-2.71, Z:-1.45 [[ 9.96394546e-01 8.23398243e-02 2.04465704e-02 5.26190583e+01] [-8.23208116e-02 9.96604308e-01 -1.77124666e-03 -2.70679584e+00] [-2.05229843e-02 8.16822372e-05 9.99789378e-01 -1.44850542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-2.71, Z:-1.45 [[ 9.96255800e-01 8.41212614e-02 1.99497799e-02 5.26517300e+01] [-8.41034447e-02 9.96455524e-01 -1.73189712e-03 -2.70641760e+00] [-2.00247577e-02 4.75673388e-05 9.99799483e-01 -1.45007058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11587156 meters Centerline goodness [0,1] 0.9998288037663171 Centerline is valid? [True, True] Translation: X:52.68, Y:-2.70, Z:-1.45 [[ 9.95920566e-01 8.84876462e-02 1.76681365e-02 5.26828534e+01] [-8.84742854e-02 9.96077274e-01 -1.53797020e-03 -2.70119515e+00] [-1.77349206e-02 -3.14795999e-05 9.99842723e-01 -1.45434081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.72, Y:-2.70, Z:-1.45 [[ 9.95679907e-01 9.09089394e-02 1.88967640e-02 5.27151619e+01] [-9.08940761e-02 9.95859206e-01 -1.64572819e-03 -2.69750605e+00] [-1.89681278e-02 -7.89854143e-05 9.99820086e-01 -1.45344382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.75, Y:-2.69, Z:-1.45 [[ 9.95424910e-01 9.36106889e-02 1.91386181e-02 5.27482379e+01] [-9.35958785e-02 9.95608870e-01 -1.67009060e-03 -2.69392811e+00] [-1.92109162e-02 -1.28845987e-04 9.99815445e-01 -1.45390368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.78, Y:-2.68, Z:-1.45 [[ 9.94851567e-01 9.92762921e-02 2.03611624e-02 5.27815178e+01] [-9.92606381e-02 9.95059875e-01 -1.78051994e-03 -2.68308037e+00] [-2.04373392e-02 -2.49708918e-04 9.99791105e-01 -1.45334287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23587156000001 meters Centerline goodness [0,1] 0.9999148610105998 Centerline is valid? [True, True] Translation: X:52.81, Y:-2.68, Z:-1.45 [[ 9.94572277e-01 1.02142740e-01 1.98203688e-02 5.28130641e+01] [-1.02128409e-01 9.94769708e-01 -1.73656170e-03 -2.68034818e+00] [-1.98940796e-02 -2.97086606e-04 9.99802049e-01 -1.45466478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:-2.68, Z:-1.45 [[ 9.94308600e-01 1.04391787e-01 2.12782267e-02 5.28458888e+01] [-1.04375710e-01 9.94536185e-01 -1.86781438e-03 -2.67751146e+00] [-2.13569509e-02 -3.63746123e-04 9.99771848e-01 -1.45378800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29587156 meters Centerline goodness [0,1] 0.9998504209581606 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.67, Z:-1.46 [[ 9.93996206e-01 1.07497165e-01 2.03936777e-02 5.28778642e+01] [-1.07482983e-01 9.94205307e-01 -1.79343652e-03 -2.67328513e+00] [-2.04682919e-02 -4.09304223e-04 9.99790419e-01 -1.45634508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32587156 meters Centerline goodness [0,1] 0.9999786916684423 Centerline is valid? [True, True] Translation: X:52.91, Y:-2.67, Z:-1.46 [[ 9.93872487e-01 1.08338977e-01 2.19122174e-02 5.29108043e+01] [-1.08322733e-01 9.94113906e-01 -1.93037881e-03 -2.67139945e+00] [-2.19923753e-02 -4.55040903e-04 9.99758035e-01 -1.45551637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355871560000004 meters Centerline goodness [0,1] 0.9999577738366692 Centerline is valid? [True, True] Translation: X:52.94, Y:-2.67, Z:-1.46 [[ 9.93767712e-01 1.09275701e-01 2.20126358e-02 5.29428065e+01] [-1.09259429e-01 9.94011367e-01 -1.94418095e-03 -2.66764763e+00] [-2.20932619e-02 -4.73023762e-04 9.99755802e-01 -1.45761768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:-2.67, Z:-1.46 [[ 9.93709293e-01 1.09830441e-01 2.18887234e-02 5.29751842e+01] [-1.09814457e-01 9.93950221e-01 -1.93454325e-03 -2.66839502e+00] [-2.19687732e-02 -4.81324674e-04 9.99758542e-01 -1.45870503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41587156000001 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:53.01, Y:-2.67, Z:-1.46 [[ 9.93659143e-01 1.10257590e-01 2.20175137e-02 5.30071200e+01] [-1.10241445e-01 9.93902925e-01 -1.94941505e-03 -2.66815105e+00] [-2.20982090e-02 -4.90188434e-04 9.99755685e-01 -1.45977456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44587156 meters Centerline goodness [0,1] 0.9999361199241956 Centerline is valid? [True, True] Translation: X:53.04, Y:-2.67, Z:-1.46 [[ 9.93602810e-01 1.10737271e-01 2.21520487e-02 5.30396885e+01] [-1.10720966e-01 9.93849589e-01 -1.96501163e-03 -2.66994770e+00] [-2.22334046e-02 -5.00255157e-04 9.99752682e-01 -1.45988871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47587156 meters Centerline goodness [0,1] 0.9999140099318529 Centerline is valid? [True, True] Translation: X:53.07, Y:-2.67, Z:-1.46 [[ 9.93472584e-01 1.12087825e-01 2.11788753e-02 5.30721252e+01] [-1.12073143e-01 9.93698177e-01 -1.88266942e-03 -2.66663373e+00] [-2.12564341e-02 -5.03202661e-04 9.99773930e-01 -1.46314304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50587156 meters Centerline goodness [0,1] 0.9999788717515318 Centerline is valid? [True, True] Translation: X:53.10, Y:-2.67, Z:-1.47 [[ 9.93411989e-01 1.12741842e-01 2.05401193e-02 5.31045726e+01] [-1.12728103e-01 9.93624189e-01 -1.82920341e-03 -2.66613060e+00] [-2.06153871e-02 -4.98296075e-04 9.99787356e-01 -1.46526154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535871560000004 meters Centerline goodness [0,1] 0.9999358988055811 Centerline is valid? [True, True] Translation: X:53.14, Y:-2.65, Z:-1.47 [[ 9.93289613e-01 1.14502002e-01 1.62799271e-02 5.31354749e+01] [-1.14193557e-01 9.93281355e-01 -1.87611549e-02 -2.65395206e+00] [-1.83187379e-02 1.67761975e-02 9.99691444e-01 -1.46541158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565871560000005 meters Centerline goodness [0,1] 0.9998941261169695 Centerline is valid? [True, True] Translation: X:53.17, Y:-2.66, Z:-1.47 [[ 9.93380379e-01 1.13543787e-01 1.74135199e-02 5.31652505e+01] [-1.13518937e-01 9.93532905e-01 -2.41214512e-03 -2.65919880e+00] [-1.75747891e-02 4.19413357e-04 9.99845463e-01 -1.46640140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595871560000006 meters Centerline goodness [0,1] 0.9999155334065377 Centerline is valid? [True, True] Translation: X:53.19, Y:-2.67, Z:-1.47 [[ 9.93419652e-01 1.12326399e-01 2.23645756e-02 5.31948583e+01] [-1.12701198e-01 9.93495777e-01 1.62659624e-02 -2.66709708e+00] [-2.03920144e-02 -1.86794412e-02 9.99617549e-01 -1.47095663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62587156 meters Centerline goodness [0,1] 0.9999350255566144 Centerline is valid? [True, True] Translation: X:53.23, Y:-2.66, Z:-1.47 [[ 9.93529524e-01 1.11555230e-01 2.13193917e-02 5.32266872e+01] [-1.11539961e-01 9.93758118e-01 -1.90772612e-03 -2.66159280e+00] [-2.13991354e-02 -4.82581897e-04 9.99770896e-01 -1.46802090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65587156 meters Centerline goodness [0,1] 0.9999363273622549 Centerline is valid? [True, True] Translation: X:53.26, Y:-2.66, Z:-1.47 [[ 9.93591044e-01 1.11407478e-01 1.91105084e-02 5.32581325e+01] [-1.11138798e-01 9.93697771e-01 -1.45913734e-02 -2.65551567e+00] [-2.06156577e-02 1.23739390e-02 9.99710898e-01 -1.46756688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68587156 meters Centerline goodness [0,1] 0.9999359931726051 Centerline is valid? [True, True] Translation: X:53.29, Y:-2.66, Z:-1.47 [[ 9.93803601e-01 1.09545787e-01 1.88181786e-02 5.32879272e+01] [-1.09410360e-01 9.93963789e-01 -8.08451229e-03 -2.65952432e+00] [-1.95902123e-02 5.97551372e-03 9.99790236e-01 -1.46945313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.32, Y:-2.67, Z:-1.47 [[ 9.94022282e-01 1.06666069e-01 2.32820447e-02 5.33174719e+01] [-1.07083779e-01 9.94096047e-01 1.74960960e-02 -2.67163609e+00] [-2.12783488e-02 -1.98846385e-02 9.99575827e-01 -1.47453191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745871560000005 meters Centerline goodness [0,1] 0.9999568993384048 Centerline is valid? [True, True] Translation: X:53.35, Y:-2.66, Z:-1.47 [[ 9.94112683e-01 1.06222868e-01 2.13699624e-02 5.33500900e+01] [-1.06206202e-01 9.94342280e-01 -1.91653526e-03 -2.66468954e+00] [-2.14526370e-02 -3.64370539e-04 9.99769799e-01 -1.47338876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775871560000006 meters Centerline goodness [0,1] 0.9998929634148952 Centerline is valid? [True, True] Translation: X:53.38, Y:-2.66, Z:-1.48 [[ 9.94227345e-01 1.05380048e-01 2.01750192e-02 5.33806357e+01] [-1.05365001e-01 9.94431968e-01 -1.81030746e-03 -2.66358142e+00] [-2.02534544e-02 -3.25883742e-04 9.99794825e-01 -1.47993140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80587156 meters Centerline goodness [0,1] 0.9999573951387853 Centerline is valid? [True, True] Translation: X:53.41, Y:-2.67, Z:-1.48 [[ 9.94393253e-01 1.03817958e-01 2.00970018e-02 5.34110615e+01] [-1.03802701e-01 9.94596273e-01 -1.80368012e-03 -2.66525842e+00] [-2.01756575e-02 -2.92555735e-04 9.99796408e-01 -1.48039781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83587156 meters Centerline goodness [0,1] 0.9998290744380822 Centerline is valid? [True, True] Translation: X:53.44, Y:-2.67, Z:-1.49 [[ 9.94714004e-01 1.00962199e-01 1.87265550e-02 5.34406924e+01] [-1.00948449e-01 9.94890238e-01 -1.68055232e-03 -2.66872485e+00] [-1.88005390e-02 -2.18747751e-04 9.99823230e-01 -1.48568309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.47, Y:-2.67, Z:-1.48 [[ 9.94925349e-01 9.86331335e-02 1.98759759e-02 5.34706922e+01] [-9.86171708e-02 9.95123847e-01 -1.78406967e-03 -2.67102431e+00] [-1.99550260e-02 -1.85096376e-04 9.99800862e-01 -1.48427790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89587156 meters Centerline goodness [0,1] 0.9999788193929638 Centerline is valid? [True, True] Translation: X:53.50, Y:-2.68, Z:-1.49 [[ 9.95144641e-01 9.63814073e-02 1.99441082e-02 5.35014661e+01] [-9.63648875e-02 9.95344465e-01 -1.78995215e-03 -2.67576096e+00] [-2.00237759e-02 -1.40650461e-04 9.99799494e-01 -1.48566324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.53, Y:-2.68, Z:-1.49 [[ 9.95583044e-01 9.16072257e-02 2.05552410e-02 5.35316805e+01] [-9.15886747e-02 9.95795217e-01 -1.84408614e-03 -2.68355254e+00] [-2.06377423e-02 -4.66863898e-05 9.99787018e-01 -1.48556270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.56, Y:-2.69, Z:-1.49 [[ 9.95782256e-01 8.93314541e-02 2.09186316e-02 5.35635148e+01] [-8.93116756e-02 9.96001953e-01 -1.87971085e-03 -2.68928069e+00] [-2.10029153e-02 3.50467354e-06 9.99779414e-01 -1.48605762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.60, Y:-2.70, Z:-1.49 [[ 9.95952991e-01 8.73813266e-02 2.10271944e-02 5.35955348e+01] [-8.73608296e-02 9.96174935e-01 -1.89315611e-03 -2.69517553e+00] [-2.11121906e-02 4.85413431e-05 9.99777112e-01 -1.48699508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.63, Y:-2.70, Z:-1.49 [[ 9.96236088e-01 8.40895557e-02 2.10381646e-02 5.36257852e+01] [-8.40682490e-02 9.96458194e-01 -1.89671364e-03 -2.70389531e+00] [-2.11231453e-02 1.20932913e-04 9.99776874e-01 -1.48862502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.66, Y:-2.71, Z:-1.49 [[ 9.96313117e-01 8.31750486e-02 2.10257905e-02 5.36583674e+01] [-8.31535441e-02 9.96534942e-01 -1.89650451e-03 -2.70823988e+00] [-2.11106768e-02 1.41143319e-04 9.99777135e-01 -1.48959005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.69, Y:-2.71, Z:-1.49 [[ 9.96298733e-01 8.33472576e-02 2.10254618e-02 5.36907282e+01] [-8.33257148e-02 9.96520554e-01 -1.90014110e-03 -2.71137747e+00] [-2.11106763e-02 1.41146539e-04 9.99777135e-01 -1.49057992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.72, Y:-2.71, Z:-1.49 [[ 9.96331759e-01 8.30205672e-02 2.07511984e-02 5.37241919e+01] [-8.29994408e-02 9.96547823e-01 -1.87876854e-03 -2.71280582e+00] [-2.08355380e-02 1.49538907e-04 9.99782905e-01 -1.48946458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:-2.72, Z:-1.49 [[ 9.96330273e-01 8.29878219e-02 2.09525154e-02 5.37559007e+01] [-8.29661781e-02 9.96550549e-01 -1.90165887e-03 -2.71742915e+00] [-2.10380553e-02 1.56330171e-04 9.99778663e-01 -1.49318829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.79, Y:-2.72, Z:-1.49 [[ 9.96364480e-01 8.17008787e-02 2.41410344e-02 5.37899679e+01] [-8.16634076e-02 9.96656741e-01 -2.53563420e-03 -2.71724501e+00] [-2.42674882e-02 5.54976724e-04 9.99705347e-01 -1.49038132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.82, Y:-2.72, Z:-1.49 [[ 9.96231144e-01 8.39663739e-02 2.17521602e-02 5.38193972e+01] [-8.39490655e-02 9.96468581e-01 -1.70925012e-03 -2.72233853e+00] [-2.18188637e-02 -1.23265313e-04 9.99761933e-01 -1.49295691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.85, Y:-2.72, Z:-1.50 [[ 9.96168385e-01 8.50527583e-02 2.03611609e-02 5.38513505e+01] [-8.50325860e-02 9.96376442e-01 -1.85602393e-03 -2.72444542e+00] [-2.04452410e-02 1.17550195e-04 9.99790967e-01 -1.49589857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.88, Y:-2.73, Z:-1.50 [[ 9.96084387e-01 8.60327828e-02 2.03532257e-02 5.38846616e+01] [-8.60128337e-02 9.96292302e-01 -1.85516132e-03 -2.72686971e+00] [-2.04373668e-02 9.72586099e-05 9.99791130e-01 -1.49659624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285871560000004 meters Centerline goodness [0,1] 0.9998929886139886 Centerline is valid? [True, True] Translation: X:53.92, Y:-2.73, Z:-1.50 [[ 9.95992193e-01 8.72717946e-02 1.95751246e-02 5.39157560e+01] [-8.72535079e-02 9.96184535e-01 -1.78795545e-03 -2.73188017e+00] [-1.96564745e-02 7.27913790e-05 9.99806790e-01 -1.50484838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:-2.73, Z:-1.50 [[ 9.95899142e-01 8.84195995e-02 1.91539610e-02 5.39492761e+01] [-8.84022424e-02 9.96083316e-01 -1.75266501e-03 -2.73153001e+00] [-1.92339109e-02 5.22244695e-05 9.99815010e-01 -1.50056288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345871560000006 meters Centerline goodness [0,1] 0.9997851818435695 Centerline is valid? [True, True] Translation: X:53.98, Y:-2.74, Z:-1.51 [[ 9.95768812e-01 8.98867124e-02 1.91010971e-02 5.39810254e+01] [-8.98696341e-02 9.95951996e-01 -1.75234862e-03 -2.73565815e+00] [-1.91812887e-02 2.83254956e-05 9.99816022e-01 -1.50559447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.01, Y:-2.73, Z:-1.50 [[ 9.95801887e-01 8.99017368e-02 1.72127587e-02 5.40139598e+01] [-8.96244294e-02 9.95842940e-01 -1.62573519e-02 -2.72768596e+00] [-1.86027684e-02 1.46464181e-02 9.99719670e-01 -1.49929588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40587156 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:54.04, Y:-2.75, Z:-1.50 [[ 9.95510775e-01 9.20840247e-02 2.18821728e-02 5.40443758e+01] [-9.23762502e-02 9.95642674e-01 1.27394985e-02 -2.74753913e+00] [-2.06137207e-02 -1.47037011e-02 9.99679386e-01 -1.50368192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.08, Y:-2.74, Z:-1.50 [[ 9.95375882e-01 9.38699757e-02 2.03784518e-02 5.40783928e+01] [-9.38512386e-02 9.95584464e-01 -1.87600404e-03 -2.74019166e+00] [-2.04645705e-02 -4.52137643e-05 9.99790578e-01 -1.50347176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:-2.74, Z:-1.51 [[ 9.95265982e-01 9.50425450e-02 2.03110949e-02 5.41108363e+01] [-9.50240914e-02 9.95473209e-01 -1.87393406e-03 -2.74161752e+00] [-2.03972543e-02 -6.49805215e-05 9.99791952e-01 -1.50505953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-2.74, Z:-1.51 [[ 9.95216123e-01 9.56389422e-02 1.99514864e-02 5.41426392e+01] [-9.56211911e-02 9.95416088e-01 -1.84400089e-03 -2.74426957e+00] [-2.00363889e-02 -7.26054830e-05 9.99799249e-01 -1.50680515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:-2.75, Z:-1.51 [[ 9.95215857e-01 9.56359920e-02 1.99788808e-02 5.41744428e+01] [-9.56181245e-02 9.95416371e-01 -1.84987381e-03 -2.74861086e+00] [-2.00642195e-02 -6.93193587e-05 9.99798691e-01 -1.50795091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55587156 meters Centerline goodness [0,1] 0.999935521310207 Centerline is valid? [True, True] Translation: X:54.21, Y:-2.75, Z:-1.51 [[ 9.95220438e-01 9.56185203e-02 1.98337445e-02 5.42059752e+01] [-9.56008432e-02 9.95418050e-01 -1.83969106e-03 -2.75373849e+00] [-1.99187758e-02 -6.52245544e-05 9.99801599e-01 -1.51068907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58587156 meters Centerline goodness [0,1] 0.9999354894202649 Centerline is valid? [True, True] Translation: X:54.24, Y:-2.76, Z:-1.51 [[ 9.95357982e-01 9.41516103e-02 1.99489618e-02 5.42375409e+01] [-9.41333651e-02 9.95557870e-01 -1.85374417e-03 -2.76143549e+00] [-2.00348790e-02 -3.27238537e-05 9.99799281e-01 -1.51102532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61587156 meters Centerline goodness [0,1] 0.9999140819658047 Centerline is valid? [True, True] Translation: X:54.27, Y:-2.77, Z:-1.51 [[ 9.95434711e-01 9.33145208e-02 2.00533292e-02 5.42692939e+01] [-9.32958478e-02 9.95636681e-01 -1.86674587e-03 -2.76766842e+00] [-2.01400247e-02 -1.26687116e-05 9.99797169e-01 -1.51252922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:-2.77, Z:-1.51 [[ 9.95529042e-01 9.21276701e-02 2.08427371e-02 5.43015615e+01] [-9.21071531e-02 9.95747203e-01 -1.94427317e-03 -2.77261246e+00] [-2.09332186e-02 1.58152205e-05 9.99780876e-01 -1.50993909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:-2.78, Z:-1.51 [[ 9.95664247e-01 9.06178150e-02 2.10028193e-02 5.43338425e+01] [-9.05965738e-02 9.95885741e-01 -1.96261041e-03 -2.77961588e+00] [-2.10942557e-02 5.13175514e-05 9.99777490e-01 -1.51090362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.37, Y:-2.78, Z:-1.51 [[ 9.95712236e-01 9.00984060e-02 2.09623451e-02 5.43651152e+01] [-9.00770313e-02 9.95932866e-01 -1.96358794e-03 -2.78477411e+00] [-2.10540046e-02 6.69427187e-05 9.99778338e-01 -1.51260119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.40, Y:-2.79, Z:-1.51 [[ 9.95724156e-01 8.98976645e-02 2.12559366e-02 5.43971749e+01] [-8.98755956e-02 9.95951005e-01 -1.99321898e-03 -2.79009292e+00] [-2.13490571e-02 7.43063329e-05 9.99772080e-01 -1.51322933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.43, Y:-2.80, Z:-1.51 [[ 9.95686172e-01 9.02146010e-02 2.16880682e-02 5.44301718e+01] [-9.01916181e-02 9.95922347e-01 -2.03753548e-03 -2.79566226e+00] [-2.17834473e-02 7.26639329e-05 9.99762710e-01 -1.51286136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79587156 meters Centerline goodness [0,1] 0.999850411368736 Centerline is valid? [True, True] Translation: X:54.46, Y:-2.80, Z:-1.52 [[ 9.95648416e-01 9.08746040e-02 2.06407086e-02 5.44611124e+01] [-9.08538464e-02 9.95862341e-01 -1.94313653e-03 -2.80146567e+00] [-2.07318861e-02 5.93930373e-05 9.99785070e-01 -1.51871853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:-2.80, Z:-1.52 [[ 9.95713146e-01 8.91661971e-02 2.45910706e-02 5.44951219e+01] [-8.91963127e-02 9.96014057e-01 1.28316852e-04 -2.80435270e+00] [-2.44816104e-02 -2.32119960e-03 9.99697586e-01 -1.51628148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:-2.81, Z:-1.52 [[ 9.95485437e-01 9.27833385e-02 1.99999206e-02 5.45250679e+01] [-9.27130087e-02 9.95683074e-01 -4.41750086e-03 -2.80652353e+00] [-2.03234529e-02 2.54330496e-03 9.99790222e-01 -1.51755121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.56, Y:-2.81, Z:-1.52 [[ 9.95367521e-01 9.40730176e-02 1.98435474e-02 5.45563609e+01] [-9.40543177e-02 9.95565300e-01 -1.87562538e-03 -2.81101422e+00] [-1.99319930e-02 5.65277629e-07 9.99801338e-01 -1.52032356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91587156000001 meters Centerline goodness [0,1] 0.9998503314090229 Centerline is valid? [True, True] Translation: X:54.59, Y:-2.81, Z:-1.52 [[ 9.95213257e-01 9.58216240e-02 1.92038859e-02 5.45892409e+01] [-9.58043731e-02 9.95398521e-01 -1.81841326e-03 -2.81495748e+00] [-1.92897629e-02 -3.01072622e-05 9.99813935e-01 -1.52441148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.62, Y:-2.82, Z:-1.52 [[ 9.94929809e-01 9.85561013e-02 2.00342472e-02 5.46225475e+01] [-9.85377988e-02 9.95131493e-01 -1.90109012e-03 -2.81633409e+00] [-2.01240744e-02 -8.26793963e-05 9.99797487e-01 -1.52171418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.66, Y:-2.82, Z:-1.52 [[ 9.94752760e-01 1.00276523e-01 2.02870936e-02 5.46550240e+01] [-1.00258030e-01 9.94959600e-01 -1.92916248e-03 -2.81842465e+00] [-2.03782883e-02 -1.14904340e-04 9.99792335e-01 -1.52223081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.69, Y:-2.82, Z:-1.52 [[ 9.94552753e-01 1.02184189e-01 2.05721378e-02 5.46866045e+01] [-1.02165498e-01 9.94765484e-01 -1.96028569e-03 -2.81919397e+00] [-2.06647628e-02 -1.52155161e-04 9.99786449e-01 -1.52266823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035871560000004 meters Centerline goodness [0,1] 0.999850222526532 Centerline is valid? [True, True] Translation: X:54.72, Y:-2.82, Z:-1.53 [[ 9.94191257e-01 1.05705893e-01 2.02486646e-02 5.47186083e+01] [-1.05688454e-01 9.94397414e-01 -1.93241852e-03 -2.82088171e+00] [-2.03394878e-02 -2.18856475e-04 9.99793107e-01 -1.52551238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.75, Y:-2.82, Z:-1.52 [[ 9.94004096e-01 1.07404792e-01 2.04955727e-02 5.47507016e+01] [-1.07387216e-01 9.94215342e-01 -1.95946480e-03 -2.82125748e+00] [-2.05874687e-02 -2.53246444e-04 9.99788024e-01 -1.52382358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095871560000006 meters Centerline goodness [0,1] 0.9999360450243029 Centerline is valid? [True, True] Translation: X:54.78, Y:-2.82, Z:-1.53 [[ 9.93805249e-01 1.09212045e-01 2.05877638e-02 5.47814694e+01] [-1.09194597e-01 9.94018434e-01 -1.97312614e-03 -2.82112599e+00] [-2.06801058e-02 -2.87169445e-04 9.99786103e-01 -1.52537710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12587156 meters Centerline goodness [0,1] 0.9999362163541268 Centerline is valid? [True, True] Translation: X:54.81, Y:-2.82, Z:-1.53 [[ 9.93428457e-01 1.12719055e-01 1.98573934e-02 5.48131620e+01] [-1.12703514e-01 9.93626839e-01 -1.90357543e-03 -2.81830451e+00] [-1.99454082e-02 -3.46932013e-04 9.99801010e-01 -1.52720698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15587156 meters Centerline goodness [0,1] 0.9997434581836839 Centerline is valid? [True, True] Translation: X:54.84, Y:-2.82, Z:-1.53 [[ 9.93280463e-01 1.14177799e-01 1.89037368e-02 5.48438456e+01] [-1.14163976e-01 9.93460267e-01 -1.81232339e-03 -2.82108784e+00] [-1.89870385e-02 -3.57980335e-04 9.99819666e-01 -1.53132791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18587156 meters Centerline goodness [0,1] 0.9999575353518196 Centerline is valid? [True, True] Translation: X:54.87, Y:-2.82, Z:-1.53 [[ 9.93171798e-01 1.15001662e-01 1.96060396e-02 5.48739640e+01] [-1.14986923e-01 9.93365224e-01 -1.88120176e-03 -2.82229022e+00] [-1.96922993e-02 -3.86081628e-04 9.99806013e-01 -1.52917920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215871560000004 meters Centerline goodness [0,1] 0.9999357876712329 Centerline is valid? [True, True] Translation: X:54.90, Y:-2.83, Z:-1.53 [[ 9.93045956e-01 1.16043087e-01 1.98426444e-02 5.49045657e+01] [-1.16028205e-01 9.93244095e-01 -1.90353703e-03 -2.82597184e+00] [-1.99294817e-02 -4.12006651e-04 9.99801303e-01 -1.52878850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245871560000005 meters Centerline goodness [0,1] 0.9999359931726051 Centerline is valid? [True, True] Translation: X:54.93, Y:-2.83, Z:-1.53 [[ 9.93053652e-01 1.15931905e-01 2.01056632e-02 5.49344239e+01] [-1.15916605e-01 9.93257077e-01 -1.92864453e-03 -2.82905950e+00] [-2.01936837e-02 -4.15332722e-04 9.99796001e-01 -1.52977685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275871560000006 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:54.96, Y:-2.83, Z:-1.53 [[ 9.93126078e-01 1.15337487e-01 1.99463709e-02 5.49645511e+01] [-1.15322305e-01 9.93326283e-01 -1.91360719e-03 -2.83259258e+00] [-2.00339651e-02 -3.99808255e-04 9.99799220e-01 -1.53126530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30587156 meters Centerline goodness [0,1] 0.9998928211613899 Centerline is valid? [True, True] Translation: X:55.00, Y:-2.84, Z:-1.53 [[ 9.93260922e-01 1.14341334e-01 1.89419963e-02 5.49956610e+01] [-1.14327459e-01 9.93441457e-01 -1.81731563e-03 -2.83801841e+00] [-1.90255587e-02 -3.60521717e-04 9.99818933e-01 -1.53285929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33587156 meters Centerline goodness [0,1] 0.9999357807984587 Centerline is valid? [True, True] Translation: X:55.03, Y:-2.84, Z:-1.53 [[ 9.93253746e-01 1.14429348e-01 1.87861898e-02 5.50272820e+01] [-1.14415708e-01 9.93431324e-01 -1.80282012e-03 -2.84097808e+00] [-1.88690850e-02 -3.58777371e-04 9.99821899e-01 -1.53400350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36587156 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:55.06, Y:-2.84, Z:-1.53 [[ 9.93219375e-01 1.14619972e-01 1.94302463e-02 5.50574468e+01] [-1.14605415e-01 9.93409342e-01 -1.86473606e-03 -2.84083719e+00] [-1.95159242e-02 -3.74719459e-04 9.99809476e-01 -1.53415435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39587156 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:55.09, Y:-2.84, Z:-1.53 [[ 9.93058683e-01 1.15915360e-01 1.99519657e-02 5.50869978e+01] [-1.15900232e-01 9.93259011e-01 -1.91684218e-03 -2.84132935e+00] [-2.00396611e-02 -4.08900677e-04 9.99799102e-01 -1.53374049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425871560000004 meters Centerline goodness [0,1] 0.9998924708058238 Centerline is valid? [True, True] Translation: X:55.12, Y:-2.85, Z:-1.53 [[ 9.92980451e-01 1.16701155e-01 1.92526327e-02 5.51175450e+01] [-1.16687222e-01 9.93166991e-01 -1.84930925e-03 -2.84563462e+00] [-1.93368958e-02 -4.10208306e-04 9.99812941e-01 -1.53485180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455871560000006 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:55.15, Y:-2.84, Z:-1.53 [[ 9.92847530e-01 1.17816392e-01 1.93152565e-02 5.51481113e+01] [-1.17802579e-01 9.93035302e-01 -1.85532457e-03 -2.84470896e+00] [-1.93993192e-02 -4.33332619e-04 9.99811722e-01 -1.53473935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:-2.84, Z:-1.54 [[ 9.92577335e-01 1.20189169e-01 1.85687513e-02 5.51771232e+01] [-1.20176810e-01 9.92750901e-01 -1.78404340e-03 -2.83886812e+00] [-1.86485672e-02 -4.60732256e-04 9.99825994e-01 -1.53879434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51587156 meters Centerline goodness [0,1] 0.9999574911262726 Centerline is valid? [True, True] Translation: X:55.21, Y:-2.84, Z:-1.54 [[ 9.92485777e-01 1.20944465e-01 1.85585232e-02 5.52066899e+01] [-1.20932267e-01 9.92659161e-01 -1.78223261e-03 -2.83902191e+00] [-1.86378393e-02 -4.75483776e-04 9.99826187e-01 -1.53970253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54587156 meters Centerline goodness [0,1] 0.9998933378842503 Centerline is valid? [True, True] Translation: X:55.24, Y:-2.84, Z:-1.54 [[ 9.92364945e-01 1.21916771e-01 1.86578913e-02 5.52363607e+01] [-1.21904622e-01 9.92540203e-01 -1.79135487e-03 -2.84096969e+00] [-1.87371034e-02 -4.96805414e-04 9.99824322e-01 -1.53954464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57587156 meters Centerline goodness [0,1] 0.9998719207616446 Centerline is valid? [True, True] Translation: X:55.27, Y:-2.84, Z:-1.54 [[ 9.92267449e-01 1.22728264e-01 1.85224925e-02 5.52662232e+01] [-1.22716440e-01 9.92440182e-01 -1.77792437e-03 -2.84110960e+00] [-1.86006674e-02 -5.08837862e-04 9.99826863e-01 -1.54028241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605871560000004 meters Centerline goodness [0,1] 0.9998505359354315 Centerline is valid? [True, True] Translation: X:55.30, Y:-2.84, Z:-1.54 [[ 9.92102429e-01 1.23997636e-01 1.89038871e-02 5.52955437e+01] [-1.23985554e-01 9.92282364e-01 -1.81433897e-03 -2.83872446e+00] [-1.89829675e-02 -5.43798814e-04 9.99819659e-01 -1.53975577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635871560000005 meters Centerline goodness [0,1] 0.9999358851061102 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.84, Z:-1.54 [[ 9.92034505e-01 1.24548293e-01 1.88484202e-02 5.53247536e+01] [-1.24536398e-01 9.92213392e-01 -1.80813339e-03 -2.83968138e+00] [-1.89268549e-02 -5.53583647e-04 9.99820718e-01 -1.54027333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66587156000001 meters Centerline goodness [0,1] 0.9998716302952503 Centerline is valid? [True, True] Translation: X:55.35, Y:-2.84, Z:-1.54 [[ 9.92004951e-01 1.24801162e-01 1.87309012e-02 5.53533391e+01] [-1.24789476e-01 9.92181617e-01 -1.79598761e-03 -2.84177191e+00] [-1.88085972e-02 -5.55790748e-04 9.99822948e-01 -1.54067269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69587156 meters Centerline goodness [0,1] 0.9999359248184536 Centerline is valid? [True, True] Translation: X:55.38, Y:-2.84, Z:-1.54 [[ 9.92038933e-01 1.24541687e-01 1.86580771e-02 5.53817384e+01] [-1.24530059e-01 9.92214224e-01 -1.78828978e-03 -2.83951879e+00] [-1.87355261e-02 -5.49438352e-04 9.99824324e-01 -1.54174588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72587156 meters Centerline goodness [0,1] 0.9996368685250454 Centerline is valid? [True, True] Translation: X:55.41, Y:-2.84, Z:-1.55 [[ 9.92111211e-01 1.24066125e-01 1.79705779e-02 5.54099259e+01] [-1.24055281e-01 9.92273815e-01 -1.72124805e-03 -2.84040821e+00] [-1.80452825e-02 -5.21675610e-04 9.99837035e-01 -1.54537632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75587156 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:55.44, Y:-2.84, Z:-1.54 [[ 9.92125902e-01 1.23850046e-01 1.86375980e-02 5.54386033e+01] [-1.23838368e-01 9.92300799e-01 -1.78383611e-03 -2.84106449e+00] [-1.87150315e-02 -5.38259710e-04 9.99824714e-01 -1.54332793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785871560000004 meters Centerline goodness [0,1] 0.9999147957227453 Centerline is valid? [True, True] Translation: X:55.47, Y:-2.84, Z:-1.54 [[ 9.92177137e-01 1.23428045e-01 1.87095497e-02 5.54666076e+01] [-1.23416217e-01 9.92353381e-01 -1.78996249e-03 -2.84087024e+00] [-1.87874165e-02 -5.33101984e-04 9.99823359e-01 -1.54432468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815871560000005 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:55.49, Y:-2.84, Z:-1.55 [[ 9.92226719e-01 1.23027798e-01 1.87162851e-02 5.54948187e+01] [-1.23015911e-01 9.92403085e-01 -1.78949494e-03 -2.83910113e+00] [-1.87942567e-02 -5.26816170e-04 9.99823234e-01 -1.54539253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845871560000006 meters Centerline goodness [0,1] 0.9999359836118046 Centerline is valid? [True, True] Translation: X:55.52, Y:-2.84, Z:-1.55 [[ 9.92262726e-01 1.22729217e-01 1.87675546e-02 5.55237521e+01] [-1.22717235e-01 9.92440056e-01 -1.79316269e-03 -2.84027678e+00] [-1.88457464e-02 -5.23813897e-04 9.99822266e-01 -1.54657897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87587156 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:55.55, Y:-2.84, Z:-1.55 [[ 9.92385154e-01 1.21668861e-01 1.91936153e-02 5.55526920e+01] [-1.21656148e-01 9.92570613e-01 -1.83294773e-03 -2.84197783e+00] [-1.92740312e-02 -5.16031200e-04 9.99814105e-01 -1.54610211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90587156 meters Centerline goodness [0,1] 0.9998936147577608 Centerline is valid? [True, True] Translation: X:55.58, Y:-2.84, Z:-1.55 [[ 9.92516070e-01 1.20648363e-01 1.88632571e-02 5.55802398e+01] [-1.20635913e-01 9.92695187e-01 -1.80065779e-03 -2.84076895e+00] [-1.89427109e-02 -4.88404456e-04 9.99820451e-01 -1.55050323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93587156 meters Centerline goodness [0,1] 0.999957203689042 Centerline is valid? [True, True] Translation: X:55.61, Y:-2.85, Z:-1.55 [[ 9.92572423e-01 1.20102635e-01 1.93737626e-02 5.56084043e+01] [-1.20089424e-01 9.92761358e-01 -1.84806885e-03 -2.84668618e+00] [-1.94554808e-02 -4.92241823e-04 9.99810603e-01 -1.54767664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965871560000004 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:55.64, Y:-2.85, Z:-1.55 [[ 9.92936476e-01 1.17154904e-01 1.87585305e-02 5.56372300e+01] [-1.17142006e-01 9.93113564e-01 -1.78872599e-03 -2.85102322e+00] [-1.88389091e-02 -4.21320611e-04 9.99822443e-01 -1.54923691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995871560000005 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:55.67, Y:-2.85, Z:-1.55 [[ 9.92942083e-01 1.17107358e-01 1.87586644e-02 5.56654321e+01] [-1.17094478e-01 9.93119171e-01 -1.78732013e-03 -2.85361874e+00] [-1.88388976e-02 -4.21830632e-04 9.99822443e-01 -1.55009937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025871560000006 meters Centerline goodness [0,1] 0.999829613222014 Centerline is valid? [True, True] Translation: X:55.69, Y:-2.86, Z:-1.55 [[ 9.93246022e-01 1.14672231e-01 1.76810337e-02 5.56924389e+01] [-1.14660414e-01 9.93403319e-01 -1.68402229e-03 -2.85860325e+00] [-1.77575081e-02 -3.54666195e-04 9.99842260e-01 -1.55408255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:-2.86, Z:-1.55 [[ 9.93438290e-01 1.12879464e-01 1.84008034e-02 5.57208489e+01] [-1.12866382e-01 9.93608632e-01 -1.75125165e-03 -2.86228473e+00] [-1.84808774e-02 -3.37071658e-04 9.99829157e-01 -1.55283164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:-2.87, Z:-1.55 [[ 9.93679420e-01 1.10714311e-01 1.85351412e-02 5.57500735e+01] [-1.10700682e-01 9.93852228e-01 -1.76286351e-03 -2.86828721e+00] [-1.86163656e-02 -3.00131586e-04 9.99826655e-01 -1.55309394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.78, Y:-2.87, Z:-1.55 [[ 9.94038829e-01 1.07420892e-01 1.86428949e-02 5.57785280e+01] [-1.07406531e-01 9.94213606e-01 -1.77279335e-03 -2.87323379e+00] [-1.87254548e-02 -2.40143246e-04 9.99824634e-01 -1.55328555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:-2.87, Z:-1.56 [[ 9.94146268e-01 1.06389840e-01 1.88255130e-02 5.58073952e+01] [-1.06375025e-01 9.94324470e-01 -1.78945967e-03 -2.87414124e+00] [-1.89090486e-02 -2.23579754e-04 9.99821183e-01 -1.55611473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.84, Y:-2.88, Z:-1.55 [[ 9.94238047e-01 1.05578939e-01 1.85416521e-02 5.58362555e+01] [-1.05564441e-01 9.94410904e-01 -1.76169925e-03 -2.87952424e+00] [-1.86240194e-02 -2.05790713e-04 9.99826537e-01 -1.55481916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205871560000006 meters Centerline goodness [0,1] 0.9999573806124405 Centerline is valid? [True, True] Translation: X:55.86, Y:-2.88, Z:-1.56 [[ 9.94266107e-01 1.05386345e-01 1.81280431e-02 5.58645952e+01] [-1.05372462e-01 9.94431334e-01 -1.72200643e-03 -2.88182647e+00] [-1.82085701e-02 -1.98063900e-04 9.99834191e-01 -1.55820445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:-2.88, Z:-1.56 [[ 9.94317626e-01 1.05034335e-01 1.73276573e-02 5.58943050e+01] [-1.05021605e-01 9.94468579e-01 -1.64552721e-03 -2.88476996e+00] [-1.74046476e-02 -1.83601664e-04 9.99848511e-01 -1.56058406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-2.89, Z:-1.56 [[ 9.94413656e-01 1.04291987e-01 1.62684320e-02 5.59234710e+01] [-1.04280672e-01 9.94546709e-01 -1.54460419e-03 -2.88832757e+00] [-1.63408054e-02 -1.60507513e-04 9.99866467e-01 -1.56262989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.95, Y:-2.89, Z:-1.56 [[ 9.94481632e-01 1.03665265e-01 1.61181789e-02 5.59531319e+01] [-1.03654081e-01 9.94612231e-01 -1.52996345e-03 -2.89103300e+00] [-1.61899419e-02 -1.49194477e-04 9.99868923e-01 -1.56364433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.98, Y:-2.89, Z:-1.56 [[ 9.94536898e-01 1.03199503e-01 1.56914382e-02 5.59828034e+01] [-1.03188852e-01 9.94660667e-01 -1.48911516e-03 -2.89450992e+00] [-1.57613323e-02 -1.38201517e-04 9.99875773e-01 -1.56349632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355871560000004 meters Centerline goodness [0,1] 0.9999145317407747 Centerline is valid? [True, True] Translation: X:56.01, Y:-2.90, Z:-1.57 [[ 9.94617508e-01 1.02540906e-01 1.48786708e-02 5.60117002e+01] [-1.02531258e-01 9.94728781e-01 -1.41184312e-03 -2.89633076e+00] [-1.49450138e-02 -1.21284951e-04 9.99888310e-01 -1.56717251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.90, Z:-1.57 [[ 9.94524250e-01 1.03314083e-01 1.57389994e-02 5.60408633e+01] [-1.03303390e-01 9.94648772e-01 -1.49300403e-03 -2.89667854e+00] [-1.58090248e-02 -1.41063284e-04 9.99875020e-01 -1.56587772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.07, Y:-2.90, Z:-1.57 [[ 9.94441920e-01 1.03996951e-01 1.64287104e-02 5.60694427e+01] [-1.03985408e-01 9.94577603e-01 -1.55759183e-03 -2.89781798e+00] [-1.65016122e-02 -1.59411540e-04 9.99863826e-01 -1.56539518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44587156 meters Centerline goodness [0,1] 0.9999574250681199 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.89, Z:-1.57 [[ 9.94282143e-01 1.05357061e-01 1.74043240e-02 5.60978658e+01] [-1.05344327e-01 9.94434438e-01 -1.64941760e-03 -2.89318670e+00] [-1.74812370e-02 -1.93460340e-04 9.99847173e-01 -1.56886805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.13, Y:-2.90, Z:-1.56 [[ 9.94160332e-01 1.06416379e-01 1.79105615e-02 5.61262275e+01] [-1.06403092e-01 9.94321631e-01 -1.69593369e-03 -2.89679174e+00] [-1.79893339e-02 -2.19709120e-04 9.99838155e-01 -1.56280550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:-2.90, Z:-1.56 [[ 9.94071257e-01 1.07192208e-01 1.82254312e-02 5.61546275e+01] [-1.07178593e-01 9.94238288e-01 -1.72498110e-03 -2.89720971e+00] [-1.83053260e-02 -2.38621946e-04 9.99832415e-01 -1.56312700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.18, Y:-2.90, Z:-1.57 [[ 9.94010511e-01 1.07755853e-01 1.82148420e-02 5.61823602e+01] [-1.07742369e-01 9.94177355e-01 -1.72283832e-03 -2.89584735e+00] [-1.82944293e-02 -2.49990824e-04 9.99832612e-01 -1.56502190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:-2.89, Z:-1.57 [[ 9.93942038e-01 1.08465049e-01 1.77357844e-02 5.62103470e+01] [-1.08452397e-01 9.94100230e-01 -1.67645320e-03 -2.89429278e+00] [-1.78129839e-02 -2.57191033e-04 9.99841303e-01 -1.56695703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-2.90, Z:-1.57 [[ 9.93939031e-01 1.08500954e-01 1.76846344e-02 5.62394978e+01] [-1.08488403e-01 9.94096311e-01 -1.67040900e-03 -2.89539075e+00] [-1.77614708e-02 -2.58293033e-04 9.99842219e-01 -1.56766965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.27, Y:-2.90, Z:-1.57 [[ 9.93931283e-01 1.08533372e-01 1.79196138e-02 5.62684446e+01] [-1.08520505e-01 9.94092771e-01 -1.69174939e-03 -2.89692727e+00] [-1.79973698e-02 -2.63162905e-04 9.99838000e-01 -1.56801632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65587156 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:56.30, Y:-2.89, Z:-1.57 [[ 9.93884116e-01 1.09011162e-01 1.76332449e-02 5.62964649e+01] [-1.08998794e-01 9.94040489e-01 -1.66381302e-03 -2.88905703e+00] [-1.77095336e-02 -2.68365107e-04 9.99843138e-01 -1.57412416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68587156 meters Centerline goodness [0,1] 0.9998930870057947 Centerline is valid? [True, True] Translation: X:56.33, Y:-2.90, Z:-1.57 [[ 9.93893230e-01 1.09029777e-01 1.69928113e-02 5.63250383e+01] [-1.09018305e-01 9.94038450e-01 -1.60279960e-03 -2.89722171e+00] [-1.70662607e-02 -2.59515815e-04 9.99854327e-01 -1.57114104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715871560000004 meters Centerline goodness [0,1] 0.9999575578804405 Centerline is valid? [True, True] Translation: X:56.35, Y:-2.89, Z:-1.57 [[ 9.93662415e-01 1.10901582e-01 1.83260403e-02 5.63548130e+01] [-1.10888574e-01 9.93831344e-01 -1.72757130e-03 -2.89392202e+00] [-1.84045837e-02 -3.15525814e-04 9.99830572e-01 -1.56901019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:-2.89, Z:-1.57 [[ 9.93567304e-01 1.11818113e-01 1.79087250e-02 5.63828968e+01] [-1.11805852e-01 9.93728637e-01 -1.68754714e-03 -2.89176934e+00] [-1.79851112e-02 -3.25608600e-04 9.99838202e-01 -1.57121750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775871560000006 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:56.41, Y:-2.89, Z:-1.57 [[ 9.93435799e-01 1.13030388e-01 1.75910198e-02 5.64120828e+01] [-1.13018770e-01 9.93591472e-01 -1.65643146e-03 -2.89194793e+00] [-1.76655144e-02 -3.42557112e-04 9.99843894e-01 -1.57200434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80587156000001 meters Centerline goodness [0,1] 0.9999356982102668 Centerline is valid? [True, True] Translation: X:56.44, Y:-2.89, Z:-1.57 [[ 9.93330729e-01 1.13971706e-01 1.74503156e-02 5.64400905e+01] [-1.13960429e-01 9.93483932e-01 -1.64249777e-03 -2.88919248e+00] [-1.75238065e-02 -3.57101955e-04 9.99846383e-01 -1.57417954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83587156 meters Centerline goodness [0,1] 0.9999150039310681 Centerline is valid? [True, True] Translation: X:56.47, Y:-2.88, Z:-1.58 [[ 9.93152279e-01 1.15401653e-01 1.81936510e-02 5.64689447e+01] [-1.15389657e-01 9.93318830e-01 -1.71126044e-03 -2.88144991e+00] [-1.82695784e-02 -3.99816942e-04 9.99833017e-01 -1.57539287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86587156 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:56.50, Y:-2.88, Z:-1.57 [[ 9.93131346e-01 1.15560667e-01 1.83265098e-02 5.64972966e+01] [-1.15548545e-01 9.93300341e-01 -1.72252460e-03 -2.88332134e+00] [-1.84027845e-02 -4.06908372e-04 9.99830572e-01 -1.57397297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89587156 meters Centerline goodness [0,1] 0.9999787157056808 Centerline is valid? [True, True] Translation: X:56.53, Y:-2.88, Z:-1.57 [[ 9.93124620e-01 1.15564908e-01 1.86612005e-02 5.65267345e+01] [-1.15552357e-01 9.93299844e-01 -1.75306731e-03 -2.88254917e+00] [-1.87387606e-02 -4.15331400e-04 9.99824328e-01 -1.57439615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:-2.88, Z:-1.57 [[ 9.93246825e-01 1.14523050e-01 1.85800056e-02 5.65557649e+01] [-1.14510442e-01 9.93420513e-01 -1.74456431e-03 -2.88210535e+00] [-1.86575515e-02 -3.94821679e-04 9.99825855e-01 -1.57479270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.58, Y:-2.88, Z:-1.58 [[ 9.93366256e-01 1.13512642e-01 1.83946218e-02 5.65844897e+01] [-1.13500127e-01 9.93536482e-01 -1.72628541e-03 -2.88401394e+00] [-1.84716830e-02 -3.72958240e-04 9.99829314e-01 -1.57551011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98587156000001 meters Centerline goodness [0,1] 0.999935938500961 Centerline is valid? [True, True] Translation: X:56.61, Y:-2.88, Z:-1.58 [[ 9.93522922e-01 1.12163713e-01 1.82072596e-02 5.66120255e+01] [-1.12151239e-01 9.93689681e-01 -1.70798071e-03 -2.88447075e+00] [-1.82839395e-02 -3.45048735e-04 9.99832775e-01 -1.57726518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.64, Y:-2.89, Z:-1.58 [[ 9.93885264e-01 1.08902309e-01 1.82309886e-02 5.66399222e+01] [-1.08889274e-01 9.94052416e-01 -1.70909777e-03 -2.88639938e+00] [-1.83086829e-02 -2.86512025e-04 9.99832341e-01 -1.57897367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.67, Y:-2.89, Z:-1.58 [[ 9.94118468e-01 1.06874467e-01 1.75020137e-02 5.66682128e+01] [-1.06862159e-01 9.94272493e-01 -1.63968018e-03 -2.89152019e+00] [-1.75770108e-02 -2.40266623e-04 9.99845484e-01 -1.57889201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:-2.89, Z:-1.58 [[ 9.94334505e-01 1.04872640e-01 1.73384291e-02 5.66960005e+01] [-1.04860268e-01 9.94485640e-01 -1.62367367e-03 -2.89326183e+00] [-1.74130977e-02 -2.03637563e-04 9.99848360e-01 -1.58100100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105871560000004 meters Centerline goodness [0,1] 0.9998085676606968 Centerline is valid? [True, True] Translation: X:56.72, Y:-2.90, Z:-1.59 [[ 9.94588784e-01 1.02586790e-01 1.64043173e-02 5.67231137e+01] [-1.02575420e-01 9.94724045e-01 -1.53529029e-03 -2.89571417e+00] [-1.64752693e-02 -1.55697219e-04 9.99864261e-01 -1.58580042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:-2.90, Z:-1.58 [[ 9.94923192e-01 9.90236973e-02 1.79485216e-02 5.67517130e+01] [-9.90095304e-02 9.95085070e-01 -1.67839574e-03 -2.90133730e+00] [-1.80265068e-02 -1.07199846e-04 9.99837504e-01 -1.58215117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.78, Y:-2.90, Z:-1.58 [[ 9.95124184e-01 9.69438297e-02 1.81590713e-02 5.67796854e+01] [-9.69289944e-02 9.95289852e-01 -1.69741138e-03 -2.90427094e+00] [-1.82380929e-02 -7.10054040e-05 9.99833670e-01 -1.58426092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.81, Y:-2.91, Z:-1.58 [[ 9.95322956e-01 9.48348028e-02 1.84003850e-02 5.68084811e+01] [-9.48192366e-02 9.95493023e-01 -1.71853649e-03 -2.90843517e+00] [-1.84804319e-02 -3.42116342e-05 9.99829222e-01 -1.58240876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.84, Y:-2.91, Z:-1.58 [[ 9.95793836e-01 8.96944396e-02 1.86960904e-02 5.68362146e+01] [-8.96774777e-02 9.95969329e-01 -1.74535332e-03 -2.91485628e+00] [-1.87772811e-02 6.13938480e-05 9.99823689e-01 -1.58339354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.86, Y:-2.92, Z:-1.58 [[ 9.96028818e-01 8.70432542e-02 1.87100166e-02 5.68648423e+01] [-8.70258233e-02 9.96204527e-01 -1.74537065e-03 -2.92010271e+00] [-1.87909260e-02 1.10184867e-04 9.99823429e-01 -1.58401861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.89, Y:-2.93, Z:-1.58 [[ 9.96228645e-01 8.46689116e-02 1.89647401e-02 5.68943666e+01] [-8.46505951e-02 9.96409128e-01 -1.76794909e-03 -2.92510534e+00] [-1.90463304e-02 1.55904991e-04 9.99818590e-01 -1.58480426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.92, Y:-2.93, Z:-1.59 [[ 9.96435443e-01 8.22595358e-02 1.87022920e-02 5.69235131e+01] [-8.22413066e-02 9.96610922e-01 -1.74304917e-03 -2.93000197e+00] [-1.87822909e-02 1.98735046e-04 9.99823577e-01 -1.58562783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.95, Y:-2.94, Z:-1.59 [[ 9.96778958e-01 7.80476042e-02 1.84466947e-02 5.69537494e+01] [-7.80291617e-02 9.96949596e-01 -1.71851449e-03 -2.93695855e+00] [-1.85245507e-02 2.73598955e-04 9.99828368e-01 -1.58623914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.98, Y:-2.94, Z:-1.59 [[ 9.96894126e-01 7.65273360e-02 1.85921778e-02 5.69823666e+01] [-7.65083345e-02 9.97067437e-01 -1.73220920e-03 -2.94287262e+00] [-1.86702164e-02 3.04372617e-04 9.99825650e-01 -1.58839507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.01, Y:-2.95, Z:-1.59 [[ 9.96987689e-01 7.53145975e-02 1.85272780e-02 5.70128862e+01] [-7.52955284e-02 9.97159769e-01 -1.72566082e-03 -2.94748112e+00] [-1.86046237e-02 3.25441399e-04 9.99826866e-01 -1.58910806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.04, Y:-2.95, Z:-1.59 [[ 9.97133513e-01 7.33679598e-02 1.84905127e-02 5.70436482e+01] [-7.33486304e-02 9.97304874e-01 -1.72230703e-03 -2.95168885e+00] [-1.85670406e-02 3.61116273e-04 9.99827552e-01 -1.58935134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465871560000004 meters Centerline goodness [0,1] 0.9999572987168265 Centerline is valid? [True, True] Translation: X:57.07, Y:-2.96, Z:-1.59 [[ 9.97180067e-01 7.27709272e-02 1.83386665e-02 5.70735921e+01] [-7.27518026e-02 9.97348613e-01 -1.70873888e-03 -2.95660677e+00] [-1.84143901e-02 3.69749300e-04 9.99830372e-01 -1.59107660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495871560000005 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:57.10, Y:-2.96, Z:-1.59 [[ 9.97218369e-01 7.22809571e-02 1.81930896e-02 5.71039403e+01] [-7.22620469e-02 9.97384240e-01 -1.69553052e-03 -2.95797901e+00] [-1.82680554e-02 3.76144285e-04 9.99833054e-01 -1.59169347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525871560000006 meters Centerline goodness [0,1] 0.9999361240045991 Centerline is valid? [True, True] Translation: X:57.13, Y:-2.96, Z:-1.59 [[ 9.97276137e-01 7.15838010e-02 1.77782662e-02 5.71341759e+01] [-7.15656327e-02 9.97434517e-01 -1.65687047e-03 -2.96159536e+00] [-1.78512614e-02 3.80044511e-04 9.99840581e-01 -1.59349281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.16, Y:-2.97, Z:-1.59 [[ 9.97290771e-01 7.10796849e-02 1.89419044e-02 5.71632228e+01] [-7.10589667e-02 9.97470554e-01 -1.76545019e-03 -2.96624983e+00] [-1.90194795e-02 4.14675030e-04 9.99819027e-01 -1.59250179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58587156 meters Centerline goodness [0,1] 0.9999784199054792 Centerline is valid? [True, True] Translation: X:57.19, Y:-2.97, Z:-1.59 [[ 9.97325063e-01 7.06194972e-02 1.88575243e-02 5.71945420e+01] [-7.05988928e-02 9.97503238e-01 -1.75695919e-03 -2.96903306e+00] [-1.89345171e-02 4.20939100e-04 9.99820637e-01 -1.59284305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61587156 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:57.23, Y:-2.98, Z:-1.60 [[ 9.97357042e-01 7.01289762e-02 1.89962437e-02 5.72251673e+01] [-7.01079981e-02 9.97537839e-01 -1.76886479e-03 -2.97632016e+00] [-1.90735206e-02 4.32401141e-04 9.99817990e-01 -1.59529735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.26, Y:-2.98, Z:-1.60 [[ 9.97464894e-01 6.85050706e-02 1.92572356e-02 5.72570192e+01] [-6.84831524e-02 9.97650656e-01 -1.79612258e-03 -2.98343137e+00] [-1.93350372e-02 4.72773020e-04 9.99812949e-01 -1.59538503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:-2.99, Z:-1.60 [[ 9.97533221e-01 6.74909365e-02 1.92988927e-02 5.72888135e+01] [-6.74686736e-02 9.97719764e-01 -1.80310430e-03 -2.98771804e+00] [-1.93765798e-02 4.96585745e-04 9.99812133e-01 -1.59552899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705871560000006 meters Centerline goodness [0,1] 0.999913284772806 Centerline is valid? [True, True] Translation: X:57.32, Y:-3.00, Z:-1.60 [[ 9.97651082e-01 6.60459676e-02 1.81727238e-02 5.73203672e+01] [-6.60259111e-02 9.97816457e-01 -1.70209755e-03 -2.99517472e+00] [-1.82454596e-02 4.98228817e-04 9.99833414e-01 -1.59833096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:-3.00, Z:-1.60 [[ 9.97653016e-01 6.56821922e-02 1.93470857e-02 5.73511925e+01] [-6.56593990e-02 9.97840449e-01 -1.81167830e-03 -3.00496173e+00] [-1.94242997e-02 5.37108298e-04 9.99811186e-01 -1.59822002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76587156 meters Centerline goodness [0,1] 0.9999783521669481 Centerline is valid? [True, True] Translation: X:57.38, Y:-3.01, Z:-1.60 [[ 9.97648847e-01 6.58129808e-02 1.91161931e-02 5.73838861e+01] [-6.57906913e-02 9.97831834e-01 -1.79324457e-03 -3.00792830e+00] [-1.91927648e-02 5.31360815e-04 9.99815661e-01 -1.59810463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79587156 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:57.41, Y:-3.02, Z:-1.60 [[ 9.97609530e-01 6.64166922e-02 1.90800553e-02 5.74147103e+01] [-6.63945187e-02 9.97791837e-01 -1.79395181e-03 -3.01617597e+00] [-1.91570718e-02 5.22852334e-04 9.99816350e-01 -1.60129972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82587156 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:57.45, Y:-3.02, Z:-1.60 [[ 9.97521613e-01 6.78075771e-02 1.87820111e-02 5.74471447e+01] [-6.77862850e-02 9.97698297e-01 -1.76870348e-03 -3.01939320e+00] [-1.88587120e-02 4.91157190e-04 9.99822038e-01 -1.60182573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855871560000004 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:57.48, Y:-3.02, Z:-1.60 [[ 9.97463501e-01 6.87072446e-02 1.85978051e-02 5.74794452e+01] [-6.86864686e-02 9.97636753e-01 -1.75434521e-03 -3.02321966e+00] [-1.86743902e-02 4.72477754e-04 9.99825507e-01 -1.60247681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885871560000005 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:57.51, Y:-3.03, Z:-1.60 [[ 9.97450382e-01 6.88975135e-02 1.85975399e-02 5.75118169e+01] [-6.88767182e-02 9.97623631e-01 -1.75715114e-03 -3.02645133e+00] [-1.86744086e-02 4.71733561e-04 9.99825507e-01 -1.60346688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.54, Y:-3.03, Z:-1.60 [[ 9.97370274e-01 7.00744053e-02 1.84963449e-02 5.75433055e+01] [-7.00539672e-02 9.97541665e-01 -1.75139845e-03 -3.03111756e+00] [-1.85736029e-02 4.51050409e-04 9.99827394e-01 -1.60465264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.57, Y:-3.04, Z:-1.61 [[ 9.97173338e-01 7.29344190e-02 1.80528458e-02 5.75739310e+01] [-7.29153620e-02 9.97336662e-01 -1.71247891e-03 -3.03708433e+00] [-1.81296637e-02 3.91308522e-04 9.99835568e-01 -1.60658629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.61, Y:-3.04, Z:-1.61 [[ 9.97049188e-01 7.47019506e-02 1.76786906e-02 5.76056247e+01] [-7.46838787e-02 9.97205842e-01 -1.68117664e-03 -3.04002786e+00] [-1.77548807e-02 3.55902624e-04 9.99842306e-01 -1.60826825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00587156 meters Centerline goodness [0,1] 0.9999569735171998 Centerline is valid? [True, True] Translation: X:57.64, Y:-3.04, Z:-1.61 [[ 9.96904845e-01 7.67650961e-02 1.69661715e-02 5.76373103e+01] [-7.67487409e-02 9.97049159e-01 -1.61397319e-03 -3.04255382e+00] [-1.70400039e-02 3.06845391e-04 9.99854762e-01 -1.61064197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035871560000004 meters Centerline goodness [0,1] 0.9999570215966477 Centerline is valid? [True, True] Translation: X:57.67, Y:-3.04, Z:-1.61 [[ 9.96471301e-01 8.23088064e-02 1.64379948e-02 5.76682450e+01] [-8.22941926e-02 9.96606852e-01 -1.56462297e-03 -3.04085303e+00] [-1.65110005e-02 2.06350370e-04 9.99863663e-01 -1.61182414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-3.04, Z:-1.61 [[ 9.96201485e-01 8.55045114e-02 1.64796565e-02 5.76981804e+01] [-8.54902497e-02 9.96337771e-01 -1.56924649e-03 -3.03945683e+00] [-1.65534819e-02 1.54435734e-04 9.99862970e-01 -1.61170749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095871560000006 meters Centerline goodness [0,1] 0.9999357243861678 Centerline is valid? [True, True] Translation: X:57.73, Y:-3.04, Z:-1.62 [[ 9.95941961e-01 8.86291765e-02 1.56358258e-02 5.77266302e+01] [-8.86167255e-02 9.96064686e-01 -1.48872856e-03 -3.03897068e+00] [-1.57062387e-02 9.70915606e-05 9.99876645e-01 -1.61538177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:-3.04, Z:-1.61 [[ 9.95627699e-01 9.20166290e-02 1.60755782e-02 5.77565278e+01] [-9.20039218e-02 9.95757469e-01 -1.52981346e-03 -3.03653516e+00] [-1.61481453e-02 4.41084209e-05 9.99869609e-01 -1.61434380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.79, Y:-3.03, Z:-1.62 [[ 9.95017679e-01 9.81534290e-02 1.74849283e-02 5.77852295e+01] [-9.81393431e-02 9.95171292e-01 -1.66390863e-03 -3.03008895e+00] [-1.75638170e-02 -6.03408716e-05 9.99845742e-01 -1.61715989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.81, Y:-3.03, Z:-1.61 [[ 9.94762999e-01 1.00582840e-01 1.81567910e-02 5.78147670e+01] [-1.00568079e-01 9.94928681e-01 -1.72651926e-03 -3.03023754e+00] [-1.82383703e-02 -1.08516115e-04 9.99833661e-01 -1.61417709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.84, Y:-3.03, Z:-1.61 [[ 9.94582553e-01 1.02259065e-01 1.86715917e-02 5.78433102e+01] [-1.02243768e-01 9.94757791e-01 -1.77456116e-03 -3.03004996e+00] [-1.87551763e-02 -1.44106320e-04 9.99824096e-01 -1.61410595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245871560000005 meters Centerline goodness [0,1] 0.9999788779993241 Centerline is valid? [True, True] Translation: X:57.87, Y:-3.03, Z:-1.61 [[ 9.94433996e-01 1.03611838e-01 1.91210372e-02 5.78707866e+01] [-1.03596059e-01 9.94617794e-01 -1.81656975e-03 -3.03000973e+00] [-1.92063420e-02 -1.74405396e-04 9.99815526e-01 -1.61475018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.90, Y:-3.03, Z:-1.61 [[ 9.94315741e-01 1.04708775e-01 1.92945525e-02 5.78992148e+01] [-1.04692944e-01 9.94502907e-01 -1.83156168e-03 -3.03326603e+00] [-1.93802691e-02 -1.98852899e-04 9.99812165e-01 -1.61353776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.93, Y:-3.03, Z:-1.62 [[ 9.94348071e-01 1.04458858e-01 1.89805180e-02 5.79272284e+01] [-1.04443507e-01 9.94529190e-01 -1.80098346e-03 -3.03471718e+00] [-1.90648079e-02 -1.91587432e-04 9.99818232e-01 -1.61663151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.96, Y:-3.04, Z:-1.62 [[ 9.94445668e-01 1.03667611e-01 1.81889982e-02 5.79558621e+01] [-1.03653403e-01 9.94611983e-01 -1.72469485e-03 -3.04025458e+00] [-1.82697905e-02 -1.70236230e-04 9.99833079e-01 -1.61786144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.98, Y:-3.05, Z:-1.62 [[ 9.94707313e-01 1.01338209e-01 1.69684608e-02 5.79833820e+01] [-1.01325513e-01 9.94852026e-01 -1.60847516e-03 -3.04688243e+00] [-1.70441076e-02 -1.19375999e-04 9.99854732e-01 -1.62199842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.01, Y:-3.05, Z:-1.62 [[ 9.94880311e-01 9.96792548e-02 1.66497307e-02 5.80122613e+01] [-9.96668213e-02 9.95019617e-01 -1.57695230e-03 -3.05232733e+00] [-1.67239981e-02 -9.05469377e-05 9.99860140e-01 -1.62354744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.04, Y:-3.06, Z:-1.63 [[ 9.95204184e-01 9.64925749e-02 1.60565933e-02 5.80399652e+01] [-9.64806110e-02 9.95333704e-01 -1.51988682e-03 -3.06050351e+00] [-1.61283262e-02 -3.65522032e-05 9.99869929e-01 -1.62751634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.07, Y:-3.07, Z:-1.63 [[ 9.95369213e-01 9.48294877e-02 1.57320684e-02 5.80681706e+01] [-9.48178003e-02 9.95493530e-01 -1.48881820e-03 -3.06661009e+00] [-1.58023562e-02 -9.75631945e-06 9.99875135e-01 -1.62528036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:-3.07, Z:-1.63 [[ 9.95487112e-01 9.35389820e-02 1.59958848e-02 5.80966517e+01] [-9.35267508e-02 9.95615618e-01 -1.51265846e-03 -3.07219062e+00] [-1.60672452e-02 9.78886829e-06 9.99870913e-01 -1.62726443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.13, Y:-3.08, Z:-1.63 [[ 9.95556719e-01 9.26694946e-02 1.67088223e-02 5.81253337e+01] [-9.26560318e-02 9.95696924e-01 -1.57974641e-03 -3.07694258e+00] [-1.67833173e-02 2.45539789e-05 9.99859150e-01 -1.62754384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.08, Z:-1.63 [[ 9.95599900e-01 9.20500035e-02 1.75395387e-02 5.81543186e+01] [-9.20350871e-02 9.95754385e-01 -1.65745921e-03 -3.08094608e+00] [-1.76176417e-02 3.59132462e-05 9.99844797e-01 -1.62672489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.18, Y:-3.08, Z:-1.63 [[ 9.95581860e-01 9.21775181e-02 1.78903745e-02 5.81838385e+01] [-9.21620272e-02 9.95742589e-01 -1.69018313e-03 -3.08392043e+00] [-1.79700047e-02 3.39024767e-05 9.99838526e-01 -1.62622294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.21, Y:-3.09, Z:-1.63 [[ 9.95553814e-01 9.25189644e-02 1.76874307e-02 5.82136124e+01] [-9.25038842e-02 9.95710922e-01 -1.67060448e-03 -3.08646972e+00] [-1.77661305e-02 2.70206239e-05 9.99842169e-01 -1.62718432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635871560000005 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:58.24, Y:-3.09, Z:-1.63 [[ 9.95497170e-01 9.31846728e-02 1.73781698e-02 5.82420428e+01] [-9.31702211e-02 9.95648842e-01 -1.64114244e-03 -3.08880681e+00] [-1.74554840e-02 1.46247286e-05 9.99847641e-01 -1.63033783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.27, Y:-3.09, Z:-1.63 [[ 9.95361853e-01 9.46126388e-02 1.74134837e-02 5.82722070e+01] [-9.45983633e-02 9.95514163e-01 -1.64354060e-03 -3.08923686e+00] [-1.74908693e-02 -1.13694323e-05 9.99847023e-01 -1.63023679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69587156 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:58.30, Y:-3.09, Z:-1.63 [[ 9.95313768e-01 9.51539563e-02 1.72112993e-02 5.83019381e+01] [-9.51400920e-02 9.95462568e-01 -1.62441405e-03 -3.09206843e+00] [-1.72877736e-02 -2.06829297e-05 9.99850555e-01 -1.63330986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.33, Y:-3.09, Z:-1.63 [[ 9.95296330e-01 9.52962248e-02 1.74311258e-02 5.83319135e+01] [-9.52820334e-02 9.95448958e-01 -1.64473403e-03 -3.09484640e+00] [-1.75085330e-02 -2.38753722e-05 9.99846714e-01 -1.63271727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:-3.10, Z:-1.64 [[ 9.95278937e-01 9.54549017e-02 1.75555927e-02 5.83605676e+01] [-9.54405386e-02 9.95433755e-01 -1.65607692e-03 -3.09778148e+00] [-1.76335102e-02 -2.72567462e-05 9.99844517e-01 -1.63525149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.39, Y:-3.10, Z:-1.63 [[ 9.95278400e-01 9.54085946e-02 1.78355482e-02 5.83897310e+01] [-9.53937714e-02 9.95438195e-01 -1.68197714e-03 -3.10099312e+00] [-1.79146609e-02 -2.73646855e-05 9.99839519e-01 -1.63426634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.42, Y:-3.10, Z:-1.63 [[ 9.95266023e-01 9.54784077e-02 1.81498416e-02 5.84190014e+01] [-9.54630771e-02 9.95431501e-01 -1.71117614e-03 -3.10375702e+00] [-1.82303044e-02 -2.95642561e-05 9.99833814e-01 -1.63488103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:-3.11, Z:-1.64 [[ 9.95373236e-01 9.43774553e-02 1.80282456e-02 5.84480298e+01] [-9.43621564e-02 9.95536486e-01 -1.69929261e-03 -3.10842870e+00] [-1.81081512e-02 -9.75374964e-06 9.99836034e-01 -1.63520144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87587156 meters Centerline goodness [0,1] 0.9998724706682537 Centerline is valid? [True, True] Translation: X:58.48, Y:-3.11, Z:-1.64 [[ 9.95420329e-01 9.38322460e-02 1.82723481e-02 5.84766885e+01] [-9.38164460e-02 9.95588022e-01 -1.72187441e-03 -3.11282908e+00] [-1.83532983e-02 -2.57973192e-07 9.99831564e-01 -1.63814330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90587156 meters Centerline goodness [0,1] 0.9998933742776107 Centerline is valid? [True, True] Translation: X:58.51, Y:-3.12, Z:-1.64 [[ 9.95475537e-01 9.32250461e-02 1.83724106e-02 5.85065653e+01] [-9.32089783e-02 9.95645063e-01 -1.73080733e-03 -3.11719509e+00] [-1.84537545e-02 1.05027313e-05 9.99829715e-01 -1.63855403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:-3.12, Z:-1.64 [[ 9.95564452e-01 9.22051860e-02 1.86982646e-02 5.85359653e+01] [-9.21883743e-02 9.95740028e-01 -1.76091474e-03 -3.12201565e+00] [-1.87809760e-02 2.93414996e-05 9.99823621e-01 -1.63892988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.57, Y:-3.13, Z:-1.64 [[ 9.95657279e-01 9.12700939e-02 1.83399357e-02 5.85658119e+01] [-9.12537683e-02 9.95826174e-01 -1.72681945e-03 -3.12778789e+00] [-1.84209949e-02 4.57321117e-05 9.99830318e-01 -1.63825791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.60, Y:-3.13, Z:-1.64 [[ 9.95660153e-01 9.12742493e-02 1.81623533e-02 5.85958993e+01] [-9.12582390e-02 9.95825793e-01 -1.71009896e-03 -3.13086958e+00] [-1.82426279e-02 4.52130118e-05 9.99833588e-01 -1.63818456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025871560000006 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:58.63, Y:-3.13, Z:-1.64 [[ 9.95644629e-01 9.14358557e-02 1.82004890e-02 5.86250105e+01] [-9.14198024e-02 9.95810967e-01 -1.71383574e-03 -3.13408440e+00] [-1.82809526e-02 4.24862402e-05 9.99832889e-01 -1.64000638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-3.14, Z:-1.64 [[ 9.95641762e-01 9.14433724e-02 1.83191593e-02 5.86548835e+01] [-9.14271172e-02 9.95810277e-01 -1.72464201e-03 -3.13721589e+00] [-1.84001142e-02 4.22576791e-05 9.99830703e-01 -1.64028377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-3.14, Z:-1.64 [[ 9.95607805e-01 9.19847880e-02 1.74326680e-02 5.86848744e+01] [-9.19701510e-02 9.95760412e-01 -1.64118402e-03 -3.14016992e+00] [-1.75097247e-02 3.06905097e-05 9.99846693e-01 -1.64143560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-3.14, Z:-1.64 [[ 9.95569188e-01 9.24093869e-02 1.73924273e-02 5.87137969e+01] [-9.23948853e-02 9.95721098e-01 -1.63721538e-03 -3.14355321e+00] [-1.74693009e-02 2.29898567e-05 9.99847400e-01 -1.64448866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-3.15, Z:-1.65 [[ 9.95525903e-01 9.28529878e-02 1.75071043e-02 5.87438248e+01] [-9.28383555e-02 9.95679829e-01 -1.64843628e-03 -3.14706541e+00] [-1.75845329e-02 1.57302348e-05 9.99845380e-01 -1.64555449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-3.15, Z:-1.64 [[ 9.95505869e-01 9.29411551e-02 1.81660760e-02 5.87745192e+01] [-9.29254151e-02 9.95671603e-01 -1.71048381e-03 -3.15066393e+00] [-1.82464203e-02 1.47065249e-05 9.99833520e-01 -1.64461858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205871560000006 meters Centerline goodness [0,1] 0.9998920645885502 Centerline is valid? [True, True] Translation: X:58.80, Y:-3.15, Z:-1.65 [[ 9.95428076e-01 9.38352077e-02 1.78297448e-02 5.88047277e+01] [-9.38201886e-02 9.95587743e-01 -1.67881550e-03 -3.15371720e+00] [-1.79086074e-02 -1.64993921e-06 9.99839628e-01 -1.64575257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.83, Y:-3.16, Z:-1.65 [[ 9.95425073e-01 9.37723512e-02 1.83213204e-02 5.88343002e+01] [-9.37564791e-02 9.95593665e-01 -1.72524872e-03 -3.15586813e+00] [-1.84023711e-02 -3.86655940e-07 9.99830662e-01 -1.64637005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.86, Y:-3.16, Z:-1.65 [[ 9.95404881e-01 9.40133687e-02 1.81826550e-02 5.88636196e+01] [-9.39977803e-02 9.95570935e-01 -1.71196332e-03 -3.15869137e+00] [-1.82630703e-02 -5.03256635e-06 9.99833216e-01 -1.64786262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:-3.16, Z:-1.65 [[ 9.95391060e-01 9.42791030e-02 1.75524596e-02 5.88943737e+01] [-9.42646238e-02 9.95545805e-01 -1.65228471e-03 -3.16189938e+00] [-1.76300535e-02 -9.90657874e-06 9.99844578e-01 -1.64905300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32587156 meters Centerline goodness [0,1] 0.9998497176839348 Centerline is valid? [True, True] Translation: X:58.93, Y:-3.17, Z:-1.65 [[ 9.95329455e-01 9.50703443e-02 1.67602666e-02 5.89250318e+01] [-9.50572549e-02 9.95470557e-01 -1.57771234e-03 -3.16522026e+00] [-1.68343456e-02 -2.28413704e-05 9.99858292e-01 -1.65163851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:-3.17, Z:-1.65 [[ 9.95226482e-01 9.60955105e-02 1.70265471e-02 5.89540119e+01] [-9.60821435e-02 9.95372117e-01 -1.60326428e-03 -3.16769180e+00] [-1.71018167e-02 -4.03360714e-05 9.99853752e-01 -1.65237274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385871560000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:-3.17, Z:-1.65 [[ 9.95216149e-01 9.62504589e-02 1.67530906e-02 5.89832369e+01] [-9.62375528e-02 9.95357146e-01 -1.57674800e-03 -3.17118975e+00] [-1.68270711e-02 -4.30713699e-05 9.99858414e-01 -1.65338102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.17, Z:-1.65 [[ 9.95202431e-01 9.64192715e-02 1.65965337e-02 5.90112617e+01] [-9.64066348e-02 9.95340807e-01 -1.56166191e-03 -3.17439933e+00] [-1.66697815e-02 -4.58462351e-05 9.99861048e-01 -1.65468837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.04, Y:-3.18, Z:-1.66 [[ 9.95205649e-01 9.63243825e-02 1.69508001e-02 5.90397055e+01] [-9.63111928e-02 9.95349994e-01 -1.59464106e-03 -3.17738908e+00] [-1.70255816e-02 -4.55559910e-05 9.99855053e-01 -1.65547134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.18, Z:-1.66 [[ 9.95285221e-01 9.54969875e-02 1.69603572e-02 5.90688166e+01] [-9.54836759e-02 9.95429718e-01 -1.59477160e-03 -3.18213858e+00] [-1.70351395e-02 -3.21846529e-05 9.99854891e-01 -1.65598334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.10, Y:-3.19, Z:-1.66 [[ 9.95373222e-01 9.45928708e-02 1.68623429e-02 5.90991525e+01] [-9.45795948e-02 9.95516041e-01 -1.58485343e-03 -3.18749203e+00] [-1.69366487e-02 -1.73128991e-05 9.99856565e-01 -1.65612074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.19, Z:-1.66 [[ 9.95475595e-01 9.34869904e-02 1.69859620e-02 5.91284642e+01] [-9.34733553e-02 9.95620501e-01 -1.59663085e-03 -3.19394481e+00] [-1.70608362e-02 1.67218069e-06 9.99854453e-01 -1.65780207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565871560000005 meters Centerline goodness [0,1] 0.9997863476124346 Centerline is valid? [True, True] Translation: X:59.16, Y:-3.21, Z:-1.66 [[ 9.95731091e-01 9.06777743e-02 1.72376029e-02 5.91589035e+01] [-9.06633229e-02 9.95880283e-01 -1.61960459e-03 -3.20682369e+00] [-1.73134510e-02 4.98722953e-05 9.99850110e-01 -1.65938079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595871560000006 meters Centerline goodness [0,1] 0.9999570806240478 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.21, Z:-1.66 [[ 9.95880437e-01 8.89661460e-02 1.75265762e-02 5.91891531e+01] [-8.89509627e-02 9.96034647e-01 -1.64551572e-03 -3.21485019e+00] [-1.76034724e-02 7.97310880e-05 9.99845044e-01 -1.65939410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.22, Y:-3.22, Z:-1.66 [[ 9.96016951e-01 8.73693621e-02 1.77996689e-02 5.92212313e+01] [-8.73534000e-02 9.96175979e-01 -1.67378610e-03 -3.22172799e+00] [-1.78778402e-02 1.12257735e-04 9.99840172e-01 -1.65706373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.25, Y:-3.23, Z:-1.66 [[ 9.96114488e-01 8.61666975e-02 1.81996711e-02 5.92522376e+01] [-8.61497524e-02 9.96280724e-01 -1.71449236e-03 -3.22991369e+00] [-1.82797136e-02 1.39933522e-04 9.99832902e-01 -1.65895551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68587156 meters Centerline goodness [0,1] 0.9999784886097188 Centerline is valid? [True, True] Translation: X:59.28, Y:-3.24, Z:-1.66 [[ 9.96186304e-01 8.52542976e-02 1.85621342e-02 5.92849553e+01] [-8.52364499e-02 9.96359211e-01 -1.75199395e-03 -3.23957438e+00] [-1.86439184e-02 1.63141956e-04 9.99826174e-01 -1.65855161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.32, Y:-3.25, Z:-1.66 [[ 9.96162351e-01 8.54837510e-02 1.87909014e-02 5.93164360e+01] [-8.54654284e-02 9.96339551e-01 -1.77745597e-03 -3.24552840e+00] [-1.88740619e-02 1.64662282e-04 9.99821855e-01 -1.65892320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745871560000005 meters Centerline goodness [0,1] 0.9999569132664052 Centerline is valid? [True, True] Translation: X:59.35, Y:-3.25, Z:-1.66 [[ 9.96085108e-01 8.64363177e-02 1.85261949e-02 5.93494075e+01] [-8.64186151e-02 9.96257367e-01 -1.75550115e-03 -3.24984464e+00] [-1.86085972e-02 1.47620449e-04 9.99826834e-01 -1.65942906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.25, Z:-1.66 [[ 9.95999655e-01 8.73932571e-02 1.86307573e-02 5.93813322e+01] [-8.73754466e-02 9.96173881e-01 -1.76940391e-03 -3.25380535e+00] [-1.87141078e-02 1.34454943e-04 9.99824867e-01 -1.65899928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:-3.26, Z:-1.66 [[ 9.95982525e-01 8.75883316e-02 1.86304823e-02 5.94136817e+01] [-8.75705012e-02 9.96156748e-01 -1.77229349e-03 -3.25706702e+00] [-1.87141129e-02 1.33692667e-04 9.99824867e-01 -1.65998901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.44, Y:-3.26, Z:-1.66 [[ 9.95686301e-01 9.07459479e-02 1.93381176e-02 5.94444285e+01] [-9.07272457e-02 9.95874071e-01 -1.84407604e-03 -3.26094235e+00] [-1.94256724e-02 8.16270969e-05 9.99811300e-01 -1.66092425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86587156 meters Centerline goodness [0,1] 0.9999360818152765 Centerline is valid? [True, True] Translation: X:59.48, Y:-3.26, Z:-1.66 [[ 9.95484496e-01 9.30007226e-02 1.90127042e-02 5.94771403e+01] [-9.29830063e-02 9.95666040e-01 -1.81563080e-03 -3.26398552e+00] [-1.90991589e-02 3.95739185e-05 9.99817594e-01 -1.66310636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89587156 meters Centerline goodness [0,1] 0.9998937639434824 Centerline is valid? [True, True] Translation: X:59.51, Y:-3.27, Z:-1.67 [[ 9.95297070e-01 9.49477011e-02 1.92009677e-02 5.95088392e+01] [-9.49299195e-02 9.95482262e-01 -1.83749073e-03 -3.26686384e+00] [-1.92886883e-02 6.10282035e-06 9.99813956e-01 -1.66577437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925871560000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.54, Y:-3.27, Z:-1.66 [[ 9.94950116e-01 9.85231587e-02 1.91690804e-02 5.95413252e+01] [-9.85060309e-02 9.95134757e-01 -1.83799927e-03 -3.26865122e+00] [-1.92569037e-02 -5.95524408e-05 9.99814567e-01 -1.66359751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955871560000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.57, Y:-3.27, Z:-1.67 [[ 9.94750691e-01 1.00554746e-01 1.89685596e-02 5.95723523e+01] [-1.00538282e-01 9.94931522e-01 -1.82206571e-03 -3.27079303e+00] [-1.90556353e-02 -9.45652702e-05 9.99818420e-01 -1.66556940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:-3.27, Z:-1.67 [[ 9.94544181e-01 1.02570451e-01 1.90045999e-02 5.96041210e+01] [-1.02554237e-01 9.94725734e-01 -1.82836742e-03 -3.27385719e+00] [-1.90919010e-02 -1.30610064e-04 9.99817725e-01 -1.66571881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:-3.28, Z:-1.67 [[ 9.94215144e-01 1.05765545e-01 1.87055229e-02 5.96345202e+01] [-1.05750327e-01 9.94391078e-01 -1.80364618e-03 -3.27711248e+00] [-1.87913687e-02 -1.84902823e-04 9.99823410e-01 -1.66783844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.66, Y:-3.28, Z:-1.67 [[ 9.94064368e-01 1.07288134e-01 1.80357525e-02 5.96647808e+01] [-1.07274203e-01 9.94227949e-01 -1.74087067e-03 -3.27969720e+00] [-1.81184240e-02 -2.04233473e-04 9.99835827e-01 -1.67040016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.70, Y:-3.28, Z:-1.67 [[ 9.93916787e-01 1.08769085e-01 1.72831123e-02 5.96959019e+01] [-1.08756496e-01 9.94067019e-01 -1.66944140e-03 -3.28265471e+00] [-1.73621556e-02 -2.20364896e-04 9.99849242e-01 -1.67263405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10587156 meters Centerline goodness [0,1] 0.9999788855809633 Centerline is valid? [True, True] Translation: X:59.73, Y:-3.28, Z:-1.67 [[ 9.93740641e-01 1.10402389e-01 1.70543260e-02 5.97257626e+01] [-1.10390359e-01 9.93886942e-01 -1.64804917e-03 -3.28387808e+00] [-1.71320205e-02 -2.44899735e-04 9.99853206e-01 -1.67488726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13587156 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:59.76, Y:-3.29, Z:-1.67 [[ 9.93314096e-01 1.14093970e-01 1.75974959e-02 5.97564615e+01] [-1.14081740e-01 9.93469911e-01 -1.70053852e-03 -3.28628607e+00] [-1.76766039e-02 -3.18384071e-04 9.99843706e-01 -1.67394415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16587156 meters Centerline goodness [0,1] 0.9998721990287126 Centerline is valid? [True, True] Translation: X:59.79, Y:-3.29, Z:-1.68 [[ 9.93069822e-01 1.16189439e-01 1.76732472e-02 5.97863222e+01] [-1.16177433e-01 9.93227007e-01 -1.70800907e-03 -3.28871342e+00] [-1.77519990e-02 -3.57060230e-04 9.99842357e-01 -1.67563841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19587156 meters Centerline goodness [0,1] 0.9999571706961903 Centerline is valid? [True, True] Translation: X:59.82, Y:-3.29, Z:-1.67 [[ 9.92838039e-01 1.18119044e-01 1.79030569e-02 5.98168441e+01] [-1.18107044e-01 9.92999362e-01 -1.72985319e-03 -3.29161793e+00] [-1.79820527e-02 -3.97013067e-04 9.99838231e-01 -1.67336409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22587156 meters Centerline goodness [0,1] 0.9999359822457429 Centerline is valid? [True, True] Translation: X:59.85, Y:-3.29, Z:-1.67 [[ 9.92587933e-01 1.20199226e-01 1.79260131e-02 5.98463496e+01] [-1.20187531e-01 9.92749695e-01 -1.73222240e-03 -3.29069173e+00] [-1.80042558e-02 -4.35100201e-04 9.99837816e-01 -1.67477556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25587156 meters Centerline goodness [0,1] 0.9994452741625773 Centerline is valid? [True, True] Translation: X:59.88, Y:-3.28, Z:-1.68 [[ 9.92097928e-01 1.24107407e-01 1.84133776e-02 5.98752741e+01] [-1.24095740e-01 9.92268654e-01 -1.77928644e-03 -3.28100576e+00] [-1.84918401e-02 -5.19795331e-04 9.99828876e-01 -1.67830815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28587156 meters Centerline goodness [0,1] 0.9998088482042351 Centerline is valid? [True, True] Translation: X:59.90, Y:-3.29, Z:-1.68 [[ 9.91856887e-01 1.25940856e-01 1.89424324e-02 5.99045594e+01] [-1.25928856e-01 9.92037588e-01 -1.82976339e-03 -3.28963621e+00] [-1.90220469e-02 -5.70535428e-04 9.99818902e-01 -1.67533643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31587156 meters Centerline goodness [0,1] 0.9997244127872467 Centerline is valid? [True, True] Translation: X:59.93, Y:-3.29, Z:-1.68 [[ 9.91629243e-01 1.27720383e-01 1.89459421e-02 5.99329931e+01] [-1.27708714e-01 9.91810031e-01 -1.82951483e-03 -3.28819613e+00] [-1.90244418e-02 -6.05361492e-04 9.99818836e-01 -1.67654307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34587156 meters Centerline goodness [0,1] 0.9998296023344481 Centerline is valid? [True, True] Translation: X:59.96, Y:-3.29, Z:-1.68 [[ 9.91444440e-01 1.29127681e-01 1.90778300e-02 5.99624678e+01] [-1.29116110e-01 9.91627771e-01 -1.84215352e-03 -3.29195673e+00] [-1.91559790e-02 -6.36862329e-04 9.99816305e-01 -1.67662062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37587156000001 meters Centerline goodness [0,1] 0.9994077959434022 Centerline is valid? [True, True] Translation: X:59.99, Y:-3.29, Z:-1.68 [[ 9.91277893e-01 1.30378121e-01 1.92271713e-02 5.99916458e+01] [-1.30366611e-01 9.91464120e-01 -1.85623744e-03 -3.29142764e+00] [-1.93050632e-02 -6.66534017e-04 9.99813418e-01 -1.67846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40587156000001 meters Centerline goodness [0,1] 0.9995302257051952 Centerline is valid? [True, True] Translation: X:60.02, Y:-3.29, Z:-1.68 [[ 9.91144394e-01 1.31471714e-01 1.86541659e-02 6.00212942e+01] [-1.31461087e-01 9.91319697e-01 -1.80014214e-03 -3.29323580e+00] [-1.87289099e-02 -6.68096133e-04 9.99824375e-01 -1.67972106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43587156000001 meters Centerline goodness [0,1] 0.9996206453244536 Centerline is valid? [True, True] Translation: X:60.05, Y:-3.29, Z:-1.68 [[ 9.91056059e-01 1.32361024e-01 1.69837224e-02 6.00494217e+01] [-1.32152680e-01 9.91145971e-01 -1.28582373e-02 -3.28942511e+00] [-1.85352775e-02 1.04987896e-02 9.99773084e-01 -1.67954850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46587156000001 meters Centerline goodness [0,1] 0.9996330671271314 Centerline is valid? [True, True] Translation: X:60.08, Y:-3.31, Z:-1.68 [[ 9.91187333e-01 1.31048778e-01 1.93362010e-02 6.00777753e+01] [-1.31247764e-01 9.91305006e-01 9.40265189e-03 -3.30551685e+00] [-1.79358668e-02 -1.18576226e-02 9.99768824e-01 -1.68233272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49587156 meters Centerline goodness [0,1] 0.9996560988715745 Centerline is valid? [True, True] Translation: X:60.11, Y:-3.30, Z:-1.68 [[ 9.91288393e-01 1.30411858e-01 1.84409619e-02 6.01078425e+01] [-1.30401327e-01 9.91459699e-01 -1.77757450e-03 -3.30249431e+00] [-1.85152874e-02 -6.42636924e-04 9.99828371e-01 -1.68205975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52587156 meters Centerline goodness [0,1] 0.9997003937681904 Centerline is valid? [True, True] Translation: X:60.14, Y:-3.31, Z:-1.68 [[ 9.91396618e-01 1.29635261e-01 1.80954454e-02 6.01368696e+01] [-1.29624996e-01 9.91561556e-01 -1.74399009e-03 -3.30608834e+00] [-1.81688306e-02 -6.16636165e-04 9.99834743e-01 -1.68415383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55587156 meters Centerline goodness [0,1] 0.9998715753424657 Centerline is valid? [True, True] Translation: X:60.17, Y:-3.30, Z:-1.68 [[ 9.91435403e-01 1.29694624e-01 1.53344854e-02 6.01657830e+01] [-1.29404349e-01 9.91417195e-01 -1.86134469e-02 -3.29764915e+00] [-1.76169365e-02 1.64696811e-02 9.99709154e-01 -1.68199197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58587156 meters Centerline goodness [0,1] 0.9998077292828302 Centerline is valid? [True, True] Translation: X:60.19, Y:-3.31, Z:-1.68 [[ 9.91586586e-01 1.28396726e-01 1.64415394e-02 6.01939097e+01] [-1.28354721e-01 9.91721827e-01 -3.58941426e-03 -3.31173923e+00] [-1.67663026e-02 1.44886581e-03 9.99858386e-01 -1.68307854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61587156 meters Centerline goodness [0,1] 0.9999148881843521 Centerline is valid? [True, True] Translation: X:60.22, Y:-3.31, Z:-1.68 [[ 9.91796205e-01 1.26823062e-01 1.60062167e-02 6.02238972e+01] [-1.26762304e-01 9.91921705e-01 -4.75910349e-03 -3.31441548e+00] [-1.64804779e-02 2.69107586e-03 9.99860566e-01 -1.68345388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64587156 meters Centerline goodness [0,1] 0.9997436280898157 Centerline is valid? [True, True] Translation: X:60.25, Y:-3.33, Z:-1.69 [[ 9.92211165e-01 1.22884222e-01 2.04076464e-02 6.02531221e+01] [-1.23272206e-01 9.92191314e-01 1.89831610e-02 -3.32880308e+00] [-1.79155585e-02 -2.13509999e-02 9.99611508e-01 -1.68998835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67587156 meters Centerline goodness [0,1] 0.9998712142351199 Centerline is valid? [True, True] Translation: X:60.28, Y:-3.32, Z:-1.69 [[ 9.92346136e-01 1.22018757e-01 1.89886394e-02 6.02837992e+01] [-1.22006090e-01 9.92527668e-01 -1.82847550e-03 -3.32037343e+00] [-1.90698583e-02 -5.02249040e-04 9.99818028e-01 -1.68781333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70587156 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:60.31, Y:-3.32, Z:-1.69 [[ 9.92450301e-01 1.21477346e-01 1.69013470e-02 6.03126280e+01] [-1.21264217e-01 9.92533634e-01 -1.31138857e-02 -3.32193080e+00] [-1.83681954e-02 1.09653512e-02 9.99771159e-01 -1.68654551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73587156 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:60.34, Y:-3.34, Z:-1.69 [[ 9.92969979e-01 1.16637150e-01 2.01592728e-02 6.03422007e+01] [-1.16848141e-01 9.93103182e-01 9.62193907e-03 -3.33824118e+00] [-1.88979624e-02 -1.19098702e-02 9.99750480e-01 -1.69011656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76587156000001 meters Centerline goodness [0,1] 0.9997855871695362 Centerline is valid? [True, True] Translation: X:60.37, Y:-3.34, Z:-1.69 [[ 9.93210520e-01 1.14875910e-01 1.83409128e-02 6.03727297e+01] [-1.14862900e-01 9.93379786e-01 -1.76469834e-03 -3.33787315e+00] [-1.84222134e-02 -3.53973488e-04 9.99830234e-01 -1.69234988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.40, Y:-3.34, Z:-1.69 [[ 9.93495235e-01 1.12229638e-01 1.92802251e-02 6.04023548e+01] [-1.12214763e-01 9.93682246e-01 -1.85507567e-03 -3.34253400e+00] [-1.93666119e-02 -3.20517052e-04 9.99812398e-01 -1.69073704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82587156000001 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:60.43, Y:-3.35, Z:-1.69 [[ 9.94055061e-01 1.07094988e-01 1.96264953e-02 6.04327722e+01] [-1.07078578e-01 9.94248768e-01 -1.88813860e-03 -3.35352507e+00] [-1.97158290e-02 -2.24663489e-04 9.99805599e-01 -1.69016686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85587156 meters Centerline goodness [0,1] 0.999850212911647 Centerline is valid? [True, True] Translation: X:60.46, Y:-3.36, Z:-1.69 [[ 9.94312115e-01 1.04730410e-01 1.93638650e-02 6.04632223e+01] [-1.04713993e-01 9.94500634e-01 -1.86256604e-03 -3.35994172e+00] [-1.94524434e-02 -1.75695658e-04 9.99810768e-01 -1.69412292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.49, Y:-3.37, Z:-1.69 [[ 9.94517739e-01 1.02680823e-01 1.97766635e-02 6.04937657e+01] [-1.02663265e-01 9.94714346e-01 -1.90370012e-03 -3.36577320e+00] [-1.98676044e-02 -1.37073316e-04 9.99802610e-01 -1.69364936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.52, Y:-3.37, Z:-1.69 [[ 9.94665937e-01 1.01529451e-01 1.82056236e-02 6.05240268e+01] [-1.01341565e-01 9.94791272e-01 -1.09641518e-02 -3.36787995e+00] [-1.92239798e-02 9.06068190e-03 9.99774146e-01 -1.69266979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.56, Y:-3.39, Z:-1.70 [[ 9.95067985e-01 9.71911098e-02 1.98391805e-02 6.05558584e+01] [-9.73538488e-02 9.95222272e-01 7.40660935e-03 -3.38691181e+00] [-1.90245377e-02 -9.30150042e-03 9.99775749e-01 -1.69687204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.39, Z:-1.70 [[ 9.95161467e-01 9.64538358e-02 1.87166360e-02 6.05888889e+01] [-9.64368802e-02 9.95337459e-01 -1.80848389e-03 -3.38700932e+00] [-1.88038042e-02 -5.24050636e-06 9.99823193e-01 -1.69741816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:-3.39, Z:-1.70 [[ 9.95237244e-01 9.56763628e-02 1.86778598e-02 6.06213429e+01] [-9.56592746e-02 9.95412494e-01 -1.80824365e-03 -3.39184798e+00] [-1.87651812e-02 1.29209109e-05 9.99823918e-01 -1.69777834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.65, Y:-3.40, Z:-1.70 [[ 9.95320557e-01 9.48939324e-02 1.82244184e-02 6.06525591e+01] [-9.48774662e-02 9.95487388e-01 -1.76797994e-03 -3.39645537e+00] [-1.83099493e-02 3.06201384e-05 9.99832358e-01 -1.69966662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06587156 meters Centerline goodness [0,1] 0.9999361104012267 Centerline is valid? [True, True] Translation: X:60.68, Y:-3.40, Z:-1.71 [[ 9.95424384e-01 9.39926008e-02 1.71955174e-02 6.06831830e+01] [-9.39777372e-02 9.95572895e-01 -1.67220526e-03 -3.40240764e+00] [-1.72765659e-02 4.85580822e-05 9.99850748e-01 -1.70503944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.72, Y:-3.41, Z:-1.70 [[ 9.95432988e-01 9.38647276e-02 1.73948259e-02 6.07162944e+01] [-9.38494921e-02 9.95584959e-01 -1.69192022e-03 -3.40670463e+00] [-1.74768386e-02 5.16976224e-05 9.99847267e-01 -1.70292907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.75, Y:-3.41, Z:-1.70 [[ 9.95430288e-01 9.38427933e-02 1.76655364e-02 6.07481290e+01] [-9.38270094e-02 9.95587026e-01 -1.72202529e-03 -3.41124751e+00] [-1.77491786e-02 5.66516814e-05 9.99842469e-01 -1.70372587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.78, Y:-3.42, Z:-1.70 [[ 9.95437092e-01 9.36889585e-02 1.80934860e-02 6.07813438e+01] [-9.36723134e-02 9.95601514e-01 -1.76713138e-03 -3.41548196e+00] [-1.81794628e-02 6.42094283e-05 9.99834738e-01 -1.70460680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18587156000001 meters Centerline goodness [0,1] 0.9998082331884428 Centerline is valid? [True, True] Translation: X:60.81, Y:-3.42, Z:-1.71 [[ 9.95422581e-01 9.38404667e-02 1.81066708e-02 6.08129411e+01] [-9.38237551e-02 9.95587245e-01 -1.77212302e-03 -3.42016297e+00] [-1.81930674e-02 6.51754173e-05 9.99834490e-01 -1.70895277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21587156000001 meters Centerline goodness [0,1] 0.9998719016204445 Centerline is valid? [True, True] Translation: X:60.85, Y:-3.42, Z:-1.71 [[ 9.95357994e-01 9.45021068e-02 1.82158052e-02 6.08460304e+01] [-9.44852450e-02 9.95524660e-01 -1.78602064e-03 -3.42333906e+00] [-1.83030660e-02 5.66051047e-05 9.99832483e-01 -1.70824418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24587156 meters Centerline goodness [0,1] 0.9997834982355106 Centerline is valid? [True, True] Translation: X:60.88, Y:-3.43, Z:-1.71 [[ 9.95244477e-01 9.56611835e-02 1.83676078e-02 6.08787917e+01] [-9.56441699e-02 9.95413952e-01 -1.80452701e-03 -3.42600660e+00] [-1.84559962e-02 3.91909474e-05 9.99829673e-01 -1.70889679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.91, Y:-3.43, Z:-1.71 [[ 9.95097387e-01 9.71796854e-02 1.83656832e-02 6.09112291e+01] [-9.71628642e-02 9.95266853e-01 -1.80811531e-03 -3.42808309e+00] [-1.84544678e-02 1.47884304e-05 9.99829702e-01 -1.70850767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.94, Y:-3.43, Z:-1.71 [[ 9.94752312e-01 1.00758359e-01 1.77648507e-02 6.09432630e+01] [-1.00743132e-01 9.94910926e-01 -1.75225915e-03 -3.42750751e+00] [-1.78509988e-02 -4.66228567e-05 9.99840657e-01 -1.70969046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.98, Y:-3.43, Z:-1.71 [[ 9.94526872e-01 1.02888311e-01 1.81740540e-02 6.09756502e+01] [-1.02872673e-01 9.94692912e-01 -1.79572762e-03 -3.42803256e+00] [-1.82623621e-02 -8.37141385e-05 9.99833226e-01 -1.70938933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.01, Y:-3.43, Z:-1.71 [[ 9.94291609e-01 1.05111040e-01 1.83266158e-02 6.10082895e+01] [-1.05095460e-01 9.94460484e-01 -1.81383529e-03 -3.42878384e+00] [-1.84157493e-02 -1.22562915e-04 9.99830408e-01 -1.70858344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39587156 meters Centerline goodness [0,1] 0.999978647990776 Centerline is valid? [True, True] Translation: X:61.04, Y:-3.43, Z:-1.71 [[ 9.94050624e-01 1.07270169e-01 1.88803643e-02 6.10395967e+01] [-1.07253955e-01 9.94229895e-01 -1.87221445e-03 -3.42762126e+00] [-1.89722554e-02 -1.63917800e-04 9.99819997e-01 -1.71035404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.07, Y:-3.42, Z:-1.71 [[ 9.93629512e-01 1.11048861e-01 1.91974680e-02 6.10714725e+01] [-1.11032713e-01 9.93814920e-01 -1.90827133e-03 -3.42473298e+00] [-1.92906415e-02 -2.35432252e-04 9.99813891e-01 -1.70957911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:-3.42, Z:-1.71 [[ 9.93463244e-01 1.12467258e-01 1.95422051e-02 6.11019774e+01] [-1.12450788e-01 9.93655395e-01 -1.94316026e-03 -3.42391438e+00] [-1.96367594e-02 -2.67078060e-04 9.99807145e-01 -1.71160340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48587156 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:61.13, Y:-3.43, Z:-1.71 [[ 9.93324661e-01 1.13695657e-01 1.94785882e-02 6.11329703e+01] [-1.13679527e-01 9.93515583e-01 -1.93695319e-03 -3.42548976e+00] [-1.95725041e-02 -2.90293314e-04 9.99808398e-01 -1.71278633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.16, Y:-3.43, Z:-1.71 [[ 9.93243764e-01 1.14419997e-01 1.93620588e-02 6.11636872e+01] [-1.14404186e-01 9.93432420e-01 -1.92594273e-03 -3.42836577e+00] [-1.94552632e-02 -3.02169952e-04 9.99810683e-01 -1.71350304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54587156000001 meters Centerline goodness [0,1] 0.9998716604992407 Centerline is valid? [True, True] Translation: X:61.19, Y:-3.43, Z:-1.72 [[ 9.93182950e-01 1.15037995e-01 1.88119011e-02 6.11934837e+01] [-1.15023174e-01 9.93361046e-01 -1.87156798e-03 -3.42905879e+00] [-1.89023112e-02 -3.04995164e-04 9.99821289e-01 -1.71840724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57587156000001 meters Centerline goodness [0,1] 0.9998935173353778 Centerline is valid? [True, True] Translation: X:61.22, Y:-3.43, Z:-1.72 [[ 9.93188122e-01 1.14970464e-01 1.89511882e-02 6.12239538e+01] [-1.14955410e-01 9.93368863e-01 -1.88542545e-03 -3.43206772e+00] [-1.90422886e-02 -3.05959455e-04 9.99818632e-01 -1.71845020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60587156 meters Centerline goodness [0,1] 0.9999785697447656 Centerline is valid? [True, True] Translation: X:61.25, Y:-3.44, Z:-1.72 [[ 9.93206240e-01 1.14752455e-01 1.93194061e-02 6.12546300e+01] [-1.14736770e-01 9.93394071e-01 -1.92205889e-03 -3.43602188e+00] [-1.94123444e-02 -3.07645365e-04 9.99811515e-01 -1.71572937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.29, Y:-3.44, Z:-1.72 [[ 9.93308485e-01 1.13896954e-01 1.91242891e-02 6.12860179e+01] [-1.13881430e-01 9.93492527e-01 -1.90238158e-03 -3.43958358e+00] [-1.92165137e-02 -2.88249620e-04 9.99815304e-01 -1.71739378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:-3.44, Z:-1.72 [[ 9.93305707e-01 1.13921179e-01 1.91242428e-02 6.13166896e+01] [-1.13905651e-01 9.93489749e-01 -1.90284698e-03 -3.44268068e+00] [-1.92165137e-02 -2.88250562e-04 9.99815304e-01 -1.71832101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:-3.45, Z:-1.72 [[ 9.93375084e-01 1.13294126e-01 1.92453339e-02 6.13479323e+01] [-1.13278274e-01 9.93561455e-01 -1.91537463e-03 -3.44699712e+00] [-1.93384226e-02 -2.77392762e-04 9.99812957e-01 -1.71956000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72587156 meters Centerline goodness [0,1] 0.9999787618137411 Centerline is valid? [True, True] Translation: X:61.38, Y:-3.45, Z:-1.72 [[ 9.93464461e-01 1.12487078e-01 1.93654866e-02 6.13782837e+01] [-1.12470862e-01 9.93653153e-01 -1.92794398e-03 -3.45007858e+00] [-1.94594456e-02 -2.62709152e-04 9.99810613e-01 -1.72142393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75587156 meters Centerline goodness [0,1] 0.9999787600093456 Centerline is valid? [True, True] Translation: X:61.41, Y:-3.45, Z:-1.72 [[ 9.93527309e-01 1.11902602e-01 1.95267730e-02 6.14090219e+01] [-1.11885997e-01 9.93719147e-01 -1.94424519e-03 -3.45418282e+00] [-1.96216943e-02 -2.53111774e-04 9.99807444e-01 -1.72161296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.44, Y:-3.46, Z:-1.72 [[ 9.93559012e-01 1.11538353e-01 1.99921164e-02 6.14391449e+01] [-1.11520868e-01 9.93760098e-01 -1.99082382e-03 -3.45586763e+00] [-2.00894207e-02 -2.51537228e-04 9.99798156e-01 -1.72177789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-3.46, Z:-1.72 [[ 9.93537359e-01 1.10912492e-01 2.41233187e-02 6.14706998e+01] [-1.11051056e-01 9.93804613e-01 4.47811025e-03 -3.46194497e+00] [-2.34771871e-02 -7.12808985e-03 9.99698961e-01 -1.72338995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-3.46, Z:-1.72 [[ 9.93394300e-01 1.12205787e-01 2.40338539e-02 6.15034688e+01] [-1.12231275e-01 9.93682070e-01 -2.89999803e-04 -3.46466606e+00] [-2.39145494e-02 -2.40926592e-03 9.99711103e-01 -1.72184092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:-3.46, Z:-1.72 [[ 9.93360429e-01 1.13364364e-01 1.95851952e-02 6.15332836e+01] [-1.13174959e-01 9.93519313e-01 -1.05263048e-02 -3.45774062e+00] [-2.06515776e-02 8.23986101e-03 9.99752778e-01 -1.72395767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:-3.46, Z:-1.73 [[ 9.93218221e-01 1.14649360e-01 1.93155256e-02 6.15631236e+01] [-1.14633566e-01 9.93405976e-01 -1.92657283e-03 -3.46355734e+00] [-1.94090389e-02 -3.00700346e-04 9.99811582e-01 -1.72852717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.59, Y:-3.48, Z:-1.73 [[ 9.93088184e-01 1.14849338e-01 2.41968759e-02 6.15932343e+01] [-1.15096444e-01 9.93312865e-01 9.07527974e-03 -3.47535858e+00] [-2.29927783e-02 -1.17975274e-02 9.99666019e-01 -1.72938548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.63, Y:-3.47, Z:-1.73 [[ 9.92913906e-01 1.16522840e-01 2.33324268e-02 6.16257648e+01] [-1.16477994e-01 9.93187868e-01 -3.27662640e-03 -3.47043891e+00] [-2.35552851e-02 5.35693652e-04 9.99722392e-01 -1.72915285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99587156 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:61.66, Y:-3.46, Z:-1.73 [[ 9.92853504e-01 1.17857211e-01 1.87509141e-02 6.16568898e+01] [-1.17640678e-01 9.92980501e-01 -1.22635626e-02 -3.46114011e+00] [-2.00646413e-02 9.97005087e-03 9.99748973e-01 -1.73032225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.69, Y:-3.47, Z:-1.73 [[ 9.92839892e-01 1.17790413e-01 1.98587006e-02 6.16862705e+01] [-1.17774270e-01 9.93038410e-01 -1.98454944e-03 -3.46978510e+00] [-1.99542133e-02 -3.68504114e-04 9.99800827e-01 -1.73111298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05587156 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:61.72, Y:-3.47, Z:-1.73 [[ 9.92822589e-01 1.17873773e-01 2.02257399e-02 6.17150909e+01] [-1.17857052e-01 9.93028515e-01 -2.02085634e-03 -3.47120487e+00] [-2.03229424e-02 -3.77394267e-04 9.99793396e-01 -1.73160043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08587156 meters Centerline goodness [0,1] 0.9998283630122291 Centerline is valid? [True, True] Translation: X:61.74, Y:-3.47, Z:-1.73 [[ 9.92812604e-01 1.17900246e-01 2.05588171e-02 6.17440327e+01] [-1.17882994e-01 9.93025369e-01 -2.05326386e-03 -3.47453961e+00] [-2.06575072e-02 -3.85028678e-04 9.99786537e-01 -1.73419138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11587156 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:61.77, Y:-3.48, Z:-1.73 [[ 9.92795901e-01 1.17971388e-01 2.09535395e-02 6.17730399e+01] [-1.17953492e-01 9.93016916e-01 -2.09228296e-03 -3.47507893e+00] [-2.10540487e-02 -3.94333205e-04 9.99778261e-01 -1.73222471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:-3.48, Z:-1.73 [[ 9.92756525e-01 1.18253996e-01 2.12244012e-02 6.18029610e+01] [-1.18235718e-01 9.92983297e-01 -2.11843884e-03 -3.47711771e+00] [-2.13259897e-02 -4.06388332e-04 9.99772493e-01 -1.73218367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17587156 meters Centerline goodness [0,1] 0.9999786210582576 Centerline is valid? [True, True] Translation: X:61.83, Y:-3.48, Z:-1.73 [[ 9.92656876e-01 1.19022625e-01 2.15856684e-02 6.18329349e+01] [-1.19003912e-01 9.92891449e-01 -2.15397894e-03 -3.47936351e+00] [-2.16885978e-02 -4.30616978e-04 9.99764682e-01 -1.73164628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20587156 meters Centerline goodness [0,1] 0.9999572759121593 Centerline is valid? [True, True] Translation: X:61.86, Y:-3.48, Z:-1.73 [[ 9.92523196e-01 1.20102053e-01 2.17532333e-02 6.18628800e+01] [-1.20083322e-01 9.92761445e-01 -2.17005287e-03 -3.47649127e+00] [-2.18563992e-02 -4.58372700e-04 9.99761015e-01 -1.73286240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23587156 meters Centerline goodness [0,1] 0.9998721118594935 Centerline is valid? [True, True] Translation: X:61.89, Y:-3.47, Z:-1.73 [[ 9.92161431e-01 1.23068610e-01 2.16751352e-02 6.18926165e+01] [-1.23050721e-01 9.92398027e-01 -2.16220979e-03 -3.46772787e+00] [-2.17764616e-02 -5.21879851e-04 9.99762729e-01 -1.73417642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26587156000001 meters Centerline goodness [0,1] 0.9997866530124595 Centerline is valid? [True, True] Translation: X:61.92, Y:-3.47, Z:-1.74 [[ 9.92005760e-01 1.24370622e-01 2.13663411e-02 6.19223332e+01] [-1.24353559e-01 9.92235684e-01 -2.13056469e-03 -3.47168491e+00] [-2.14654257e-02 -5.43448122e-04 9.99769444e-01 -1.73724597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29587156000001 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:61.95, Y:-3.47, Z:-1.74 [[ 9.91971215e-01 1.24731349e-01 2.08614449e-02 6.19525552e+01] [-1.24715173e-01 9.92190405e-01 -2.07973594e-03 -3.47186798e+00] [-2.09579337e-02 -5.38700526e-04 9.99780213e-01 -1.73587668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32587156000001 meters Centerline goodness [0,1] 0.9999145390449738 Centerline is valid? [True, True] Translation: X:61.98, Y:-3.47, Z:-1.74 [[ 9.91959780e-01 1.24844939e-01 2.07252367e-02 6.19807232e+01] [-1.24829001e-01 9.92176120e-01 -2.06602274e-03 -3.47185476e+00] [-2.08210174e-02 -5.37699130e-04 9.99783075e-01 -1.73756202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35587156 meters Centerline goodness [0,1] 0.9999142826529519 Centerline is valid? [True, True] Translation: X:62.01, Y:-3.48, Z:-1.74 [[ 9.92012153e-01 1.24475647e-01 2.04377521e-02 6.20093673e+01] [-1.24460096e-01 9.92222525e-01 -2.03605581e-03 -3.47540665e+00] [-2.05322374e-02 -5.23892485e-04 9.99789054e-01 -1.73827264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:-3.48, Z:-1.74 [[ 9.92233038e-01 1.22587251e-01 2.11178763e-02 6.20378293e+01] [-1.22570245e-01 9.92457613e-01 -2.10270317e-03 -3.47568321e+00] [-2.12163617e-02 -5.02051712e-04 9.99774782e-01 -1.73965863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41587156 meters Centerline goodness [0,1] 0.9997656532947017 Centerline is valid? [True, True] Translation: X:62.07, Y:-3.48, Z:-1.74 [[ 9.92401226e-01 1.21136319e-01 2.15823649e-02 6.20673771e+01] [-1.21118240e-01 9.92635764e-01 -2.14771194e-03 -3.48041199e+00] [-2.16835932e-02 -4.82626076e-04 9.99764767e-01 -1.74214156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44587156 meters Centerline goodness [0,1] 0.999957206436152 Centerline is valid? [True, True] Translation: X:62.10, Y:-3.48, Z:-1.74 [[ 9.92621878e-01 1.19237885e-01 2.20030328e-02 6.20966164e+01] [-1.19218639e-01 9.92865612e-01 -2.18903941e-03 -3.48441323e+00] [-2.21070711e-02 -4.50283227e-04 9.99755507e-01 -1.73920643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.13, Y:-3.49, Z:-1.74 [[ 9.93042978e-01 1.15684400e-01 2.19718689e-02 6.21264070e+01] [-1.15664354e-01 9.93285952e-01 -2.18530415e-03 -3.49007231e+00] [-2.20771543e-02 -3.71261069e-04 9.99756201e-01 -1.74033435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.16, Y:-3.49, Z:-1.74 [[ 9.93220700e-01 1.14163144e-01 2.18956108e-02 6.21554556e+01] [-1.14142870e-01 9.93461959e-01 -2.17756472e-03 -3.49449542e+00] [-2.20010540e-02 -3.36425499e-04 9.99757891e-01 -1.74153402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53587156 meters Centerline goodness [0,1] 0.9999785412330208 Centerline is valid? [True, True] Translation: X:62.18, Y:-3.51, Z:-1.75 [[ 9.93076816e-01 1.13478488e-01 3.03491265e-02 6.21831401e+01] [-1.13988002e-01 9.93359395e-01 1.56156008e-02 -3.50886055e+00] [-2.83755551e-02 -1.89669274e-02 9.99417372e-01 -1.74681576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-3.49, Z:-1.74 [[ 9.93483262e-01 1.12381499e-01 1.90107112e-02 6.22161261e+01] [-1.11968616e-01 9.93478121e-01 -2.15465334e-02 -3.48965227e+00] [-2.13081574e-02 1.92775173e-02 9.99587085e-01 -1.74396645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:-3.51, Z:-1.75 [[ 9.93692544e-01 1.10290826e-01 2.02746314e-02 6.22440633e+01] [-1.10272597e-01 9.93899331e-01 -2.01834829e-03 -3.50538949e+00] [-2.03735478e-02 -2.30118598e-04 9.99792411e-01 -1.74729312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.27, Y:-3.51, Z:-1.75 [[ 9.93743864e-01 1.09886562e-01 1.99518263e-02 6.22738995e+01] [-1.09868836e-01 9.93944111e-01 -1.98575085e-03 -3.50776533e+00] [-2.00492076e-02 -2.18756200e-04 9.99798971e-01 -1.74921490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.30, Y:-3.52, Z:-1.75 [[ 9.93273433e-01 1.12137127e-01 2.88643704e-02 6.22995036e+01] [-1.12641746e-01 9.93498840e-01 1.64891549e-02 -3.52148861e+00] [-2.68276721e-02 -1.96295726e-02 9.99447325e-01 -1.75447743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.33, Y:-3.50, Z:-1.75 [[ 9.93701684e-01 1.10633972e-01 1.78069226e-02 6.23347132e+01] [-1.10255996e-01 9.93681974e-01 -2.09702109e-02 -3.50003529e+00] [-2.00144358e-02 1.88748139e-02 9.99621510e-01 -1.75023102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71587156000001 meters Centerline goodness [0,1] 0.9999787496281185 Centerline is valid? [True, True] Translation: X:62.36, Y:-3.51, Z:-1.75 [[ 9.93582481e-01 1.11219789e-01 2.05915332e-02 6.23623607e+01] [-1.11201166e-01 9.93795801e-01 -2.05079758e-03 -3.51004358e+00] [-2.06918685e-02 -2.52165949e-04 9.99785869e-01 -1.75109790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.39, Y:-3.51, Z:-1.75 [[ 9.93470024e-01 1.12205644e-01 2.06689253e-02 6.23923204e+01] [-1.12187111e-01 9.93684969e-01 -2.05767400e-03 -3.50968338e+00] [-2.07692830e-02 -2.74549584e-04 9.99784257e-01 -1.75187174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77587156 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:62.42, Y:-3.51, Z:-1.75 [[ 9.93353340e-01 1.13291333e-01 2.03522844e-02 6.24224270e+01] [-1.13273601e-01 9.93561769e-01 -2.02569832e-03 -3.50899597e+00] [-2.04507458e-02 -2.93142349e-04 9.99790819e-01 -1.75383594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80587156 meters Centerline goodness [0,1] 0.9999360831770923 Centerline is valid? [True, True] Translation: X:62.45, Y:-3.51, Z:-1.76 [[ 9.93242912e-01 1.14401946e-01 1.95118632e-02 6.24525633e+01] [-1.14385871e-01 9.93434498e-01 -1.94163361e-03 -3.50861939e+00] [-1.96058847e-02 -3.03367632e-04 9.99807740e-01 -1.75640336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83587156 meters Centerline goodness [0,1] 0.9998077292828302 Centerline is valid? [True, True] Translation: X:62.48, Y:-3.51, Z:-1.76 [[ 9.93014802e-01 1.16486701e-01 1.87736853e-02 6.24816345e+01] [-1.16472194e-01 9.93192196e-01 -1.86803878e-03 -3.50541758e+00] [-1.88634794e-02 -3.31622154e-04 9.99822014e-01 -1.76164262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86587156 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:62.51, Y:-3.50, Z:-1.76 [[ 9.92900671e-01 1.17440022e-01 1.88705573e-02 6.25104146e+01] [-1.17425553e-01 9.93079915e-01 -1.87681550e-03 -3.50396782e+00] [-1.89603847e-02 -3.52394255e-04 9.99820174e-01 -1.76069632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89587156 meters Centerline goodness [0,1] 0.9998066138077741 Centerline is valid? [True, True] Translation: X:62.54, Y:-3.50, Z:-1.76 [[ 9.92637370e-01 1.19611946e-01 1.90796578e-02 6.25400459e+01] [-1.19597573e-01 9.92820640e-01 -1.89673588e-03 -3.49869380e+00] [-1.91695504e-02 -3.99109842e-04 9.99816168e-01 -1.76120783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92587156 meters Centerline goodness [0,1] 0.9998926693141569 Centerline is valid? [True, True] Translation: X:62.57, Y:-3.50, Z:-1.76 [[ 9.92535697e-01 1.20393816e-01 1.94478377e-02 6.25689804e+01] [-1.20379049e-01 9.92726120e-01 -1.93247230e-03 -3.50161571e+00] [-1.95390342e-02 -4.23064480e-04 9.99809005e-01 -1.75954151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95587156 meters Centerline goodness [0,1] 0.9996141809919835 Centerline is valid? [True, True] Translation: X:62.60, Y:-3.50, Z:-1.77 [[ 9.92464806e-01 1.20936686e-01 1.96958805e-02 6.25969753e+01] [-1.20921664e-01 9.92660125e-01 -1.95628297e-03 -3.49655204e+00] [-1.97879016e-02 -4.40116645e-04 9.99804103e-01 -1.76514904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98587156 meters Centerline goodness [0,1] 0.9998515848616559 Centerline is valid? [True, True] Translation: X:62.63, Y:-3.49, Z:-1.76 [[ 9.92423264e-01 1.21229730e-01 1.99854513e-02 6.26254519e+01] [-1.21214346e-01 9.92624373e-01 -1.98384232e-03 -3.49462365e+00] [-2.00785467e-02 -4.53712138e-04 9.99798303e-01 -1.76356681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01587156000001 meters Centerline goodness [0,1] 0.9998930000642 Centerline is valid? [True, True] Translation: X:62.65, Y:-3.49, Z:-1.77 [[ 9.92544462e-01 1.20330277e-01 1.93936853e-02 6.26546063e+01] [-1.20315638e-01 9.92733824e-01 -1.92413630e-03 -3.49466935e+00] [-1.94842993e-02 -4.23572794e-04 9.99810073e-01 -1.76655083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04587156000001 meters Centerline goodness [0,1] 0.9998285028297033 Centerline is valid? [True, True] Translation: X:62.68, Y:-3.50, Z:-1.77 [[ 9.92656175e-01 1.19492100e-01 1.88508913e-02 6.26822885e+01] [-1.19478150e-01 9.92835072e-01 -1.86860216e-03 -3.50450543e+00] [-1.89391093e-02 -3.97390139e-04 9.99820560e-01 -1.76671382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07587156000001 meters Centerline goodness [0,1] 0.9999784543123694 Centerline is valid? [True, True] Translation: X:62.71, Y:-3.51, Z:-1.77 [[ 9.92768265e-01 1.18436634e-01 1.95942918e-02 6.27103787e+01] [-1.18421373e-01 9.92961535e-01 -1.94139970e-03 -3.50630639e+00] [-1.96863109e-02 -3.93022934e-04 9.99806129e-01 -1.76507592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:-3.51, Z:-1.76 [[ 9.92903479e-01 1.17216116e-01 2.00764345e-02 6.27385606e+01] [-1.17199874e-01 9.93106358e-01 -1.98778438e-03 -3.51019758e+00] [-2.01710351e-02 -3.79277564e-04 9.99796472e-01 -1.76430560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13587156 meters Centerline goodness [0,1] 0.9999354269355776 Centerline is valid? [True, True] Translation: X:62.77, Y:-3.51, Z:-1.76 [[ 9.93089119e-01 1.15327544e-01 2.17614005e-02 6.27663601e+01] [-1.15308032e-01 9.93327449e-01 -2.15350189e-03 -3.51073018e+00] [-2.18645545e-02 -3.70644974e-04 9.99760873e-01 -1.76256266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16587156 meters Centerline goodness [0,1] 0.9999357601713063 Centerline is valid? [True, True] Translation: X:62.80, Y:-3.51, Z:-1.76 [[ 9.93181794e-01 1.14418564e-01 2.23230076e-02 6.27956008e+01] [-1.14397830e-01 9.93432565e-01 -2.20786155e-03 -3.51272592e+00] [-2.24290231e-02 -3.60895732e-04 9.99748373e-01 -1.76265458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19587156 meters Centerline goodness [0,1] 0.9999572027732603 Centerline is valid? [True, True] Translation: X:62.82, Y:-3.52, Z:-1.76 [[ 9.93277737e-01 1.13526644e-01 2.26061656e-02 6.28241518e+01] [-1.13505193e-01 9.93534892e-01 -2.23395400e-03 -3.51536408e+00] [-2.27136276e-02 -3.46980413e-04 9.99741952e-01 -1.76350740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.85, Y:-3.52, Z:-1.77 [[ 9.93499219e-01 1.11669025e-01 2.21208047e-02 6.28527418e+01] [-1.11648047e-01 9.93745410e-01 -2.18496655e-03 -3.51926184e+00] [-2.22264413e-02 -2.98982083e-04 9.99752917e-01 -1.76557162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25587156 meters Centerline goodness [0,1] 0.9998294388538291 Centerline is valid? [True, True] Translation: X:62.88, Y:-3.52, Z:-1.77 [[ 9.93628606e-01 1.10585612e-01 2.17489135e-02 6.28817053e+01] [-1.10565099e-01 9.93866565e-01 -2.14712931e-03 -3.52242802e+00] [-2.18529596e-02 -2.71221664e-04 9.99761159e-01 -1.76951293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28587156 meters Centerline goodness [0,1] 0.9998288770053476 Centerline is valid? [True, True] Translation: X:62.91, Y:-3.52, Z:-1.77 [[ 9.93703228e-01 1.09884716e-01 2.18916354e-02 6.29100098e+01] [-1.09863777e-01 9.93944306e-01 -2.16053105e-03 -3.52445485e+00] [-2.19964757e-02 -2.58171073e-04 9.99758015e-01 -1.77003578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.94, Y:-3.53, Z:-1.77 [[ 9.93766898e-01 1.09257908e-01 2.21373427e-02 6.29393072e+01] [-1.09236366e-01 9.94013404e-01 -2.18369035e-03 -3.52639533e+00] [-2.22434009e-02 -2.48123688e-04 9.99752554e-01 -1.76808496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.97, Y:-3.53, Z:-1.77 [[ 9.93827295e-01 1.08769363e-01 2.18296342e-02 6.29686976e+01] [-1.08748320e-01 9.94066985e-01 -2.15228094e-03 -3.52653348e+00] [-2.19342209e-02 -2.34940507e-04 9.99759388e-01 -1.77007741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37587156000001 meters Centerline goodness [0,1] 0.9999786680319126 Centerline is valid? [True, True] Translation: X:63.00, Y:-3.53, Z:-1.77 [[ 9.93830638e-01 1.08807808e-01 2.14831300e-02 6.29974931e+01] [-1.08787462e-01 9.94062778e-01 -2.11697538e-03 -3.52713414e+00] [-2.15859233e-02 -2.33180187e-04 9.99766970e-01 -1.77180145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40587156000001 meters Centerline goodness [0,1] 0.9999354991292383 Centerline is valid? [True, True] Translation: X:63.03, Y:-3.53, Z:-1.77 [[ 9.93831366e-01 1.08861921e-01 2.11730593e-02 6.30266141e+01] [-1.08842184e-01 9.94056854e-01 -2.08578794e-03 -3.52882141e+00] [-2.12742876e-02 -2.31600539e-04 9.99773650e-01 -1.77427523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43587156000001 meters Centerline goodness [0,1] 0.9998935196030411 Centerline is valid? [True, True] Translation: X:63.05, Y:-3.53, Z:-1.78 [[ 9.93850800e-01 1.08675229e-01 2.12198434e-02 6.30546811e+01] [-1.08655381e-01 9.94077282e-01 -2.08951626e-03 -3.52750872e+00] [-2.13212429e-02 -2.28982767e-04 9.99772650e-01 -1.77753306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.08, Y:-3.53, Z:-1.78 [[ 9.93901096e-01 1.08270695e-01 2.09300947e-02 6.30830271e+01] [-1.08251330e-01 9.94121426e-01 -2.05934954e-03 -3.52941868e+00] [-2.10300228e-02 -2.18920818e-04 9.99778821e-01 -1.77657191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:-3.53, Z:-1.78 [[ 9.93975377e-01 1.07610439e-01 2.08073115e-02 6.31121099e+01] [-1.07591176e-01 9.94193116e-01 -2.04630316e-03 -3.53245121e+00] [-2.09066894e-02 -2.04708156e-04 9.99781410e-01 -1.77693347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.14, Y:-3.53, Z:-1.78 [[ 9.94079008e-01 1.06629936e-01 2.09041365e-02 6.31398906e+01] [-1.06610296e-01 9.94298759e-01 -2.05489740e-03 -3.53355121e+00] [-2.10040706e-02 -1.85865804e-04 9.99779373e-01 -1.77889933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.17, Y:-3.54, Z:-1.78 [[ 9.94313142e-01 1.04314502e-01 2.14443571e-02 6.31686614e+01] [-1.04293327e-01 9.94544350e-01 -2.10651462e-03 -3.53763346e+00] [-2.15471042e-02 -1.41968187e-04 9.99767824e-01 -1.77915853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.20, Y:-3.54, Z:-1.78 [[ 9.94318119e-01 1.04267033e-01 2.14444576e-02 6.31968465e+01] [-1.04245869e-01 9.94549328e-01 -2.10549098e-03 -3.54031252e+00] [-2.15471042e-02 -1.41968284e-04 9.99767824e-01 -1.78002244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.23, Y:-3.54, Z:-1.78 [[ 9.94438989e-01 1.02968737e-01 2.21028652e-02 6.32252290e+01] [-1.02945958e-01 9.94684586e-01 -2.16902609e-03 -3.54424821e+00] [-2.22087212e-02 -1.18436516e-04 9.99753349e-01 -1.77995212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-3.55, Z:-1.78 [[ 9.94551269e-01 1.01744607e-01 2.27113937e-02 6.32535647e+01] [-1.01720262e-01 9.94810548e-01 -2.22761308e-03 -3.54821080e+00] [-2.28201816e-02 -9.47335011e-05 9.99739581e-01 -1.77939086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:-3.55, Z:-1.78 [[ 9.94656584e-01 1.00617585e-01 2.31166908e-02 6.32823077e+01] [-1.00592086e-01 9.94925171e-01 -2.26620516e-03 -3.55148965e+00] [-2.32273977e-02 -7.12602745e-05 9.99730205e-01 -1.78007449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:-3.56, Z:-1.78 [[ 9.94885899e-01 9.82682585e-02 2.33537392e-02 6.33106657e+01] [-9.82416158e-02 9.95159962e-01 -2.28820201e-03 -3.55583464e+00] [-2.34655638e-02 -1.78091553e-05 9.99724646e-01 -1.78110837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73587156 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:63.34, Y:-3.56, Z:-1.78 [[ 9.95009513e-01 9.69489445e-02 2.36002397e-02 6.33393666e+01] [-9.69213859e-02 9.95289356e-01 -2.31148146e-03 -3.55971750e+00] [-2.37131631e-02 1.25780944e-05 9.99718803e-01 -1.78340383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.37, Y:-3.56, Z:-1.78 [[ 9.95131829e-01 9.55486005e-02 2.41476390e-02 6.33684269e+01] [-9.55193600e-02 9.95424765e-01 -2.36411791e-03 -3.56365759e+00] [-2.42630461e-02 4.60419527e-05 9.99705608e-01 -1.78216670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:-3.57, Z:-1.78 [[ 9.95340184e-01 9.30648145e-02 2.52360439e-02 6.33989425e+01] [-9.30320989e-02 9.95660046e-01 -2.46991973e-03 -3.56927311e+00] [-2.53563833e-02 1.10648228e-04 9.99678469e-01 -1.78167688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.43, Y:-3.57, Z:-1.78 [[ 9.95450345e-01 9.18561590e-02 2.53191080e-02 6.34297946e+01] [-9.18228399e-02 9.95772276e-01 -2.47792628e-03 -3.57369043e+00] [-2.54396785e-02 1.41780174e-04 9.99676349e-01 -1.78225195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.46, Y:-3.58, Z:-1.78 [[ 9.95568296e-01 9.05493625e-02 2.53885934e-02 6.34593758e+01] [-9.05154233e-02 9.95891953e-01 -2.48519837e-03 -3.57995814e+00] [-2.55093290e-02 1.76125422e-04 9.99674569e-01 -1.78391337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:-3.59, Z:-1.79 [[ 9.95684919e-01 8.93138970e-02 2.51906800e-02 6.34901665e+01] [-8.92800506e-02 9.96003506e-01 -2.46736527e-03 -3.58563823e+00] [-2.53103756e-02 2.07693200e-04 9.99679620e-01 -1.78565641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.52, Y:-3.59, Z:-1.79 [[ 9.95855828e-01 8.75109860e-02 2.47587639e-02 6.35220952e+01] [-8.74777390e-02 9.96163523e-01 -2.42483692e-03 -3.59166862e+00] [-2.48759774e-02 2.48947294e-04 9.99690514e-01 -1.78725427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.55, Y:-3.60, Z:-1.79 [[ 9.95913175e-01 8.67647809e-02 2.50762829e-02 6.35524137e+01] [-8.67303312e-02 9.96228787e-01 -2.46021238e-03 -3.59724806e+00] [-2.51951747e-02 2.75283599e-04 9.99682513e-01 -1.78838124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.58, Y:-3.60, Z:-1.79 [[ 9.95964549e-01 8.60556722e-02 2.54762397e-02 6.35838892e+01] [-8.60197826e-02 9.96290284e-01 -2.50335779e-03 -3.60197919e+00] [-2.55971582e-02 3.01795014e-04 9.99672294e-01 -1.78843661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.62, Y:-3.61, Z:-1.79 [[ 9.95966986e-01 8.57821514e-02 2.62903910e-02 6.36154043e+01] [-8.57437176e-02 9.96313865e-01 -2.58782206e-03 -3.60748007e+00] [-2.64154700e-02 3.23149476e-04 9.99650998e-01 -1.78845636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.65, Y:-3.61, Z:-1.79 [[ 9.95987396e-01 8.55357705e-02 2.63199468e-02 6.36482695e+01] [-8.54970528e-02 9.96335044e-01 -2.59494174e-03 -3.61311539e+00] [-2.64454457e-02 3.34251385e-04 9.99650202e-01 -1.78900534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06587156 meters Centerline goodness [0,1] 0.999914050581233 Centerline is valid? [True, True] Translation: X:63.68, Y:-3.62, Z:-1.79 [[ 9.95977634e-01 8.56733115e-02 2.62418930e-02 6.36813799e+01] [-8.56347419e-02 9.96323227e-01 -2.59213299e-03 -3.61750776e+00] [-2.63674841e-02 3.34488746e-04 9.99652261e-01 -1.79241994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09587156 meters Centerline goodness [0,1] 0.9998926624017861 Centerline is valid? [True, True] Translation: X:63.71, Y:-3.62, Z:-1.79 [[ 9.95970095e-01 8.57815448e-02 2.61743305e-02 6.37143516e+01] [-8.57430819e-02 9.96313913e-01 -2.59036756e-03 -3.62166524e+00] [-2.63000554e-02 3.35660854e-04 9.99654037e-01 -1.79347705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.75, Y:-3.63, Z:-1.79 [[ 9.95966909e-01 8.59086994e-02 2.58768475e-02 6.37461165e+01] [-8.58710178e-02 9.96302958e-01 -2.56596577e-03 -3.63014066e+00] [-2.60016184e-02 3.33545768e-04 9.99661845e-01 -1.79321822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.78, Y:-3.64, Z:-1.79 [[ 9.95942593e-01 8.61915366e-02 2.58721772e-02 6.37790807e+01] [-8.61538430e-02 9.96278530e-01 -2.57015936e-03 -3.63612335e+00] [-2.59974207e-02 3.30743691e-04 9.99661955e-01 -1.79498496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.81, Y:-3.64, Z:-1.80 [[ 9.95905379e-01 8.66899155e-02 2.56385257e-02 6.38121418e+01] [-8.66529417e-02 9.96235292e-01 -2.55172499e-03 -3.64151419e+00] [-2.57632129e-02 3.19622969e-04 9.99668022e-01 -1.79625196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-3.64, Z:-1.80 [[ 9.95698858e-01 8.88710233e-02 2.61863739e-02 6.38438629e+01] [-8.88330702e-02 9.96043105e-01 -2.61141216e-03 -3.64493239e+00] [-2.63148360e-02 2.73964116e-04 9.99653667e-01 -1.79562440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.88, Y:-3.65, Z:-1.80 [[ 9.95536052e-01 9.06900973e-02 2.61395215e-02 6.38750508e+01] [-9.06527898e-02 9.95879136e-01 -2.61119177e-03 -3.64785745e+00] [-2.62686134e-02 2.29914996e-04 9.99654894e-01 -1.79625975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.91, Y:-3.65, Z:-1.80 [[ 9.95310757e-01 9.30957072e-02 2.62618765e-02 6.39073811e+01] [-9.30587788e-02 9.95657150e-01 -2.62749326e-03 -3.64988098e+00] [-2.63924334e-02 1.71274149e-04 9.99651644e-01 -1.79712120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:-3.65, Z:-1.80 [[ 9.95050093e-01 9.56946309e-02 2.67927168e-02 6.39397892e+01] [-9.56570131e-02 9.95410732e-01 -2.68516233e-03 -3.65154175e+00] [-2.69267134e-02 1.08959765e-04 9.99637404e-01 -1.79668496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:-3.65, Z:-1.80 [[ 9.94488342e-01 1.01386782e-01 2.67143826e-02 6.39712448e+01] [-1.01351302e-01 9.94847083e-01 -2.68230081e-03 -3.64988990e+00] [-2.68486755e-02 -4.00205712e-05 9.99639509e-01 -1.79707069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-3.65, Z:-1.80 [[ 9.94221868e-01 1.03958604e-01 2.67485651e-02 6.40024149e+01] [-1.03923946e-01 9.94581619e-01 -2.68637960e-03 -3.65090920e+00] [-2.68829035e-02 -1.08959096e-04 9.99638584e-01 -1.79855354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:-3.65, Z:-1.80 [[ 9.94019620e-01 1.05976888e-01 2.63418837e-02 6.40315867e+01] [-1.05943964e-01 9.94368580e-01 -2.64632082e-03 -3.65148275e+00] [-2.64739903e-02 -1.60268757e-04 9.99649490e-01 -1.80041947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42587156 meters Centerline goodness [0,1] 0.9998077169593642 Centerline is valid? [True, True] Translation: X:64.06, Y:-3.65, Z:-1.80 [[ 9.93872775e-01 1.07473143e-01 2.58153359e-02 6.40613620e+01] [-1.07442035e-01 9.94207969e-01 -2.59311319e-03 -3.65338020e+00] [-2.59445027e-02 -1.96427615e-04 9.99663365e-01 -1.80445400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45587156 meters Centerline goodness [0,1] 0.999742334449884 Centerline is valid? [True, True] Translation: X:64.09, Y:-3.66, Z:-1.81 [[ 9.93741571e-01 1.08964295e-01 2.45860206e-02 6.40902604e+01] [-1.08936542e-01 9.94045639e-01 -2.46934985e-03 -3.65639916e+00] [-2.47086975e-02 -2.24420468e-04 9.99694668e-01 -1.80791243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.12, Y:-3.66, Z:-1.81 [[ 9.93727334e-01 1.09071423e-01 2.46862237e-02 6.41200384e+01] [-1.09043482e-01 9.94033889e-01 -2.47918595e-03 -3.66108806e+00] [-2.48093513e-02 -2.28236943e-04 9.99692175e-01 -1.80726888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.15, Y:-3.67, Z:-1.81 [[ 9.93754838e-01 1.08985660e-01 2.39467540e-02 6.41480424e+01] [-1.08959355e-01 9.94043298e-01 -2.40444000e-03 -3.66681928e+00] [-2.40661598e-02 -2.19798985e-04 9.99710344e-01 -1.80971480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:-3.67, Z:-1.81 [[ 9.93762552e-01 1.08926136e-01 2.38974127e-02 6.41772073e+01] [-1.08899945e-01 9.94049822e-01 -2.39854457e-03 -3.67128356e+00] [-2.40164830e-02 -2.18843155e-04 9.99711539e-01 -1.81082184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:-3.68, Z:-1.81 [[ 9.93764008e-01 1.08955652e-01 2.37015377e-02 6.42066363e+01] [-1.08929911e-01 9.94046588e-01 -2.37832847e-03 -3.67547897e+00] [-2.38195650e-02 -2.18309152e-04 9.99716250e-01 -1.81168035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.24, Y:-3.68, Z:-1.81 [[ 9.93763494e-01 1.08984278e-01 2.35912195e-02 6.42364065e+01] [-1.08958797e-01 9.94043449e-01 -2.36670088e-03 -3.67941746e+00] [-2.37086304e-02 -2.18529958e-04 9.99718887e-01 -1.81261992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63587156 meters Centerline goodness [0,1] 0.9999785531987904 Centerline is valid? [True, True] Translation: X:64.27, Y:-3.68, Z:-1.81 [[ 9.93706587e-01 1.09353422e-01 2.42703045e-02 6.42661281e+01] [-1.09326577e-01 9.94002904e-01 -2.43423158e-03 -3.68395270e+00] [-2.43909448e-02 -2.34477368e-04 9.99702469e-01 -1.81269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66587156 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:64.29, Y:-3.69, Z:-1.81 [[ 9.93639096e-01 1.09886635e-01 2.46226329e-02 6.42946115e+01] [-1.09859181e-01 9.93944095e-01 -2.46903406e-03 -3.68611530e+00] [-2.47448345e-02 -2.51693527e-04 9.99693768e-01 -1.81365414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.32, Y:-3.69, Z:-1.81 [[ 9.93583567e-01 1.10248408e-01 2.52385271e-02 6.43230581e+01] [-1.10219705e-01 9.93904028e-01 -2.52985285e-03 -3.68882111e+00] [-2.53635860e-02 -2.68162788e-04 9.99678257e-01 -1.81203534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.35, Y:-3.69, Z:-1.81 [[ 9.93521963e-01 1.10658091e-01 2.58630211e-02 6.43514779e+01] [-1.10628113e-01 9.93858493e-01 -2.59151492e-03 -3.69100226e+00] [-2.59909553e-02 -2.86450226e-04 9.99662137e-01 -1.81233074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.38, Y:-3.70, Z:-1.81 [[ 9.93505276e-01 1.10585003e-01 2.67996813e-02 6.43811081e+01] [-1.10552814e-01 9.93866626e-01 -2.68436167e-03 -3.69681531e+00] [-2.69321590e-02 -2.95852708e-04 9.99637220e-01 -1.81156589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:-3.70, Z:-1.81 [[ 9.93534568e-01 1.10253714e-01 2.70773299e-02 6.44113337e+01] [-1.10220751e-01 9.93903433e-01 -2.71144219e-03 -3.70124402e+00] [-2.72111977e-02 -2.90572087e-04 9.99629665e-01 -1.81178542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.71, Z:-1.81 [[ 9.93625859e-01 1.09422109e-01 2.71008029e-02 6.44424069e+01] [-1.09388781e-01 9.93995337e-01 -2.71371603e-03 -3.70661675e+00] [-2.72350122e-02 -2.68105376e-04 9.99629022e-01 -1.81306464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.47, Y:-3.72, Z:-1.82 [[ 9.93897756e-01 1.07096992e-01 2.64099271e-02 6.44730862e+01] [-1.07064506e-01 9.94248558e-01 -2.64514066e-03 -3.71646513e+00] [-2.65413185e-02 -1.98566420e-04 9.99647697e-01 -1.81582429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.51, Y:-3.72, Z:-1.82 [[ 9.94046893e-01 1.05778690e-01 2.61083105e-02 6.45051200e+01] [-1.05746487e-01 9.94389684e-01 -2.61493016e-03 -3.72384398e+00] [-2.62384385e-02 -1.61498911e-04 9.99655700e-01 -1.81727809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90587156000001 meters Centerline goodness [0,1] 0.9999360409338024 Centerline is valid? [True, True] Translation: X:64.54, Y:-3.73, Z:-1.82 [[ 9.94237093e-01 1.04193270e-01 2.52262698e-02 6.45354775e+01] [-1.04162581e-01 9.94557062e-01 -2.53111184e-03 -3.73004496e+00] [-2.53526896e-02 -1.11108087e-04 9.99678563e-01 -1.82001403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.57, Y:-3.74, Z:-1.82 [[ 9.94335108e-01 1.03147805e-01 2.56558731e-02 6.45674449e+01] [-1.03115658e-01 9.94666036e-01 -2.57637479e-03 -3.73658315e+00] [-2.57847730e-02 -8.37423464e-05 9.99667514e-01 -1.81951861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.60, Y:-3.75, Z:-1.82 [[ 9.94907518e-01 9.77508552e-02 2.45723736e-02 6.46035089e+01] [-9.78981407e-02 9.95184567e-01 4.86129816e-03 -3.74880722e+00] [-2.39788509e-02 -7.24213177e-03 9.99686234e-01 -1.82348913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.63, Y:-3.75, Z:-1.82 [[ 9.94484074e-01 1.01876085e-01 2.49537598e-02 6.46293064e+01] [-1.01653864e-01 9.94769357e-01 -1.00209039e-02 -3.74513628e+00] [-2.58441261e-02 7.42898325e-03 9.99638380e-01 -1.82055275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.66, Y:-3.75, Z:-1.82 [[ 9.94428403e-01 1.02226907e-01 2.57257026e-02 6.46604770e+01] [-1.02194134e-01 9.94761105e-01 -2.58891253e-03 -3.75291837e+00] [-2.58555848e-02 -5.45277398e-05 9.99665687e-01 -1.82200803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05587156 meters Centerline goodness [0,1] 0.9999354158145142 Centerline is valid? [True, True] Translation: X:64.69, Y:-3.75, Z:-1.83 [[ 9.94234461e-01 1.04366706e-01 2.46054219e-02 6.46928950e+01] [-1.04337317e-01 9.94538878e-01 -2.47876141e-03 -3.75334227e+00] [-2.47297488e-02 -1.02793677e-04 9.99694168e-01 -1.82529457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.73, Y:-3.76, Z:-1.83 [[ 9.94077566e-01 1.05753043e-01 2.50217329e-02 6.47254556e+01] [-1.05722983e-01 9.94392415e-01 -2.52493584e-03 -3.75560344e+00] [-2.51484411e-02 -1.35390174e-04 9.99683719e-01 -1.82555612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.76, Y:-3.76, Z:-1.83 [[ 9.93921015e-01 1.07278124e-01 2.47471370e-02 6.47562554e+01] [-1.07249086e-01 9.94229036e-01 -2.50150830e-03 -3.75729431e+00] [-2.48726792e-02 -1.67806149e-04 9.99690613e-01 -1.82744340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.79, Y:-3.76, Z:-1.83 [[ 9.93686085e-01 1.09564426e-01 2.41578514e-02 6.47870951e+01] [-1.09537323e-01 9.93979673e-01 -2.44634477e-03 -3.75672325e+00] [-2.42804455e-02 -2.15287622e-04 9.99705163e-01 -1.83069760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17587156 meters Centerline goodness [0,1] 0.9998713605763047 Centerline is valid? [True, True] Translation: X:64.82, Y:-3.76, Z:-1.83 [[ 9.93596939e-01 1.10538232e-01 2.33756623e-02 6.48185782e+01] [-1.10513092e-01 9.93871846e-01 -2.36853081e-03 -3.76022850e+00] [-2.34942258e-02 -2.29951761e-04 9.99723946e-01 -1.83225624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.85, Y:-3.77, Z:-1.83 [[ 9.93573957e-01 1.10270244e-01 2.55198812e-02 6.48499312e+01] [-1.10402467e-01 9.93879594e-01 3.82721705e-03 -3.76766810e+00] [-2.49416610e-02 -6.62008102e-03 9.99666989e-01 -1.83387052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23587156 meters Centerline goodness [0,1] 0.9998065098679967 Centerline is valid? [True, True] Translation: X:64.88, Y:-3.76, Z:-1.83 [[ 9.93463457e-01 1.11797932e-01 2.30560507e-02 6.48810005e+01] [-1.11620496e-01 9.93711513e-01 -8.84837308e-03 -3.76223738e+00] [-2.39002928e-02 6.21700751e-03 9.99695016e-01 -1.83289989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.91, Y:-3.77, Z:-1.83 [[ 9.93453230e-01 1.11432483e-01 2.51690449e-02 6.49107056e+01] [-1.11403485e-01 9.93771972e-01 -2.55576168e-03 -3.76979607e+00] [-2.52970862e-02 -2.64889614e-04 9.99679942e-01 -1.83103527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.94, Y:-3.79, Z:-1.83 [[ 9.93540748e-01 1.09023756e-01 3.14738470e-02 6.49419680e+01] [-1.09663918e-01 9.93779771e-01 1.93801647e-02 -3.79000939e+00] [-2.91651741e-02 -2.27065287e-02 9.99316670e-01 -1.83410778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.98, Y:-3.78, Z:-1.84 [[ 9.93659811e-01 1.08660233e-01 2.88640660e-02 6.49762611e+01] [-1.08512553e-01 9.94072909e-01 -6.63908402e-03 -3.77782872e+00] [-2.94143904e-02 3.46487747e-03 9.99561298e-01 -1.83555691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.01, Y:-3.79, Z:-1.84 [[ 9.93640638e-01 1.08589972e-01 2.97741556e-02 6.50075090e+01] [-1.08543709e-01 9.94086622e-01 -3.17045618e-03 -3.78612455e+00] [-2.99423695e-02 -8.15031958e-05 9.99551623e-01 -1.83661568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38587156 meters Centerline goodness [0,1] 0.9997422403608635 Centerline is valid? [True, True] Translation: X:65.04, Y:-3.78, Z:-1.83 [[ 9.93737698e-01 1.09617154e-01 2.16671847e-02 6.50372213e+01] [-1.09102586e-01 9.93748950e-01 -2.36569115e-02 -3.78052819e+00] [-2.41249453e-02 2.11448189e-02 9.99485309e-01 -1.83295365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.07, Y:-3.81, Z:-1.84 [[ 9.93716337e-01 1.07490832e-01 3.12019618e-02 6.50663739e+01] [-1.08207844e-01 9.93878685e-01 2.22760390e-02 -3.81397070e+00] [-2.86164948e-02 -2.55123609e-02 9.99264838e-01 -1.83729395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:-3.79, Z:-1.83 [[ 9.93723914e-01 1.09853051e-01 2.10971350e-02 6.50984649e+01] [-1.09251047e-01 9.93624324e-01 -2.78372195e-02 -3.78597935e+00] [-2.40206301e-02 2.53576266e-02 9.99389814e-01 -1.83414238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:-3.80, Z:-1.84 [[ 9.93726189e-01 1.09298595e-01 2.37081831e-02 6.51283631e+01] [-1.09271819e-01 9.94008946e-01 -2.42586688e-03 -3.80451247e+00] [-2.38312899e-02 -1.79988835e-04 9.99715978e-01 -1.83673412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.16, Y:-3.81, Z:-1.84 [[ 9.93607984e-01 1.10626833e-01 2.24694741e-02 6.51596406e+01] [-1.10603038e-01 9.93861995e-01 -2.30285227e-03 -3.80734677e+00] [-2.25863136e-02 -1.97059684e-04 9.99744877e-01 -1.83936578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.19, Y:-3.81, Z:-1.84 [[ 9.93520428e-01 1.11409663e-01 2.24732463e-02 6.51909686e+01] [-1.11385956e-01 9.93774543e-01 -2.30783291e-03 -3.81023377e+00] [-2.25904549e-02 -2.10324874e-04 9.99744781e-01 -1.84050905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.22, Y:-3.82, Z:-1.84 [[ 9.93337731e-01 1.12164570e-01 2.64435713e-02 6.52220613e+01] [-1.12330305e-01 9.93659023e-01 4.86293469e-03 -3.81762891e+00] [-2.57304443e-02 -7.80095093e-03 9.99638479e-01 -1.84484470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59587156 meters Centerline goodness [0,1] 0.9999572027732603 Centerline is valid? [True, True] Translation: X:65.25, Y:-3.81, Z:-1.84 [[ 9.93285930e-01 1.13727599e-01 2.11918546e-02 6.52532502e+01] [-1.13540316e-01 9.93484617e-01 -9.84443545e-03 -3.81038104e+00] [-2.21733655e-02 7.37220936e-03 9.99726959e-01 -1.84237880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:-3.83, Z:-1.84 [[ 9.92941529e-01 1.15533888e-01 2.68149176e-02 6.52818634e+01] [-1.15842711e-01 9.93214588e-01 1.02590594e-02 -3.82665807e+00] [-2.54476983e-02 -1.32929589e-02 9.99587771e-01 -1.84493254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.31, Y:-3.82, Z:-1.85 [[ 9.92869184e-01 1.16482281e-01 2.53507540e-02 6.53134190e+01] [-1.16442065e-01 9.93192766e-01 -3.06187925e-03 -3.82053838e+00] [-2.55348402e-02 8.81514117e-05 9.99673929e-01 -1.84578015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:-3.81, Z:-1.84 [[ 9.92865928e-01 1.17385804e-01 2.09242045e-02 6.53451097e+01] [-1.17087972e-01 9.93009223e-01 -1.49362242e-02 -3.81292429e+00] [-2.25312287e-02 1.23796954e-02 9.99669489e-01 -1.84405158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.37, Y:-3.82, Z:-1.85 [[ 9.92842029e-01 1.17301612e-01 2.24730529e-02 6.53724531e+01] [-1.17279245e-01 9.93096278e-01 -2.31528454e-03 -3.82207199e+00] [-2.25894918e-02 -3.36910864e-04 9.99744768e-01 -1.84535283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.40, Y:-3.83, Z:-1.84 [[ 9.92830662e-01 1.17330545e-01 2.28214841e-02 6.54022331e+01] [-1.17307478e-01 9.93092859e-01 -2.35155597e-03 -3.82549391e+00] [-2.29397623e-02 -3.42433869e-04 9.99736790e-01 -1.84497257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-3.83, Z:-1.85 [[ 9.92998834e-01 1.15826739e-01 2.31836482e-02 6.54316809e+01] [-1.15802539e-01 9.93269384e-01 -2.38822545e-03 -3.82935441e+00] [-2.33042283e-02 -3.13220236e-04 9.99728371e-01 -1.84522528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-3.84, Z:-1.85 [[ 9.93184643e-01 1.14200494e-01 2.32919005e-02 6.54619492e+01] [-1.14175629e-01 9.93457684e-01 -2.39901924e-03 -3.83576912e+00] [-2.34134867e-02 -2.76698311e-04 9.99725828e-01 -1.84637430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-3.84, Z:-1.85 [[ 9.93423409e-01 1.12212357e-01 2.27665953e-02 6.54923488e+01] [-1.12188080e-01 9.93684224e-01 -2.34483129e-03 -3.84323802e+00] [-2.28859256e-02 -2.24730322e-04 9.99738058e-01 -1.84761953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86587156 meters Centerline goodness [0,1] 0.9999135340783813 Centerline is valid? [True, True] Translation: X:65.52, Y:-3.85, Z:-1.85 [[ 9.93732339e-01 1.09444672e-01 2.27574679e-02 6.55232767e+01] [-1.09419685e-01 9.93992876e-01 -2.34407821e-03 -3.85129554e+00] [-2.28773078e-02 -1.60728642e-04 9.99738267e-01 -1.84972250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.55, Y:-3.89, Z:-1.86 [[ 9.93898846e-01 1.04556543e-01 3.51142986e-02 6.55526104e+01] [-1.05663937e-01 9.93908696e-01 3.13151082e-02 -3.88715512e+00] [-3.16262073e-02 -3.48343650e-02 9.98892562e-01 -1.85654413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.59, Y:-3.85, Z:-1.85 [[ 9.94597296e-01 1.02278983e-01 1.77546900e-02 6.55858988e+01] [-1.01573889e-01 9.94143910e-01 -3.68867225e-02 -3.85444983e+00] [-2.14234534e-02 3.48840215e-02 9.99161719e-01 -1.85060059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.62, Y:-3.89, Z:-1.85 [[ 9.94870728e-01 9.89057548e-02 2.12105116e-02 6.56151443e+01] [-9.88816291e-02 9.95096802e-01 -2.18580227e-03 -3.88537804e+00] [-2.13227007e-02 7.72607561e-05 9.99772642e-01 -1.85456289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.64, Y:-3.91, Z:-1.86 [[ 9.94690500e-01 9.84004917e-02 3.01355754e-02 6.56434109e+01] [-9.89765905e-02 9.94922235e-01 1.82587235e-02 -3.91110525e+00] [-2.81858867e-02 -2.11444954e-02 9.99379040e-01 -1.85635807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01587156000001 meters Centerline goodness [0,1] 0.9998916599856991 Centerline is valid? [True, True] Translation: X:65.68, Y:-3.89, Z:-1.85 [[ 9.95316672e-01 9.48291695e-02 1.87656882e-02 6.56787498e+01] [-9.43856556e-02 9.95264004e-01 -2.32574680e-02 -3.89210853e+00] [-2.08823003e-02 2.13773339e-02 9.99553370e-01 -1.85391245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.71, Y:-3.91, Z:-1.86 [[ 9.95337081e-01 9.43101196e-02 2.02409619e-02 6.57084993e+01] [-9.42870272e-02 9.95542852e-01 -2.09431852e-03 -3.91310265e+00] [-2.03482604e-02 1.76092757e-04 9.99792937e-01 -1.85680963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.74, Y:-3.92, Z:-1.86 [[ 9.95320918e-01 9.45281833e-02 2.00173138e-02 6.57394822e+01] [-9.45055557e-02 9.95522171e-01 -2.07548977e-03 -3.92054879e+00] [-2.01238719e-02 1.74031025e-04 9.99797479e-01 -1.85925981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:-3.92, Z:-1.86 [[ 9.95138364e-01 9.65896035e-02 1.92376115e-02 6.57711944e+01] [-9.65690586e-02 9.95324285e-01 -1.99625219e-03 -3.92382475e+00] [-1.93404791e-02 1.28789103e-04 9.99812947e-01 -1.85923782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.80, Y:-3.93, Z:-1.86 [[ 9.94970919e-01 9.83011089e-02 1.92291915e-02 6.58022471e+01] [-9.82808367e-02 9.95156712e-01 -1.99873075e-03 -3.92703423e+00] [-1.93325365e-02 9.88179362e-05 9.99813104e-01 -1.86212116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:-3.93, Z:-1.86 [[ 9.94772277e-01 1.00199983e-01 1.96997381e-02 6.58333402e+01] [-1.00179014e-01 9.94967316e-01 -2.05091073e-03 -3.92837507e+00] [-1.98060967e-02 6.66888108e-05 9.99803838e-01 -1.86224853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19587156 meters Centerline goodness [0,1] 0.999913952587876 Centerline is valid? [True, True] Translation: X:65.87, Y:-3.93, Z:-1.86 [[ 9.94573637e-01 1.02043056e-01 2.02606924e-02 6.58661716e+01] [-1.02021201e-01 9.94779982e-01 -2.11210542e-03 -3.92896784e+00] [-2.03704569e-02 3.36241970e-05 9.99792500e-01 -1.85955290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.90, Y:-3.93, Z:-1.86 [[ 9.94095532e-01 1.06829587e-01 1.90134844e-02 6.58984955e+01] [-1.06811142e-01 9.94277344e-01 -1.98587580e-03 -3.92919836e+00] [-1.91168270e-02 -5.67017154e-05 9.99817255e-01 -1.86171307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.93, Y:-3.93, Z:-1.86 [[ 9.93845441e-01 1.09189527e-01 1.86785046e-02 6.59294567e+01] [-1.09172111e-01 9.94020944e-01 -1.95260546e-03 -3.93034845e+00] [-1.87800289e-02 -9.85837420e-05 9.99823635e-01 -1.86430127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.96, Y:-3.93, Z:-1.87 [[ 9.93254569e-01 1.14471909e-01 1.84808841e-02 6.59605271e+01] [-1.14455739e-01 9.93426466e-01 -1.93378323e-03 -3.92855762e+00] [-1.85807633e-02 -1.94504218e-04 9.99827344e-01 -1.86510221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.98, Y:-3.96, Z:-1.87 [[ 9.91928359e-01 1.21186511e-01 3.73089899e-02 6.59845130e+01] [-1.22662543e-01 9.91633964e-01 4.01992856e-02 -3.95758690e+00] [-3.21252504e-02 -4.44512270e-02 9.98494896e-01 -1.87093721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.03, Y:-3.90, Z:-1.87 [[ 9.92564859e-01 1.20968341e-01 1.34782011e-02 6.60276169e+01] [-1.20249907e-01 9.91711811e-01 -4.52509009e-02 -3.90120999e+00] [-1.88404177e-02 4.32937016e-02 9.98884725e-01 -1.86663599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37587156000001 meters Centerline goodness [0,1] 0.9999577131258457 Centerline is valid? [True, True] Translation: X:66.06, Y:-3.93, Z:-1.87 [[ 9.92403803e-01 1.21724838e-01 1.78256789e-02 6.60553020e+01] [-1.21710875e-01 9.92563834e-01 -1.87017218e-03 -3.92790996e+00] [-1.79207706e-02 -3.13612984e-04 9.99839361e-01 -1.86953250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40587156000001 meters Centerline goodness [0,1] 0.9999147721219611 Centerline is valid? [True, True] Translation: X:66.08, Y:-3.93, Z:-1.87 [[ 9.92246917e-01 1.23039924e-01 1.75280631e-02 6.60847920e+01] [-1.23026626e-01 9.92401666e-01 -1.83909126e-03 -3.92676772e+00] [-1.76211607e-02 -3.31585827e-04 9.99844680e-01 -1.87141282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43587156000001 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:66.12, Y:-3.93, Z:-1.87 [[ 9.92096914e-01 1.24320823e-01 1.69719295e-02 6.61154299e+01] [-1.24308549e-01 9.92242014e-01 -1.78040347e-03 -3.92989283e+00] [-1.70616027e-02 -3.43423128e-04 9.99854381e-01 -1.87200034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.15, Y:-3.93, Z:-1.87 [[ 9.92126836e-01 1.24136801e-01 1.65649192e-02 6.61452355e+01] [-1.24125082e-01 9.92265058e-01 -1.73770694e-03 -3.93402738e+00] [-1.66525039e-02 -3.32096265e-04 9.99861282e-01 -1.87281551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49587156 meters Centerline goodness [0,1] 0.9998716989201326 Centerline is valid? [True, True] Translation: X:66.17, Y:-3.96, Z:-1.88 [[ 9.91077670e-01 1.29414009e-01 3.18914792e-02 6.61682766e+01] [-1.30296889e-01 9.91097553e-01 2.73561964e-02 -3.95733625e+00] [-2.80672920e-02 -3.12674759e-02 9.99116896e-01 -1.87975890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:-3.93, Z:-1.87 [[ 9.92346855e-01 1.22761709e-01 1.33147069e-02 6.62088501e+01] [-1.22290413e-01 9.91985097e-01 -3.17902940e-02 -3.92550070e+00] [-1.71106216e-02 2.99187373e-02 9.99405871e-01 -1.87324099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55587156 meters Centerline goodness [0,1] 0.9999787206877474 Centerline is valid? [True, True] Translation: X:66.24, Y:-3.95, Z:-1.87 [[ 9.92538804e-01 1.20700833e-01 1.72636175e-02 6.62362601e+01] [-1.20687538e-01 9.92688888e-01 -1.81369438e-03 -3.94668656e+00] [-1.73563157e-02 -2.83341442e-04 9.99849328e-01 -1.87443786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58587156 meters Centerline goodness [0,1] 0.9999785126453082 Centerline is valid? [True, True] Translation: X:66.27, Y:-3.95, Z:-1.87 [[ 9.92669350e-01 1.19596505e-01 1.74423879e-02 6.62665188e+01] [-1.19582769e-01 9.92822544e-01 -1.83211548e-03 -3.95197094e+00] [-1.75363106e-02 -2.67124161e-04 9.99846191e-01 -1.87388505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61587156 meters Centerline goodness [0,1] 0.9999787292876439 Centerline is valid? [True, True] Translation: X:66.30, Y:-3.96, Z:-1.87 [[ 9.92859969e-01 1.17872867e-01 1.83048968e-02 6.62958403e+01] [-1.17857444e-01 9.93028663e-01 -1.92285000e-03 -3.95688442e+00] [-1.84039390e-02 -2.48247556e-04 9.99830602e-01 -1.87332880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:-3.96, Z:-1.87 [[ 9.93000239e-01 1.16687567e-01 1.82903657e-02 6.63260666e+01] [-1.16671974e-01 9.93168646e-01 -1.92096641e-03 -3.96086589e+00] [-1.83895707e-02 -2.26452978e-04 9.99830872e-01 -1.87352682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.36, Y:-3.97, Z:-1.87 [[ 9.93139752e-01 1.15432556e-01 1.86750720e-02 6.63567745e+01] [-1.15416083e-01 9.93315298e-01 -1.96110858e-03 -3.96550440e+00] [-1.87766105e-02 -2.07748781e-04 9.99823682e-01 -1.87396020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70587156 meters Centerline goodness [0,1] 0.9998923295576898 Centerline is valid? [True, True] Translation: X:66.39, Y:-3.97, Z:-1.88 [[ 9.93581218e-01 1.11491662e-01 1.91303855e-02 6.63874140e+01] [-1.11473663e-01 9.93765360e-01 -2.00801392e-03 -3.97434222e+00] [-1.92349913e-02 -1.37409231e-04 9.99814981e-01 -1.87500425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73587156 meters Centerline goodness [0,1] 0.999914354230901 Centerline is valid? [True, True] Translation: X:66.42, Y:-3.98, Z:-1.88 [[ 9.93755137e-01 1.09881552e-01 1.94106455e-02 6.64183771e+01] [-1.09862655e-01 9.93944683e-01 -2.04045689e-03 -3.97983411e+00] [-1.95173165e-02 -1.04790531e-04 9.99809514e-01 -1.87633809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.45, Y:-3.99, Z:-1.88 [[ 9.93908840e-01 1.08523339e-01 1.91808004e-02 6.64496975e+01] [-1.08504582e-01 9.94093899e-01 -2.01900717e-03 -3.98622895e+00] [-1.92866260e-02 -7.44956481e-05 9.99813993e-01 -1.87624253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:-4.00, Z:-1.88 [[ 9.94449723e-01 1.03582099e-01 1.84525807e-02 6.64803388e+01] [-1.03563838e-01 9.94620907e-01 -1.94502236e-03 -3.99808059e+00] [-1.85547921e-02 2.32068596e-05 9.99827845e-01 -1.87840962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.51, Y:-4.01, Z:-1.88 [[ 9.94114081e-01 1.05129411e-01 2.61725109e-02 6.65135043e+01] [-1.05332592e-01 9.94415769e-01 6.50561681e-03 -4.01182879e+00] [-2.53424258e-02 -9.22414368e-03 9.99636272e-01 -1.88113520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:-4.01, Z:-1.88 [[ 9.94277310e-01 1.03611730e-01 2.60238594e-02 6.65452389e+01] [-1.03601357e-01 9.94617361e-01 -1.75018057e-03 -4.01489918e+00] [-2.60651216e-02 -9.55942320e-04 9.99659790e-01 -1.88208126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:-4.01, Z:-1.88 [[ 9.95074196e-01 9.74614583e-02 1.81275391e-02 6.65736232e+01] [-9.72440323e-02 9.95181890e-01 -1.25141570e-02 -4.01490145e+00] [-1.92598466e-02 1.06897198e-02 9.99757365e-01 -1.88049609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:-4.03, Z:-1.88 [[ 9.95419887e-01 9.37213754e-02 1.88561154e-02 6.66027771e+01] [-9.37003694e-02 9.95598441e-01 -1.99638807e-03 -4.03372953e+00] [-1.89602233e-02 2.20419414e-04 9.99820215e-01 -1.88206047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94587156 meters Centerline goodness [0,1] 0.9999785954322652 Centerline is valid? [True, True] Translation: X:66.63, Y:-4.04, Z:-1.88 [[ 9.95526714e-01 9.26108868e-02 1.87025234e-02 6.66330918e+01] [-9.25899747e-02 9.95702348e-01 -1.98283565e-03 -4.04070026e+00] [-1.88057787e-02 2.42299689e-04 9.99823126e-01 -1.88375858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.67, Y:-4.05, Z:-1.88 [[ 9.95513141e-01 9.27585686e-02 1.86931615e-02 6.66651289e+01] [-9.27376596e-02 9.95688601e-01 -1.98417638e-03 -4.04731104e+00] [-1.87966171e-02 2.41713617e-04 9.99823299e-01 -1.88385450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:-4.05, Z:-1.88 [[ 9.95492661e-01 9.30575968e-02 1.82933435e-02 6.66976441e+01] [-9.30375660e-02 9.95660700e-01 -1.94484950e-03 -4.05184587e+00] [-1.83949462e-02 2.34115250e-04 9.99830771e-01 -1.88491484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:-4.06, Z:-1.89 [[ 9.95420420e-01 9.38244580e-02 1.83073123e-02 6.67291981e+01] [-9.38044615e-02 9.95588731e-01 -1.94985421e-03 -4.05646765e+00] [-1.84094978e-02 2.23617131e-04 9.99830506e-01 -1.88666945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-4.06, Z:-1.89 [[ 9.95344557e-01 9.46831315e-02 1.80088035e-02 6.67604000e+01] [-9.46638589e-02 9.95507439e-01 -1.92156508e-03 -4.06132515e+00] [-1.81098377e-02 2.07836507e-04 9.99835982e-01 -1.88865289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:-4.07, Z:-1.89 [[ 9.95205374e-01 9.60164298e-02 1.86308385e-02 6.67906913e+01] [-9.59960159e-02 9.95379731e-01 -1.98901945e-03 -4.06758335e+00] [-1.87357376e-02 1.90996572e-04 9.99824452e-01 -1.88874586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12587156000001 meters Centerline goodness [0,1] 0.9997656532947017 Centerline is valid? [True, True] Translation: X:66.82, Y:-4.07, Z:-1.89 [[ 9.95177610e-01 9.61456147e-02 1.94305479e-02 6.68226945e+01] [-9.61233801e-02 9.95367259e-01 -2.07721014e-03 -4.07233280e+00] [-1.95402458e-02 1.99463082e-04 9.99809051e-01 -1.88944419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.86, Y:-4.08, Z:-1.89 [[ 9.95068733e-01 9.73247233e-02 1.91341293e-02 6.68550954e+01] [-9.73033275e-02 9.95252665e-01 -2.04824399e-03 -4.07501639e+00] [-1.92426379e-02 1.76329108e-04 9.99814828e-01 -1.88701734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.89, Y:-4.08, Z:-1.89 [[ 9.94895692e-01 9.91021024e-02 1.90088216e-02 6.68854577e+01] [-9.90812488e-02 9.95077260e-01 -2.03804842e-03 -4.08038048e+00] [-1.91172210e-02 1.44227814e-04 9.99817239e-01 -1.88905594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:-4.08, Z:-1.89 [[ 9.94807596e-01 1.00131538e-01 1.82077621e-02 6.69184261e+01] [-1.00112538e-01 9.94974201e-01 -1.95428915e-03 -4.08477059e+00] [-1.83119395e-02 1.21316406e-04 9.99832315e-01 -1.89053869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.95, Y:-4.09, Z:-1.89 [[ 9.94661820e-01 1.01577363e-01 1.81632196e-02 6.69500823e+01] [-1.01558630e-01 9.94827638e-01 -1.95321284e-03 -4.08898653e+00] [-1.82676750e-02 9.81545523e-05 9.99833127e-01 -1.89258870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:-4.09, Z:-1.89 [[ 9.94538764e-01 1.02790443e-01 1.80768540e-02 6.69832674e+01] [-1.02772039e-01 9.94703030e-01 -1.94658104e-03 -4.09322160e+00] [-1.81811913e-02 7.81551526e-05 9.99834705e-01 -1.89386936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.01, Y:-4.10, Z:-1.90 [[ 9.94332851e-01 1.04847057e-01 1.75862371e-02 6.70145984e+01] [-1.04829889e-01 9.94488357e-01 -1.89783014e-03 -4.09800598e+00] [-1.76882900e-02 4.35115780e-05 9.99843549e-01 -1.89651355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:-4.10, Z:-1.90 [[ 9.94185375e-01 1.06219341e-01 1.76887253e-02 6.70477556e+01] [-1.06202167e-01 9.94342723e-01 -1.91011161e-03 -4.10151229e+00] [-1.77915461e-02 2.04240724e-05 9.99841718e-01 -1.89643751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.08, Y:-4.11, Z:-1.90 [[ 9.94050709e-01 1.07543295e-01 1.72519158e-02 6.70804241e+01] [-1.07527105e-01 9.94200402e-01 -1.86599764e-03 -4.10531986e+00] [-1.73525371e-02 -1.52283906e-07 9.99849433e-01 -1.89597510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39587156 meters Centerline goodness [0,1] 0.9998939307155434 Centerline is valid? [True, True] Translation: X:67.11, Y:-4.11, Z:-1.90 [[ 9.93852995e-01 1.09161654e-01 1.84379522e-02 6.71117693e+01] [-1.09143356e-01 9.94024010e-01 -1.99878250e-03 -4.10702077e+00] [-1.85459576e-02 -2.58840121e-05 9.99828009e-01 -1.89786176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42587156 meters Centerline goodness [0,1] 0.9998939307155434 Centerline is valid? [True, True] Translation: X:67.14, Y:-4.11, Z:-1.90 [[ 9.93832314e-01 1.09349823e-01 1.84376775e-02 6.71440575e+01] [-1.09331510e-01 9.94003328e-01 -2.00131272e-03 -4.11072735e+00] [-1.85459560e-02 -2.68498823e-05 9.99828009e-01 -1.89884137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45587156 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:67.18, Y:-4.11, Z:-1.90 [[ 9.93352646e-01 1.13543712e-01 1.89300194e-02 6.71763834e+01] [-1.13525096e-01 9.93532996e-01 -2.05867518e-03 -4.11018257e+00] [-1.90413486e-02 -1.04041829e-04 9.99818692e-01 -1.89817048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48587156 meters Centerline goodness [0,1] 0.9999144805764009 Centerline is valid? [True, True] Translation: X:67.21, Y:-4.11, Z:-1.90 [[ 9.93146028e-01 1.15332114e-01 1.89597154e-02 6.72084864e+01] [-1.15313697e-01 9.93326978e-01 -2.06542813e-03 -4.11204133e+00] [-1.90714070e-02 -1.35043140e-04 9.99818115e-01 -1.89874718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51587156000001 meters Centerline goodness [0,1] 0.9999569698143248 Centerline is valid? [True, True] Translation: X:67.24, Y:-4.11, Z:-1.90 [[ 9.92810760e-01 1.18144146e-01 1.92030360e-02 6.72409938e+01] [-1.18125716e-01 9.92996438e-01 -2.09519856e-03 -4.11160867e+00] [-1.93160818e-02 -1.88236702e-04 9.99813409e-01 -1.89885467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54587156000001 meters Centerline goodness [0,1] 0.9999787838927313 Centerline is valid? [True, True] Translation: X:67.27, Y:-4.11, Z:-1.90 [[ 9.92638895e-01 1.19593188e-01 1.91178627e-02 6.72724101e+01] [-1.19575126e-01 9.92822957e-01 -2.08923066e-03 -4.11305290e+00] [-1.92305107e-02 -2.12169217e-04 9.99815054e-01 -1.90024374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.30, Y:-4.12, Z:-1.90 [[ 9.92579100e-01 1.20166373e-01 1.86218463e-02 6.73041637e+01] [-1.20149287e-01 9.92753744e-01 -2.03770541e-03 -4.11660376e+00] [-1.87317713e-02 -2.14817755e-04 9.99824522e-01 -1.90197537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.34, Y:-4.12, Z:-1.90 [[ 9.92580632e-01 1.20223476e-01 1.81660095e-02 6.73370670e+01] [-1.20207178e-01 9.92746832e-01 -1.99042547e-03 -4.12147665e+00] [-1.82735442e-02 -2.08026965e-04 9.99833003e-01 -1.90373454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.37, Y:-4.12, Z:-1.91 [[ 9.92690932e-01 1.19264556e-01 1.84574709e-02 6.73679696e+01] [-1.19247491e-01 9.92862493e-01 -2.02636941e-03 -4.12160847e+00] [-1.85674046e-02 -1.89448556e-04 9.99827593e-01 -1.91008362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66587156 meters Centerline goodness [0,1] 0.9998290342572607 Centerline is valid? [True, True] Translation: X:67.40, Y:-4.13, Z:-1.91 [[ 9.92884607e-01 1.17647666e-01 1.84169630e-02 6.73995349e+01] [-1.17630348e-01 9.93055387e-01 -2.02456370e-03 -4.13122770e+00] [-1.85272495e-02 -1.56235639e-04 9.99828344e-01 -1.90647615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.43, Y:-4.14, Z:-1.91 [[ 9.92991441e-01 1.16780067e-01 1.81773034e-02 6.74314584e+01] [-1.16763000e-01 9.93157791e-01 -2.00106730e-03 -4.13639378e+00] [-1.82866153e-02 -1.35393776e-04 9.99832777e-01 -1.90789973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:-4.15, Z:-1.91 [[ 9.93428563e-01 1.13043199e-01 1.79143752e-02 6.74625756e+01] [-1.13025956e-01 9.93590072e-01 -1.97537937e-03 -4.14654830e+00] [-1.80228485e-02 -6.23910895e-05 9.99837573e-01 -1.90847008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.49, Y:-4.15, Z:-1.91 [[ 9.93604791e-01 1.11481709e-01 1.79261815e-02 6.74941752e+01] [-1.11464137e-01 9.93766485e-01 -1.97955819e-03 -4.15308602e+00] [-1.80351229e-02 -3.12278459e-05 9.99837353e-01 -1.91024835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.53, Y:-4.16, Z:-1.91 [[ 9.93798591e-01 1.09732167e-01 1.79780827e-02 6.75267368e+01] [-1.09714152e-01 9.93961192e-01 -1.98833005e-03 -4.15985481e+00] [-1.80877002e-02 3.54950928e-06 9.99836404e-01 -1.90978169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:-4.17, Z:-1.91 [[ 9.94199316e-01 1.06049421e-01 1.79232059e-02 6.75569722e+01] [-1.06030831e-01 9.94360857e-01 -1.98701984e-03 -4.16990189e+00] [-1.80328567e-02 7.50813570e-05 9.99837392e-01 -1.91183444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-4.18, Z:-1.91 [[ 9.94417770e-01 1.04008352e-01 1.77640414e-02 6.75888459e+01] [-1.03989752e-01 9.94576417e-01 -1.97009823e-03 -4.17678348e+00] [-1.78726033e-02 1.11822428e-04 9.99840266e-01 -1.91237192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:-4.18, Z:-1.91 [[ 9.94595465e-01 1.02296839e-01 1.77543961e-02 6.76195176e+01] [-1.02277916e-01 9.94753907e-01 -1.97298064e-03 -4.18356823e+00] [-1.78630846e-02 1.46434968e-04 9.99840432e-01 -1.91399943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:-4.19, Z:-1.91 [[ 9.94976986e-01 9.85094090e-02 1.77958943e-02 6.76510565e+01] [-9.84897796e-02 9.95136096e-01 -1.97824731e-03 -4.19303424e+00] [-1.79042128e-02 2.15596839e-04 9.99839683e-01 -1.91305875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.68, Y:-4.20, Z:-1.91 [[ 9.95140835e-01 9.68249833e-02 1.78784962e-02 6.76812734e+01] [-9.68048253e-02 9.95301391e-01 -1.99154708e-03 -4.20082920e+00] [-1.79873237e-02 2.51145117e-04 9.99838183e-01 -1.91428551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.71, Y:-4.21, Z:-1.92 [[ 9.95258532e-01 9.55742969e-02 1.80556773e-02 6.77118328e+01] [-9.55535144e-02 9.95422261e-01 -2.01222882e-03 -4.21077859e+00] [-1.81653405e-02 2.77404479e-04 9.99834958e-01 -1.91709569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99587156 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:67.74, Y:-4.22, Z:-1.92 [[ 9.95347287e-01 9.46102600e-02 1.82394290e-02 6.77441538e+01] [-9.45888383e-02 9.95514344e-01 -2.03555094e-03 -4.21552273e+00] [-1.83501972e-02 3.00833712e-04 9.99831576e-01 -1.91712564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.77, Y:-4.22, Z:-1.92 [[ 9.95384460e-01 9.43599653e-02 1.74920886e-02 6.77744523e+01] [-9.43401591e-02 9.95538100e-01 -1.95586777e-03 -4.22307025e+00] [-1.75985963e-02 2.96633956e-04 9.99845089e-01 -1.91931501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-4.23, Z:-1.92 [[ 9.95304055e-01 9.52061523e-02 1.74821826e-02 6.78066414e+01] [-9.51864868e-02 9.95457537e-01 -1.95545271e-03 -4.22731171e+00] [-1.75889416e-02 2.82202465e-04 9.99845263e-01 -1.92000929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:-4.23, Z:-1.92 [[ 9.95123003e-01 9.70091227e-02 1.78728790e-02 6.78374430e+01] [-9.69888007e-02 9.95283459e-01 -2.00239599e-03 -4.23085728e+00] [-1.79828315e-02 2.59161211e-04 9.99838262e-01 -1.92073415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.87, Y:-4.23, Z:-1.92 [[ 9.94621646e-01 1.01928551e-01 1.83943545e-02 6.78689051e+01] [-1.01907784e-01 9.94791706e-01 -2.06526200e-03 -4.22886255e+00] [-1.85090605e-02 1.79626375e-04 9.99828677e-01 -1.92026482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:-4.23, Z:-1.92 [[ 9.94247473e-01 1.05481091e-01 1.85930347e-02 6.79013430e+01] [-1.05460517e-01 9.94421302e-01 -2.08635019e-03 -4.22766101e+00] [-1.87093803e-02 1.13517359e-04 9.99824958e-01 -1.91976600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-4.23, Z:-1.92 [[ 9.93838348e-01 1.09211849e-01 1.89238191e-02 6.79338439e+01] [-1.09191148e-01 9.94018496e-01 -2.12681135e-03 -4.22633032e+00] [-1.90428992e-02 4.73931470e-05 9.99818666e-01 -1.92050484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.97, Y:-4.22, Z:-1.92 [[ 9.93048128e-01 1.16148808e-01 1.91015510e-02 6.79665826e+01] [-1.16128937e-01 9.93231820e-01 -2.14998275e-03 -4.22113617e+00] [-1.92219862e-02 -8.32064752e-05 9.99815237e-01 -1.92321247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23587156 meters Centerline goodness [0,1] 0.9998915307185006 Centerline is valid? [True, True] Translation: X:68.00, Y:-4.22, Z:-1.92 [[ 9.92703950e-01 1.19083883e-01 1.89181792e-02 6.79989827e+01] [-1.19064857e-01 9.92884188e-01 -2.13287272e-03 -4.22119683e+00] [-1.90375517e-02 -1.35179135e-04 9.99818760e-01 -1.92354041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:-4.22, Z:-1.93 [[ 9.92339659e-01 1.22044017e-01 1.91640039e-02 6.80304497e+01] [-1.22024979e-01 9.92524670e-01 -2.16405972e-03 -4.21974820e+00] [-1.92848572e-02 -1.91004882e-04 9.99814012e-01 -1.92514918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.06, Y:-4.22, Z:-1.93 [[ 9.91832788e-01 1.26129266e-01 1.89506883e-02 6.80631569e+01] [-1.26111340e-01 9.92013779e-01 -2.14281392e-03 -4.21770685e+00] [-1.90696155e-02 -2.64583595e-04 9.99818123e-01 -1.92573625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:-4.22, Z:-1.93 [[ 9.91604364e-01 1.27893317e-01 1.90809969e-02 6.80951436e+01] [-1.27875410e-01 9.91787886e-01 -2.16069181e-03 -4.21887542e+00] [-1.92006396e-02 -2.97438875e-04 9.99815606e-01 -1.92656350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:-4.22, Z:-1.93 [[ 9.91412000e-01 1.29354880e-01 1.92239695e-02 6.81270240e+01] [-1.29336915e-01 9.91598311e-01 -2.18012614e-03 -4.21971451e+00] [-1.93444656e-02 -3.24965684e-04 9.99812826e-01 -1.92725716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38587156 meters Centerline goodness [0,1] 0.9999568593615186 Centerline is valid? [True, True] Translation: X:68.16, Y:-4.22, Z:-1.93 [[ 9.91082448e-01 1.31829076e-01 1.94081275e-02 6.81594715e+01] [-1.31811178e-01 9.91272392e-01 -2.20419320e-03 -4.21997075e+00] [-1.95293177e-02 -3.73670947e-04 9.99809215e-01 -1.92740379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-4.22, Z:-1.93 [[ 9.90913673e-01 1.33117686e-01 1.92294938e-02 6.81907114e+01] [-1.33100293e-01 9.91100160e-01 -2.18729603e-03 -4.21884033e+00] [-1.93495222e-02 -3.92029705e-04 9.99812704e-01 -1.92966515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44587156 meters Centerline goodness [0,1] 0.9999786975693926 Centerline is valid? [True, True] Translation: X:68.22, Y:-4.22, Z:-1.93 [[ 9.90773589e-01 1.34131862e-01 1.93994728e-02 6.82223542e+01] [-1.34114291e-01 9.90963407e-01 -2.20979723e-03 -4.21875743e+00] [-1.95205719e-02 -4.12337823e-04 9.99809370e-01 -1.93064014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47587156 meters Centerline goodness [0,1] 0.9999784788877889 Centerline is valid? [True, True] Translation: X:68.25, Y:-4.22, Z:-1.93 [[ 9.90574414e-01 1.35605243e-01 1.93274197e-02 6.82537341e+01] [-1.35588026e-01 9.90762851e-01 -2.20455509e-03 -4.21660527e+00] [-1.94478387e-02 -4.36790812e-04 9.99810777e-01 -1.93174604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50587156 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:68.29, Y:-4.22, Z:-1.93 [[ 9.90540201e-01 1.35897755e-01 1.90239192e-02 6.82860486e+01] [-1.35881079e-01 9.90722773e-01 -2.17250951e-03 -4.22128400e+00] [-1.91426692e-02 -4.33032659e-04 9.99816669e-01 -1.93218075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53587156 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:68.32, Y:-4.22, Z:-1.93 [[ 9.90556558e-01 1.35793540e-01 1.89161365e-02 6.83170317e+01] [-1.35776969e-01 9.90737066e-01 -2.16352642e-03 -4.22256624e+00] [-1.90347105e-02 -4.25280404e-04 9.99818733e-01 -1.93378628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-4.22, Z:-1.94 [[ 9.90643711e-01 1.35069601e-01 1.95253849e-02 6.83478828e+01] [-1.35051742e-01 9.90836023e-01 -2.23642231e-03 -4.22327305e+00] [-1.96485274e-02 -4.21439558e-04 9.99806860e-01 -1.93529201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:-4.23, Z:-1.94 [[ 9.91010770e-01 1.32344720e-01 1.95583708e-02 6.83790964e+01] [-1.32326186e-01 9.91203684e-01 -2.24449671e-03 -4.22666920e+00] [-1.96833765e-02 -3.63764191e-04 9.99806197e-01 -1.93561367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62587156000001 meters Centerline goodness [0,1] 0.9999154959332418 Centerline is valid? [True, True] Translation: X:68.41, Y:-4.23, Z:-1.94 [[ 9.91284917e-01 1.30369005e-01 1.89244981e-02 6.84099969e+01] [-1.30351305e-01 9.91465493e-01 -2.17108458e-03 -4.22805976e+00] [-1.90460290e-02 -3.14669632e-04 9.99818558e-01 -1.93985774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.44, Y:-4.24, Z:-1.94 [[ 9.91629769e-01 1.27766526e-01 1.86042189e-02 6.84409814e+01] [-1.27748914e-01 9.91804239e-01 -2.13695243e-03 -4.23841576e+00] [-1.87247742e-02 -2.57603121e-04 9.99824643e-01 -1.93851056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.47, Y:-4.25, Z:-1.94 [[ 9.92389280e-01 1.21787079e-01 1.82050726e-02 6.84714178e+01] [-1.21769151e-01 9.92556239e-01 -2.09417450e-03 -4.24892108e+00] [-1.83246018e-02 -1.38579920e-04 9.99832081e-01 -1.94102727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.50, Y:-4.26, Z:-1.94 [[ 9.92797692e-01 1.18386123e-01 1.83703150e-02 6.85032623e+01] [-1.18367227e-01 9.92967633e-01 -2.11639756e-03 -4.25718540e+00] [-1.84916803e-02 -7.32886306e-05 9.99829012e-01 -1.94220648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:-4.27, Z:-1.95 [[ 9.93221680e-01 1.14845961e-01 1.79192278e-02 6.85341772e+01] [-1.14827354e-01 9.93383312e-01 -2.06724763e-03 -4.26537878e+00] [-1.80380769e-02 -4.38235385e-06 9.99837301e-01 -1.94633272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.56, Y:-4.28, Z:-1.95 [[ 9.94017931e-01 1.07791736e-01 1.75867453e-02 6.85646306e+01] [-1.07772650e-01 9.94173489e-01 -2.03221438e-03 -4.27862878e+00] [-1.77033319e-02 1.24687396e-04 9.99843276e-01 -1.94700765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:-4.29, Z:-1.95 [[ 9.94373141e-01 1.04466569e-01 1.75725070e-02 6.85945750e+01] [-1.04446911e-01 9.94528381e-01 -2.03528426e-03 -4.28668460e+00] [-1.76889761e-02 1.88437927e-04 9.99843520e-01 -1.94808680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83587156 meters Centerline goodness [0,1] 0.9998042456934052 Centerline is valid? [True, True] Translation: X:68.63, Y:-4.29, Z:-1.95 [[ 9.94698402e-01 1.01288383e-01 1.77694081e-02 6.86262722e+01] [-1.01267799e-01 9.94857077e-01 -2.05672886e-03 -4.29332323e+00] [-1.78863442e-02 2.46356057e-04 9.99839996e-01 -1.94839263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:-4.31, Z:-1.95 [[ 9.95257023e-01 9.55216107e-02 1.84141196e-02 6.86547313e+01] [-9.54984328e-02 9.95427289e-01 -2.13596978e-03 -4.30688499e+00] [-1.85339484e-02 3.67319360e-04 9.99828164e-01 -1.94805110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89587156 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:68.68, Y:-4.32, Z:-1.95 [[ 9.95431310e-01 9.35632163e-02 1.90376592e-02 6.86849223e+01] [-9.35380802e-02 9.95613253e-01 -2.20849044e-03 -4.31534747e+00] [-1.91607793e-02 4.17654433e-04 9.99816328e-01 -1.94826795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.72, Y:-4.32, Z:-1.95 [[ 9.95643792e-01 9.11854837e-02 1.94588395e-02 6.87160324e+01] [-9.11586871e-02 9.95833811e-01 -2.26152960e-03 -4.32385253e+00] [-1.95839890e-02 4.77835649e-04 9.99808101e-01 -1.94734405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95587156 meters Centerline goodness [0,1] 0.9998486224644263 Centerline is valid? [True, True] Translation: X:68.75, Y:-4.33, Z:-1.95 [[ 9.95660904e-01 9.10222955e-02 1.93470083e-02 6.87484769e+01] [-9.09957833e-02 9.95848740e-01 -2.24812831e-03 -4.32513949e+00] [-1.94713237e-02 4.77877289e-04 9.99810302e-01 -1.94792089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:-4.33, Z:-1.95 [[ 9.95622396e-01 9.13238789e-02 1.98995912e-02 6.87795858e+01] [-9.12958164e-02 9.95821123e-01 -2.31603894e-03 -4.33079181e+00] [-2.00279429e-02 4.89150821e-04 9.99799301e-01 -1.94852639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01587156000001 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:68.81, Y:-4.33, Z:-1.95 [[ 9.95563055e-01 9.19613579e-02 1.99326677e-02 6.88105897e+01] [-9.19332650e-02 9.95762461e-01 -2.32311048e-03 -4.33375413e+00] [-2.00618386e-02 4.80327740e-04 9.99798626e-01 -1.94942234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.84, Y:-4.33, Z:-1.95 [[ 9.95482709e-01 9.28012966e-02 2.00523364e-02 6.88434526e+01] [-9.27729543e-02 9.95684538e-01 -2.34109003e-03 -4.33410125e+00] [-2.01830575e-02 4.70200160e-04 9.99796191e-01 -1.94960961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:-4.34, Z:-1.95 [[ 9.95311424e-01 9.45183143e-02 2.05294225e-02 6.88740641e+01] [-9.44889522e-02 9.95523023e-01 -2.39774453e-03 -4.33823039e+00] [-2.06641435e-02 4.46698903e-04 9.99786374e-01 -1.95023429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10587156000001 meters Centerline goodness [0,1] 0.9999359289238194 Centerline is valid? [True, True] Translation: X:68.91, Y:-4.34, Z:-1.95 [[ 9.95209290e-01 9.56176856e-02 2.03894142e-02 6.89050107e+01] [-9.55889239e-02 9.95418043e-01 -2.38282545e-03 -4.34322663e+00] [-2.05238310e-02 4.22407861e-04 9.99789275e-01 -1.95234726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.94, Y:-4.35, Z:-1.95 [[ 9.95124377e-01 9.64994302e-02 2.03797599e-02 6.89373628e+01] [-9.64708184e-02 9.95332956e-01 -2.38472177e-03 -4.34708727e+00] [-2.05147709e-02 4.07042648e-04 9.99789467e-01 -1.95248002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.97, Y:-4.35, Z:-1.95 [[ 9.94963686e-01 9.82102750e-02 2.00500685e-02 6.89686603e+01] [-9.81828604e-02 9.95165617e-01 -2.34952708e-03 -4.34976771e+00] [-2.01838865e-02 3.69121039e-04 9.99796216e-01 -1.95375883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.00, Y:-4.35, Z:-1.95 [[ 9.94863789e-01 9.91905496e-02 2.01810746e-02 6.90009964e+01] [-9.91629160e-02 9.95068394e-01 -2.36789072e-03 -4.35155517e+00] [-2.03164219e-02 3.54514533e-04 9.99793537e-01 -1.95423539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:-4.35, Z:-1.95 [[ 9.94768150e-01 1.00050057e-01 2.06473940e-02 6.90317714e+01] [-1.00021239e-01 9.94982344e-01 -2.42628663e-03 -4.35405948e+00] [-2.07865426e-02 3.48414715e-04 9.99783876e-01 -1.95416245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:-4.36, Z:-1.95 [[ 9.94579225e-01 1.01616477e-01 2.20512189e-02 6.90632255e+01] [-1.01583912e-01 9.94823590e-01 -2.59487686e-03 -4.35812494e+00] [-2.22007550e-02 3.40761546e-04 9.99753475e-01 -1.95306673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28587156 meters Centerline goodness [0,1] 0.9999354894202649 Centerline is valid? [True, True] Translation: X:69.09, Y:-4.36, Z:-1.95 [[ 9.94512361e-01 1.02149531e-01 2.25972813e-02 6.90946715e+01] [-1.02115383e-01 9.94768997e-01 -2.66298457e-03 -4.36274362e+00] [-2.27510975e-02 3.40841038e-04 9.99741102e-01 -1.95271247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31587156 meters Centerline goodness [0,1] 0.9999354894202649 Centerline is valid? [True, True] Translation: X:69.13, Y:-4.37, Z:-1.95 [[ 9.94493407e-01 1.02333984e-01 2.25968712e-02 6.91269228e+01] [-1.02299804e-01 9.94750039e-01 -2.66645896e-03 -4.36674753e+00] [-2.27511079e-02 3.40120354e-04 9.99741102e-01 -1.95369215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.16, Y:-4.37, Z:-1.95 [[ 9.94427587e-01 1.02882821e-01 2.29978081e-02 6.91582666e+01] [-1.02847458e-01 9.94693426e-01 -2.71836399e-03 -4.37116805e+00] [-2.31554415e-02 3.37950039e-04 9.99731820e-01 -1.95431674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:-4.38, Z:-1.96 [[ 9.94391541e-01 1.03491636e-01 2.17932405e-02 6.91894227e+01] [-1.03459956e-01 9.94630276e-01 -2.57920815e-03 -4.37588887e+00] [-2.19431432e-02 3.10015072e-04 9.99759172e-01 -1.95788334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-4.38, Z:-1.96 [[ 9.94342212e-01 1.04085141e-01 2.12096262e-02 6.92226069e+01] [-1.04055197e-01 9.94568348e-01 -2.51356637e-03 -4.37845355e+00] [-2.13560478e-02 2.92373305e-04 9.99771891e-01 -1.95963443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-4.38, Z:-1.96 [[ 9.94255305e-01 1.05008348e-01 2.07276687e-02 6.92551609e+01] [-1.04979873e-01 9.94471304e-01 -2.46016253e-03 -4.38023092e+00] [-2.08714093e-02 2.70041617e-04 9.99782132e-01 -1.96094040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46587156000001 meters Centerline goodness [0,1] 0.9999783891254079 Centerline is valid? [True, True] Translation: X:69.29, Y:-4.38, Z:-1.96 [[ 9.94040300e-01 1.07179042e-01 1.99132019e-02 6.92878009e+01] [-1.07153121e-01 9.94239712e-01 -2.36724046e-03 -4.37968077e+00] [-2.00522146e-02 2.19370687e-04 9.99798910e-01 -1.96397112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.32, Y:-4.38, Z:-1.97 [[ 9.93921202e-01 1.08341576e-01 1.95639169e-02 6.93184634e+01] [-1.08316702e-01 9.94113708e-01 -2.32977011e-03 -4.38337588e+00] [-1.97011689e-02 1.96508951e-04 9.99805894e-01 -1.96566175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:-4.39, Z:-1.97 [[ 9.93778015e-01 1.09631222e-01 1.96533001e-02 6.93494905e+01] [-1.09606334e-01 9.93972316e-01 -2.34237035e-03 -4.38574476e+00] [-1.97916331e-02 1.73669992e-04 9.99804111e-01 -1.96685442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:-4.38, Z:-1.97 [[ 9.93476595e-01 1.12291714e-01 1.98702067e-02 6.93825081e+01] [-1.12266782e-01 9.93675277e-01 -2.36938047e-03 -4.38324746e+00] [-2.00105949e-02 1.23159885e-04 9.99799760e-01 -1.96685982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58587156 meters Centerline goodness [0,1] 0.9999565462999175 Centerline is valid? [True, True] Translation: X:69.42, Y:-4.38, Z:-1.97 [[ 9.93282381e-01 1.14077507e-01 1.94019045e-02 6.94159480e+01] [-1.14054022e-01 9.93471849e-01 -2.31632037e-03 -4.38284787e+00] [-1.95394859e-02 8.78949770e-05 9.99809082e-01 -1.96861342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.45, Y:-4.38, Z:-1.97 [[ 9.93138661e-01 1.15364952e-01 1.91449119e-02 6.94478789e+01] [-1.15342249e-01 9.93323172e-01 -2.28954106e-03 -4.38432093e+00] [-1.92812174e-02 6.56145432e-05 9.99814098e-01 -1.96927411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.48, Y:-4.38, Z:-1.97 [[ 9.92827734e-01 1.17870778e-01 1.99892639e-02 6.94792063e+01] [-1.17846450e-01 9.93028942e-01 -2.39477345e-03 -4.38248285e+00] [-2.01321914e-02 2.19337056e-05 9.99797327e-01 -1.97135057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.51, Y:-4.38, Z:-1.97 [[ 9.92692759e-01 1.18877120e-01 2.07199421e-02 6.95118537e+01] [-1.18851130e-01 9.92908974e-01 -2.48570413e-03 -4.38402788e+00] [-2.08685098e-02 4.95196390e-06 9.99782229e-01 -1.96900726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.54, Y:-4.39, Z:-1.97 [[ 9.92584971e-01 1.19672664e-01 2.12962136e-02 6.95447325e+01] [-1.19645313e-01 9.92813403e-01 -2.55842365e-03 -4.38628228e+00] [-2.14493397e-02 -8.53928043e-06 9.99769936e-01 -1.96903336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-4.39, Z:-1.97 [[ 9.92527123e-01 1.20031912e-01 2.19601964e-02 6.95778402e+01] [-1.20002818e-01 9.92770034e-01 -2.64266282e-03 -4.38880006e+00] [-2.21186288e-02 -1.23709230e-05 9.99755353e-01 -1.96896784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76587156000001 meters Centerline goodness [0,1] 0.9998921693372728 Centerline is valid? [True, True] Translation: X:69.61, Y:-4.39, Z:-1.97 [[ 9.92445537e-01 1.20671842e-01 2.21396201e-02 6.96112351e+01] [-1.20642332e-01 9.92692453e-01 -2.66864895e-03 -4.38725012e+00] [-2.22998646e-02 -2.24866579e-05 9.99751327e-01 -1.97116723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79587156000001 meters Centerline goodness [0,1] 0.9998493392449744 Centerline is valid? [True, True] Translation: X:69.64, Y:-4.39, Z:-1.97 [[ 9.92402073e-01 1.21050233e-01 2.20219373e-02 6.96443274e+01] [-1.21021034e-01 9.92646382e-01 -2.65872265e-03 -4.38823123e+00] [-2.21818354e-02 -2.65957606e-05 9.99753952e-01 -1.97238774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82587156000001 meters Centerline goodness [0,1] 0.9999358014123689 Centerline is valid? [True, True] Translation: X:69.68, Y:-4.39, Z:-1.97 [[ 9.92422072e-01 1.20929538e-01 2.17824997e-02 6.96758582e+01] [-1.20900838e-01 9.92661093e-01 -2.63457164e-03 -4.39022579e+00] [-2.19412375e-02 -1.89154205e-05 9.99759262e-01 -1.97357288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:-4.39, Z:-1.97 [[ 9.92491651e-01 1.20386140e-01 2.16217537e-02 6.97086080e+01] [-1.20357690e-01 9.92727141e-01 -2.61711944e-03 -4.39257273e+00] [-2.17795667e-02 -4.87512557e-06 9.99762797e-01 -1.97382366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:-4.39, Z:-1.98 [[ 9.92503944e-01 1.20309176e-01 2.14854435e-02 6.97411228e+01] [-1.20280974e-01 9.92736472e-01 -2.60480544e-03 -4.39423713e+00] [-2.16427654e-02 9.89597335e-07 9.99765768e-01 -1.97530937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.77, Y:-4.39, Z:-1.98 [[ 9.92563717e-01 1.19851568e-01 2.12807084e-02 6.97740099e+01] [-1.19823718e-01 9.92791822e-01 -2.58364730e-03 -4.39376011e+00] [-2.14369675e-02 1.45009617e-05 9.99770202e-01 -1.97707574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94587156 meters Centerline goodness [0,1] 0.9999571247883037 Centerline is valid? [True, True] Translation: X:69.81, Y:-4.40, Z:-1.98 [[ 9.92634574e-01 1.19300611e-01 2.10705031e-02 6.98063629e+01] [-1.19273086e-01 9.92858179e-01 -2.56271925e-03 -4.39653260e+00] [-2.12257554e-02 3.06997903e-05 9.99774708e-01 -1.97904706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:-4.40, Z:-1.98 [[ 9.92739892e-01 1.18390552e-01 2.12410987e-02 6.98378838e+01] [-1.18362328e-01 9.92967106e-01 -2.58552637e-03 -4.40003321e+00] [-2.13978142e-02 5.26092863e-05 9.99771039e-01 -1.97960089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.87, Y:-4.40, Z:-1.98 [[ 9.93038753e-01 1.15912433e-01 2.09366398e-02 6.98704021e+01] [-1.15884382e-01 9.93259430e-01 -2.55220751e-03 -4.40281979e+00] [-2.10913475e-02 1.08211395e-04 9.99777547e-01 -1.98121703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03587156 meters Centerline goodness [0,1] 0.9998495464901346 Centerline is valid? [True, True] Translation: X:69.90, Y:-4.41, Z:-1.98 [[ 9.93169638e-01 1.14766489e-01 2.10410024e-02 6.99036506e+01] [-1.14737833e-01 9.93392488e-01 -2.56811068e-03 -4.40630618e+00] [-2.11967068e-02 1.36370539e-04 9.99775315e-01 -1.98253704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06587156 meters Centerline goodness [0,1] 0.9996785392824997 Centerline is valid? [True, True] Translation: X:69.93, Y:-4.41, Z:-1.98 [[ 9.93322822e-01 1.13394608e-01 2.12469631e-02 6.99344179e+01] [-1.13364978e-01 9.93550016e-01 -2.59775655e-03 -4.41166739e+00] [-2.14044921e-02 1.71749371e-04 9.99770883e-01 -1.98431029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.97, Y:-4.42, Z:-1.98 [[ 9.93456513e-01 1.12261257e-01 2.10134986e-02 6.99667337e+01] [-1.12231954e-01 9.93678706e-01 -2.57236635e-03 -4.41572003e+00] [-2.11694432e-02 1.97148091e-04 9.99775883e-01 -1.98387237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12587156000001 meters Centerline goodness [0,1] 0.9998283593297432 Centerline is valid? [True, True] Translation: X:70.00, Y:-4.42, Z:-1.99 [[ 9.93671703e-01 1.10373454e-01 2.08386189e-02 6.99978498e+01] [-1.10344147e-01 9.93890157e-01 -2.55452377e-03 -4.41927379e+00] [-2.09932498e-02 2.38938357e-04 9.99779589e-01 -1.98636301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.03, Y:-4.42, Z:-1.99 [[ 9.93759764e-01 1.09570756e-01 2.08753881e-02 7.00298944e+01] [-1.09541102e-01 9.93978965e-01 -2.56217226e-03 -4.42427634e+00] [-2.10304358e-02 2.59470673e-04 9.99778802e-01 -1.98636140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:-4.43, Z:-1.99 [[ 9.93855847e-01 1.08682421e-01 2.09448535e-02 7.00603392e+01] [-1.08652297e-01 9.94076482e-01 -2.57430126e-03 -4.42946859e+00] [-2.11005675e-02 2.82777919e-04 9.99777318e-01 -1.98719036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:-4.43, Z:-1.99 [[ 9.94079423e-01 1.06526162e-01 2.14074129e-02 7.00922436e+01] [-1.06494122e-01 9.94309842e-01 -2.63443408e-03 -4.43436268e+00] [-2.15662375e-02 3.39073067e-04 9.99767364e-01 -1.98680611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:-4.44, Z:-1.99 [[ 9.94179443e-01 1.05508176e-01 2.18004762e-02 7.01232523e+01] [-1.05474607e-01 9.94418366e-01 -2.68717834e-03 -4.43980647e+00] [-2.19623132e-02 3.72140799e-04 9.99758730e-01 -1.98759880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.15, Y:-4.45, Z:-1.99 [[ 9.94401928e-01 1.03258916e-01 2.24143284e-02 7.01548955e+01] [-1.03222823e-01 9.94654416e-01 -2.76441755e-03 -4.44691619e+00] [-2.25799615e-02 4.35271899e-04 9.99744945e-01 -1.98817057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.19, Y:-4.45, Z:-1.99 [[ 9.94503959e-01 1.02276971e-01 2.23896667e-02 7.01867418e+01] [-1.02240627e-01 9.94755854e-01 -2.76498869e-03 -4.45061209e+00] [-2.25550467e-02 4.60658633e-04 9.99745496e-01 -1.98797847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33587156 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:70.22, Y:-4.46, Z:-1.99 [[ 9.94589377e-01 1.01470889e-01 2.22627472e-02 7.02171316e+01] [-1.01434667e-01 9.94838393e-01 -2.75320501e-03 -4.46100278e+00] [-2.24272058e-02 4.80094100e-04 9.99748363e-01 -1.99089838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.25, Y:-4.46, Z:-1.99 [[ 9.94555839e-01 1.01777736e-01 2.23601427e-02 7.02501485e+01] [-1.01741199e-01 9.94807048e-01 -2.76857180e-03 -4.46229999e+00] [-2.25258066e-02 4.78551516e-04 9.99746147e-01 -1.99031864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.28, Y:-4.47, Z:-1.99 [[ 9.94455199e-01 1.02727122e-01 2.24943542e-02 7.02811132e+01] [-1.02690282e-01 9.94709467e-01 -2.78981173e-03 -4.46812739e+00] [-2.26619364e-02 4.64391192e-04 9.99743077e-01 -1.99204841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:-4.47, Z:-1.99 [[ 9.94337439e-01 1.03897310e-01 2.23249973e-02 7.03131757e+01] [-1.03861243e-01 9.94587933e-01 -2.77216510e-03 -4.47024603e+00] [-2.24921934e-02 4.37765586e-04 9.99746923e-01 -1.99262379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.34, Y:-4.47, Z:-1.99 [[ 9.93907783e-01 1.07905836e-01 2.24421545e-02 7.03448139e+01] [-1.07870302e-01 9.94161056e-01 -2.79152394e-03 -4.46857433e+00] [-2.26123377e-02 3.53675400e-04 9.99744246e-01 -1.99281765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-4.47, Z:-1.99 [[ 9.93618446e-01 1.10563199e-01 2.23195687e-02 7.03775808e+01] [-1.10528735e-01 9.93869053e-01 -2.77568721e-03 -4.46752532e+00] [-2.24896174e-02 2.91020326e-04 9.99747034e-01 -1.99344547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.41, Y:-4.46, Z:-2.00 [[ 9.93028281e-01 1.15860963e-01 2.17041592e-02 7.04099310e+01] [-1.15829560e-01 9.93265427e-01 -2.70273352e-03 -4.46388819e+00] [-2.18711323e-02 1.69907611e-04 9.99760784e-01 -1.99645477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.44, Y:-4.46, Z:-2.00 [[ 9.92692705e-01 1.18722304e-01 2.15918534e-02 7.04427434e+01] [-1.18691821e-01 9.92927491e-01 -2.69244857e-03 -4.46302336e+00] [-2.17587985e-02 1.09997662e-04 9.99763243e-01 -1.99784743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.47, Y:-4.46, Z:-2.00 [[ 9.92373758e-01 1.21384465e-01 2.14507734e-02 7.04745738e+01] [-1.21354898e-01 9.92605565e-01 -2.67956391e-03 -4.46153943e+00] [-2.16174145e-02 5.59724873e-05 9.99766315e-01 -1.99866276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-4.46, Z:-2.00 [[ 9.92067245e-01 1.23837501e-01 2.16068328e-02 7.05058246e+01] [-1.23808073e-01 9.92302511e-01 -2.69957209e-03 -4.46018221e+00] [-2.17748227e-02 3.05671216e-06 9.99762900e-01 -1.99953682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-4.46, Z:-2.00 [[ 9.91553499e-01 1.27898644e-01 2.15312727e-02 7.05360790e+01] [-1.27870360e-01 9.91787240e-01 -2.69096074e-03 -4.45554673e+00] [-2.16986118e-02 -8.49800664e-05 9.99764554e-01 -2.00252130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:-4.46, Z:-2.00 [[ 9.91350868e-01 1.29481263e-01 2.14023149e-02 7.05654192e+01] [-1.29453692e-01 9.91581862e-01 -2.67458164e-03 -4.45555978e+00] [-2.15684554e-02 -1.19159845e-04 9.99767367e-01 -2.00425077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-4.46, Z:-2.00 [[ 9.91259693e-01 1.30169568e-01 2.14500342e-02 7.05953994e+01] [-1.30142037e-01 9.91491738e-01 -2.68040148e-03 -4.45733200e+00] [-2.16164384e-02 -1.34577206e-04 9.99766328e-01 -2.00404733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-4.45, Z:-2.01 [[ 9.91203453e-01 1.30661262e-01 2.10558486e-02 7.06247383e+01] [-1.30634854e-01 9.91427059e-01 -2.63074799e-03 -4.45440262e+00] [-2.12190749e-02 -1.43021207e-04 9.99774840e-01 -2.00575866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-4.46, Z:-2.01 [[ 9.91248658e-01 1.30295853e-01 2.11916941e-02 7.06544057e+01] [-1.30269038e-01 9.91475149e-01 -2.64682605e-03 -4.45710045e+00] [-2.13559085e-02 -1.36958830e-04 9.99771927e-01 -2.00656206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:-4.46, Z:-2.01 [[ 9.91441072e-01 1.28790739e-01 2.13903492e-02 7.06836380e+01] [-1.28763081e-01 9.91671788e-01 -2.67111812e-03 -4.45992794e+00] [-2.15562211e-02 -1.06031048e-04 9.99767632e-01 -2.00733024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:-4.46, Z:-2.01 [[ 9.91544811e-01 1.27980309e-01 2.14459317e-02 7.07123236e+01] [-1.27952326e-01 9.91776705e-01 -2.67764436e-03 -4.46248274e+00] [-2.16122613e-02 -8.90524714e-05 9.99766424e-01 -2.00852050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:-4.47, Z:-2.01 [[ 9.91665927e-01 1.27056032e-01 2.13413862e-02 7.07423297e+01] [-1.27028125e-01 9.91895539e-01 -2.66373354e-03 -4.46513799e+00] [-2.15068691e-02 -6.94224819e-05 9.99768698e-01 -2.00940268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87587156000001 meters Centerline goodness [0,1] 0.999935126719142 Centerline is valid? [True, True] Translation: X:70.77, Y:-4.47, Z:-2.01 [[ 9.91838744e-01 1.25735825e-01 2.11283859e-02 7.07722146e+01] [-1.25708183e-01 9.92063758e-01 -2.63666531e-03 -4.46535306e+00] [-2.12922292e-02 -4.08641954e-05 9.99773294e-01 -2.01043576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:-4.47, Z:-2.01 [[ 9.91878680e-01 1.25562058e-01 2.02695070e-02 7.08008533e+01] [-1.25536589e-01 9.92085767e-01 -2.52912276e-03 -4.46678364e+00] [-2.04266513e-02 -3.59818261e-05 9.99791354e-01 -2.01226083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:-4.47, Z:-2.01 [[ 9.91915098e-01 1.25333862e-01 1.98962888e-02 7.08295135e+01] [-1.25309289e-01 9.92114621e-01 -2.48192627e-03 -4.46860852e+00] [-2.00504684e-02 -3.13296636e-05 9.99798969e-01 -2.01420622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96587156000001 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:70.86, Y:-4.47, Z:-2.02 [[ 9.91931766e-01 1.25229087e-01 1.97242671e-02 7.08580651e+01] [-1.25204933e-01 9.92127852e-01 -2.45965103e-03 -4.46772732e+00] [-1.98770146e-02 -2.97695498e-05 9.99802432e-01 -2.01592507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:-4.47, Z:-2.02 [[ 9.91969235e-01 1.24938822e-01 1.96806439e-02 7.08873844e+01] [-1.24914743e-01 9.92164447e-01 -2.45292188e-03 -4.46870316e+00] [-1.98329004e-02 -2.51795448e-05 9.99803308e-01 -2.01589894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:-4.47, Z:-2.02 [[ 9.92038880e-01 1.24385790e-01 1.96732207e-02 7.09152389e+01] [-1.24361636e-01 9.92233932e-01 -2.45120083e-03 -4.46935277e+00] [-1.98253317e-02 -1.49073861e-05 9.99803459e-01 -2.01742853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:-4.47, Z:-2.02 [[ 9.92274777e-01 1.22387422e-01 2.02999071e-02 7.09441876e+01] [-1.22361318e-01 9.92482402e-01 -2.52773760e-03 -4.47100800e+00] [-2.04566638e-02 2.42868692e-05 9.99790740e-01 -2.01572601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:-4.47, Z:-2.02 [[ 9.92396137e-01 1.21437510e-01 2.00708321e-02 7.09724765e+01] [-1.21411822e-01 9.92599078e-01 -2.49801870e-03 -4.47440318e+00] [-2.02256426e-02 4.21878210e-05 9.99795440e-01 -2.01757795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:-4.48, Z:-2.02 [[ 9.92646896e-01 1.19398380e-01 1.99039372e-02 7.10007303e+01] [-1.19372716e-01 9.92846423e-01 -2.47681199e-03 -4.47732407e+00] [-2.00572802e-02 8.26126768e-05 9.99798829e-01 -2.01871903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:-4.48, Z:-2.02 [[ 9.92730948e-01 1.18574068e-01 2.06265590e-02 7.10294502e+01] [-1.18546347e-01 9.92945205e-01 -2.56583908e-03 -4.48026856e+00] [-2.07852848e-02 1.01984640e-04 9.99783957e-01 -2.01913460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.06, Y:-4.48, Z:-2.02 [[ 9.92854923e-01 1.17493045e-01 2.08443436e-02 7.10586462e+01] [-1.17464508e-01 9.93073698e-01 -2.59239637e-03 -4.48221502e+00] [-2.10045579e-02 1.25402923e-04 9.99779372e-01 -2.01843152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.09, Y:-4.49, Z:-2.02 [[ 9.92970593e-01 1.16476511e-01 2.10386394e-02 7.10868088e+01] [-1.16447221e-01 9.93193436e-01 -2.61614241e-03 -4.48595678e+00] [-2.12001577e-02 1.47861378e-04 9.99775240e-01 -2.02046724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:-4.49, Z:-2.02 [[ 9.92973300e-01 1.16453408e-01 2.10387491e-02 7.11157432e+01] [-1.16424132e-01 9.93196145e-01 -2.61526032e-03 -4.48950882e+00] [-2.12001605e-02 1.47465576e-04 9.99775240e-01 -2.02134589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:-4.49, Z:-2.02 [[ 9.93298089e-01 1.13708056e-01 2.07215957e-02 7.11448732e+01] [-1.13679068e-01 9.93514186e-01 -2.57535813e-03 -4.49251027e+00] [-2.08800383e-02 2.02486625e-04 9.99781968e-01 -2.02195222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.17, Y:-4.50, Z:-2.02 [[ 9.93456731e-01 1.12374096e-01 2.03908211e-02 7.11740974e+01] [-1.12345755e-01 9.93665945e-01 -2.53378385e-03 -4.49506322e+00] [-2.05463961e-02 2.26382427e-04 9.99788875e-01 -2.02260360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-4.50, Z:-2.02 [[ 9.93598714e-01 1.11114509e-01 2.03754897e-02 7.12020975e+01] [-1.11085953e-01 9.93807578e-01 -2.53149663e-03 -4.50009148e+00] [-2.05306021e-02 2.51861093e-04 9.99789193e-01 -2.02483854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:-4.50, Z:-2.03 [[ 9.93795527e-01 1.09310907e-01 2.05323440e-02 7.12324232e+01] [-1.09281548e-01 9.94007566e-01 -2.54988185e-03 -4.50442249e+00] [-2.06880352e-02 2.90254844e-04 9.99785938e-01 -2.02555435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.26, Y:-4.51, Z:-2.03 [[ 9.93876888e-01 1.08627073e-01 2.02210290e-02 7.12625528e+01] [-1.08598452e-01 9.94082526e-01 -2.51145590e-03 -4.50565743e+00] [-2.03741837e-02 3.00105534e-04 9.99792380e-01 -2.02541331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.29, Y:-4.51, Z:-2.03 [[ 9.93900660e-01 1.08342527e-01 2.05760624e-02 7.12915385e+01] [-1.08312838e-01 9.94113575e-01 -2.55514687e-03 -4.50731544e+00] [-2.07317740e-02 3.10910438e-04 9.99785025e-01 -2.02641493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44587156 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:71.32, Y:-4.51, Z:-2.03 [[ 9.93893779e-01 1.08363165e-01 2.07985624e-02 7.13197180e+01] [-1.08332852e-01 9.94111325e-01 -2.58200563e-03 -4.50978311e+00] [-2.09558807e-02 3.13071744e-04 9.99780352e-01 -2.02858987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.35, Y:-4.51, Z:-2.03 [[ 9.93853608e-01 1.08770305e-01 2.05919126e-02 7.13495882e+01] [-1.08740696e-01 9.94066864e-01 -2.55552219e-03 -4.51091105e+00] [-2.07477029e-02 3.00636044e-04 9.99784698e-01 -2.02795300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.38, Y:-4.51, Z:-2.03 [[ 9.93752282e-01 1.09732059e-01 2.03783312e-02 7.13797960e+01] [-1.09703273e-01 9.93961165e-01 -2.52853976e-03 -4.50949170e+00] [-2.05327317e-02 2.77172520e-04 9.99789143e-01 -2.02900664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.41, Y:-4.51, Z:-2.03 [[ 9.93732801e-01 1.09864727e-01 2.06121791e-02 7.14094901e+01] [-1.09835315e-01 9.93946510e-01 -2.55705855e-03 -4.51092341e+00] [-2.07683340e-02 2.77087771e-04 9.99784276e-01 -2.02972199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.44, Y:-4.51, Z:-2.03 [[ 9.93736150e-01 1.09739054e-01 2.11140584e-02 7.14386720e+01] [-1.09708175e-01 9.93960391e-01 -2.61880131e-03 -4.51308626e+00] [-2.12739225e-02 2.86012716e-04 9.99773644e-01 -2.02934154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:-4.52, Z:-2.03 [[ 9.93913512e-01 1.07987591e-01 2.17855489e-02 7.14673484e+01] [-1.07954305e-01 9.94152186e-01 -2.70164017e-03 -4.51680379e+00] [-2.19498947e-02 3.33352876e-04 9.99759016e-01 -2.02864966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62587156000001 meters Centerline goodness [0,1] 0.9999354866457356 Centerline is valid? [True, True] Translation: X:71.50, Y:-4.52, Z:-2.03 [[ 9.94067612e-01 1.06573826e-01 2.17164215e-02 7.14953953e+01] [-1.06540431e-01 9.94304726e-01 -2.69229123e-03 -4.52189006e+00] [-2.18796683e-02 3.62642614e-04 9.99760546e-01 -2.03202170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:-4.53, Z:-2.03 [[ 9.94267382e-01 1.04819002e-01 2.11033021e-02 7.15250078e+01] [-1.04787093e-01 9.94491240e-01 -2.61525772e-03 -4.52805282e+00] [-2.12611777e-02 3.88911776e-04 9.99773880e-01 -2.03207708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:-4.54, Z:-2.03 [[ 9.94620225e-01 1.01387647e-01 2.12403739e-02 7.15536306e+01] [-1.01354540e-01 9.94846887e-01 -2.63224454e-03 -4.53863180e+00] [-2.13977969e-02 4.65275340e-04 9.99770933e-01 -2.03316873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.58, Y:-4.55, Z:-2.03 [[ 9.94769829e-01 9.99452677e-02 2.10696419e-02 7.15844037e+01] [-9.99123716e-02 9.94992815e-01 -2.61088116e-03 -4.54515888e+00] [-2.12250875e-02 4.92107911e-04 9.99774601e-01 -2.03428674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74587156 meters Centerline goodness [0,1] 0.9998928624997322 Centerline is valid? [True, True] Translation: X:71.62, Y:-4.55, Z:-2.04 [[ 9.94985784e-01 9.79782036e-02 2.00888367e-02 7.16156137e+01] [-9.79478899e-02 9.95188430e-01 -2.48976973e-03 -4.54968315e+00] [-2.02361211e-02 5.09626317e-04 9.99795099e-01 -2.03750724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-4.55, Z:-2.04 [[ 9.95033785e-01 9.76569412e-02 1.92584806e-02 7.16460726e+01] [-9.76290111e-02 9.95220014e-01 -2.38741870e-03 -4.55460751e+00] [-1.93995733e-02 4.95375848e-04 9.99811688e-01 -2.03758460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80587156 meters Centerline goodness [0,1] 0.9999786857642219 Centerline is valid? [True, True] Translation: X:71.68, Y:-4.56, Z:-2.04 [[ 9.95043147e-01 9.76138311e-02 1.89914691e-02 7.16762547e+01] [-9.75866580e-02 9.95224246e-01 -2.35454231e-03 -4.56104692e+00] [-1.91306064e-02 4.89557186e-04 9.99816873e-01 -2.03972460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83587156 meters Centerline goodness [0,1] 0.9998062557854175 Centerline is valid? [True, True] Translation: X:71.71, Y:-4.56, Z:-2.04 [[ 9.94985574e-01 9.81964432e-02 1.90043575e-02 7.17067194e+01] [-9.81693326e-02 9.95166935e-01 -2.35649857e-03 -4.56396243e+00] [-1.91439080e-02 4.79036992e-04 9.99816624e-01 -2.04262866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86587156 meters Centerline goodness [0,1] 0.9999784059254141 Centerline is valid? [True, True] Translation: X:71.74, Y:-4.56, Z:-2.04 [[ 9.94810336e-01 1.00063217e-01 1.84322287e-02 7.17379401e+01] [-1.00038037e-01 9.94980989e-01 -2.28541407e-03 -4.56412448e+00] [-1.85684031e-02 4.29629559e-04 9.99827500e-01 -2.04050654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89587156 meters Centerline goodness [0,1] 0.9999787211405469 Centerline is valid? [True, True] Translation: X:71.77, Y:-4.57, Z:-2.04 [[ 9.94679370e-01 1.01314280e-01 1.86646060e-02 7.17665880e+01] [-1.01288672e-01 9.94854385e-01 -2.31473903e-03 -4.57276556e+00] [-1.88030812e-02 4.11910005e-04 9.99823122e-01 -2.04432492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:-4.57, Z:-2.04 [[ 9.94311556e-01 1.04911446e-01 1.83879854e-02 7.17968645e+01] [-1.04887207e-01 9.94481510e-01 -2.28035396e-03 -4.56778719e+00] [-1.85257467e-02 3.38717868e-04 9.99828326e-01 -2.04235965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:-4.57, Z:-2.04 [[ 9.94123150e-01 1.06788907e-01 1.77564397e-02 7.18256503e+01] [-1.06766609e-01 9.94281672e-01 -2.20177079e-03 -4.56993406e+00] [-1.78900273e-02 2.93036462e-04 9.99839918e-01 -2.04465180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.85, Y:-4.57, Z:-2.04 [[ 9.93876200e-01 1.09098237e-01 1.75406328e-02 7.18546724e+01] [-1.09076845e-01 9.94030942e-01 -2.17453412e-03 -4.56925772e+00] [-1.76731696e-02 2.47940809e-04 9.99843787e-01 -2.04487696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-4.57, Z:-2.05 [[ 9.93404744e-01 1.13254317e-01 1.79017841e-02 7.18833450e+01] [-1.13232726e-01 9.93566016e-01 -2.21839303e-03 -4.56871508e+00] [-1.80378469e-02 1.76694359e-04 9.99837289e-01 -2.04559995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:-4.57, Z:-2.05 [[ 9.93177753e-01 1.15216161e-01 1.79773993e-02 7.19112997e+01] [-1.15194722e-01 9.93340433e-01 -2.22701257e-03 -4.57002665e+00] [-1.81142655e-02 1.40917817e-04 9.99835913e-01 -2.04706613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07587156000001 meters Centerline goodness [0,1] 0.9998936102304402 Centerline is valid? [True, True] Translation: X:71.94, Y:-4.57, Z:-2.05 [[ 9.92942435e-01 1.17089845e-01 1.88491226e-02 7.19396146e+01] [-1.17066638e-01 9.93121320e-01 -2.33374654e-03 -4.57057711e+00] [-1.89927235e-02 1.10672560e-04 9.99819616e-01 -2.04922888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.97, Y:-4.57, Z:-2.05 [[ 9.92704972e-01 1.19042194e-01 1.91257727e-02 7.19683012e+01] [-1.19018687e-01 9.92889194e-01 -2.36672860e-03 -4.57135336e+00] [-1.92715136e-02 7.31388981e-05 9.99814284e-01 -2.04645350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.00, Y:-4.57, Z:-2.05 [[ 9.92176755e-01 1.23124821e-01 2.06292098e-02 7.19969672e+01] [-1.23098376e-01 9.92391192e-01 -2.55178780e-03 -4.56953034e+00] [-2.07864345e-02 -7.59767556e-06 9.99783939e-01 -2.04631089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:-4.57, Z:-2.05 [[ 9.91568391e-01 1.27928582e-01 2.06495422e-02 7.20262667e+01] [-1.27903153e-01 9.91783376e-01 -2.55295777e-03 -4.56537053e+00] [-2.08064690e-02 -1.09709326e-04 9.99783516e-01 -2.04603185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19587156 meters Centerline goodness [0,1] 0.9997861922986466 Centerline is valid? [True, True] Translation: X:72.06, Y:-4.56, Z:-2.05 [[ 9.91192416e-01 1.30705824e-01 2.12974526e-02 7.20552278e+01] [-1.30679437e-01 9.91421180e-01 -2.63204851e-03 -4.56370378e+00] [-2.14587697e-02 -1.74272596e-04 9.99769719e-01 -2.04776946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:-4.56, Z:-2.05 [[ 9.90763905e-01 1.34005389e-01 2.07229356e-02 7.20838120e+01] [-1.33981145e-01 9.90980574e-01 -2.56021540e-03 -4.56097919e+00] [-2.08791093e-02 -2.39913636e-04 9.99781979e-01 -2.04718848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25587156 meters Centerline goodness [0,1] 0.9999574477138784 Centerline is valid? [True, True] Translation: X:72.11, Y:-4.55, Z:-2.05 [[ 9.89868274e-01 1.40565232e-01 2.00553314e-02 7.21144838e+01] [-1.40543899e-01 9.90071351e-01 -2.47627808e-03 -4.55338978e+00] [-2.02042877e-02 -3.67465370e-04 9.99795805e-01 -2.04832486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28587156 meters Centerline goodness [0,1] 0.9999788453808889 Centerline is valid? [True, True] Translation: X:72.14, Y:-4.55, Z:-2.05 [[ 9.89452238e-01 1.43456119e-01 2.01149138e-02 7.21439913e+01] [-1.43435263e-01 9.89656586e-01 -2.48328551e-03 -4.55005341e+00] [-2.02630994e-02 -4.28095531e-04 9.99794591e-01 -2.04967548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31587156 meters Centerline goodness [0,1] 0.9998929129810884 Centerline is valid? [True, True] Translation: X:72.17, Y:-4.54, Z:-2.05 [[ 9.88753696e-01 1.48134027e-01 2.05533048e-02 7.21749950e+01] [-1.48113282e-01 9.88967149e-01 -2.53643548e-03 -4.54281410e+00] [-2.07022757e-02 -5.36307473e-04 9.99785541e-01 -2.04975798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34587156 meters Centerline goodness [0,1] 0.9998940947216809 Centerline is valid? [True, True] Translation: X:72.20, Y:-4.54, Z:-2.05 [[ 9.88540109e-01 1.49521424e-01 2.07797288e-02 7.22036706e+01] [-1.49500521e-01 9.88758321e-01 -2.56455701e-03 -4.54026849e+00] [-2.09295860e-02 -5.71412811e-04 9.99780789e-01 -2.05096289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37587156000001 meters Centerline goodness [0,1] 0.9998936283374109 Centerline is valid? [True, True] Translation: X:72.23, Y:-4.54, Z:-2.05 [[ 9.88413044e-01 1.50375172e-01 2.06630676e-02 7.22325224e+01] [-1.50354717e-01 9.88628829e-01 -2.54884064e-03 -4.54031847e+00] [-2.08113867e-02 -5.87482346e-04 9.99783247e-01 -2.05187933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40587156000001 meters Centerline goodness [0,1] 0.9999571826161422 Centerline is valid? [True, True] Translation: X:72.26, Y:-4.54, Z:-2.05 [[ 9.88421061e-01 1.50224467e-01 2.13639103e-02 7.22618965e+01] [-1.50202588e-01 9.88651730e-01 -2.63425035e-03 -4.53883115e+00] [-2.15171957e-02 -6.05166095e-04 9.99768295e-01 -2.05169303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43587156000001 meters Centerline goodness [0,1] 0.9999148029818956 Centerline is valid? [True, True] Translation: X:72.29, Y:-4.54, Z:-2.05 [[ 9.88540202e-01 1.49425360e-01 2.14553415e-02 7.22898582e+01] [-1.49403125e-01 9.88772832e-01 -2.64461175e-03 -4.54069264e+00] [-2.16096309e-02 -5.91190034e-04 9.99766310e-01 -2.05261666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46587156000001 meters Centerline goodness [0,1] 0.9999573942311789 Centerline is valid? [True, True] Translation: X:72.32, Y:-4.54, Z:-2.05 [[ 9.88979007e-01 1.46563436e-01 2.09686154e-02 7.23183322e+01] [-1.46541582e-01 9.89201138e-01 -2.58332806e-03 -4.54440466e+00] [-2.11207997e-02 -5.17916863e-04 9.99776797e-01 -2.05459399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49587156000001 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:72.35, Y:-4.55, Z:-2.05 [[ 9.89212619e-01 1.44907471e-01 2.14527258e-02 7.23455834e+01] [-1.44884228e-01 9.89445087e-01 -2.64204173e-03 -4.54754622e+00] [-2.16091458e-02 -4.94620594e-04 9.99766373e-01 -2.05470694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:-4.55, Z:-2.06 [[ 9.89483408e-01 1.43030348e-01 2.15616460e-02 7.23743852e+01] [-1.43006452e-01 9.89718198e-01 -2.65410964e-03 -4.55199226e+00] [-2.17195717e-02 -4.57257042e-04 9.99763998e-01 -2.05529247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55587156 meters Centerline goodness [0,1] 0.9999786966617669 Centerline is valid? [True, True] Translation: X:72.40, Y:-4.56, Z:-2.06 [[ 9.89989888e-01 1.39526221e-01 2.12709868e-02 7.24029255e+01] [-1.39502178e-01 9.90218305e-01 -2.61729281e-03 -4.55937414e+00] [-2.14281015e-02 -3.76255569e-04 9.99770321e-01 -2.05562435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.43, Y:-4.56, Z:-2.06 [[ 9.90221579e-01 1.37899916e-01 2.10911763e-02 7.24311602e+01] [-1.37875923e-01 9.90446111e-01 -2.59451845e-03 -4.56122235e+00] [-2.12474574e-02 -3.38817241e-04 9.99774190e-01 -2.05794101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61587156 meters Centerline goodness [0,1] 0.9999786648460669 Centerline is valid? [True, True] Translation: X:72.46, Y:-4.57, Z:-2.06 [[ 9.90402476e-01 1.36669326e-01 2.06017058e-02 7.24594879e+01] [-1.36646187e-01 9.90616677e-01 -2.53336036e-03 -4.56551087e+00] [-2.07546260e-02 -3.06098174e-04 9.99784553e-01 -2.05903407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.49, Y:-4.57, Z:-2.06 [[ 9.90581486e-01 1.35518976e-01 1.95684991e-02 7.24878688e+01] [-1.35497892e-01 9.90774715e-01 -2.40545358e-03 -4.56872945e+00] [-1.97139588e-02 -2.68692605e-04 9.99805625e-01 -2.06064937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:-4.57, Z:-2.06 [[ 9.90834078e-01 1.33728018e-01 1.90957546e-02 7.25163283e+01] [-1.33707623e-01 9.91018045e-01 -2.34656835e-03 -4.56835314e+00] [-1.92380393e-02 -2.28188069e-04 9.99814906e-01 -2.06283553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.54, Y:-4.57, Z:-2.06 [[ 9.90947987e-01 1.32818795e-01 1.95257378e-02 7.25438157e+01] [-1.32797322e-01 9.91140313e-01 -2.39803666e-03 -4.56879420e+00] [-1.96712503e-02 -2.16636091e-04 9.99806479e-01 -2.06440058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.57, Y:-4.57, Z:-2.06 [[ 9.91162263e-01 1.31212061e-01 1.95131688e-02 7.25730446e+01] [-1.31190323e-01 9.91354306e-01 -2.39555184e-03 -4.57089309e+00] [-1.96587892e-02 -1.85558333e-04 9.99806730e-01 -2.06425384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:-4.57, Z:-2.07 [[ 9.91292507e-01 1.30250221e-01 1.93402485e-02 7.26006859e+01] [-1.30228699e-01 9.91481141e-01 -2.37352161e-03 -4.57230631e+00] [-1.94846434e-02 -1.65801216e-04 9.99810143e-01 -2.06550443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:-4.57, Z:-2.07 [[ 9.91601115e-01 1.27847778e-01 1.95493005e-02 7.26285795e+01] [-1.27825344e-01 9.91793795e-01 -2.39799114e-03 -4.57222040e+00] [-1.96954528e-02 -1.21045377e-04 9.99806018e-01 -2.06633727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82587156000001 meters Centerline goodness [0,1] 0.9998931555441588 Centerline is valid? [True, True] Translation: X:72.66, Y:-4.57, Z:-2.07 [[ 9.91806153e-01 1.26222895e-01 1.97062207e-02 7.26561214e+01] [-1.26199802e-01 9.92001901e-01 -2.41606351e-03 -4.57365595e+00] [-1.98535709e-02 -9.06544966e-05 9.99802894e-01 -2.06951407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.68, Y:-4.58, Z:-2.07 [[ 9.92027215e-01 1.24591337e-01 1.89473734e-02 7.26842827e+01] [-1.24569713e-01 9.92208141e-01 -2.32187064e-03 -4.57828584e+00] [-1.90890231e-02 -5.69100004e-05 9.99817786e-01 -2.06992646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88587156 meters Centerline goodness [0,1] 0.999808065513638 Centerline is valid? [True, True] Translation: X:72.71, Y:-4.58, Z:-2.07 [[ 9.92582897e-01 1.20018983e-01 1.93555416e-02 7.27113825e+01] [-1.19995563e-01 9.92771596e-01 -2.37109119e-03 -4.58393282e+00] [-1.95002079e-02 3.09254461e-05 9.99809852e-01 -2.07317078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91587156 meters Centerline goodness [0,1] 0.9999572384597293 Centerline is valid? [True, True] Translation: X:72.74, Y:-4.59, Z:-2.07 [[ 9.92875753e-01 1.17548544e-01 1.94955961e-02 7.27399913e+01] [-1.17524332e-01 9.93067134e-01 -2.38702697e-03 -4.58914557e+00] [-1.96410273e-02 7.88143028e-05 9.99807093e-01 -2.07097925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94587156 meters Centerline goodness [0,1] 0.9997653082995519 Centerline is valid? [True, True] Translation: X:72.77, Y:-4.60, Z:-2.07 [[ 9.93450890e-01 1.12461870e-01 2.01904944e-02 7.27683936e+01] [-1.12434870e-01 9.93656024e-01 -2.47111781e-03 -4.59582478e+00] [-2.03403129e-02 1.84818582e-04 9.99793097e-01 -2.07102863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97587156 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:72.80, Y:-4.60, Z:-2.07 [[ 9.93723239e-01 1.10106006e-01 1.97684776e-02 7.27950775e+01] [-1.10079672e-01 9.93919824e-01 -2.41866063e-03 -4.60430067e+00] [-1.99145909e-02 2.27371733e-04 9.99801659e-01 -2.07198700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00587156 meters Centerline goodness [0,1] 0.9998500524816314 Centerline is valid? [True, True] Translation: X:72.82, Y:-4.61, Z:-2.07 [[ 9.94000199e-01 1.07520964e-01 2.00710490e-02 7.28236658e+01] [-1.07493318e-01 9.94202777e-01 -2.45433037e-03 -4.60742206e+00] [-2.02185846e-02 2.82101219e-04 9.99795544e-01 -2.07257690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.85, Y:-4.62, Z:-2.07 [[ 9.94387292e-01 1.03932319e-01 1.97986747e-02 7.28512875e+01] [-1.03904728e-01 9.94584311e-01 -2.41997721e-03 -4.61580506e+00] [-1.99429651e-02 3.49218669e-04 9.99801058e-01 -2.07184997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:-4.62, Z:-2.07 [[ 9.94521204e-01 1.02617412e-01 1.99309353e-02 7.28801380e+01] [-1.02589200e-01 9.94720827e-01 -2.43554761e-03 -4.62083738e+00] [-2.00756460e-02 3.77505029e-04 9.99798393e-01 -2.07259391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09587156 meters Centerline goodness [0,1] 0.9999574078412165 Centerline is valid? [True, True] Translation: X:72.91, Y:-4.63, Z:-2.07 [[ 9.94648976e-01 1.01386718e-01 1.98531516e-02 7.29086230e+01] [-1.01358498e-01 9.94847010e-01 -2.42511215e-03 -4.62636122e+00] [-1.99967226e-02 3.99849688e-04 9.99799966e-01 -2.07400361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12587156000001 meters Centerline goodness [0,1] 0.9999574078412165 Centerline is valid? [True, True] Translation: X:72.94, Y:-4.63, Z:-2.07 [[ 9.94653635e-01 1.01340982e-01 1.98532628e-02 7.29367411e+01] [-1.01312771e-01 9.94851670e-01 -2.42420111e-03 -4.62970810e+00] [-1.99967226e-02 3.99851364e-04 9.99799966e-01 -2.07485721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-4.64, Z:-2.08 [[ 9.94812917e-01 9.99520813e-02 1.88902274e-02 7.29644046e+01] [-9.99263047e-02 9.94992169e-01 -2.30592422e-03 -4.63581037e+00] [-1.90261103e-02 4.06332572e-04 9.99818905e-01 -2.07679767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18587156000001 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:72.99, Y:-4.64, Z:-2.08 [[ 9.94851297e-01 9.96486125e-02 1.84675517e-02 7.29921362e+01] [-9.96239439e-02 9.95022609e-01 -2.25328501e-03 -4.64050022e+00] [-1.86001682e-02 4.01873187e-04 9.99826921e-01 -2.07877677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:-4.64, Z:-2.08 [[ 9.94845506e-01 9.97128502e-02 1.84327874e-02 7.30197181e+01] [-9.96883051e-02 9.95016175e-01 -2.24797903e-03 -4.64462743e+00] [-1.85650740e-02 3.98858502e-04 9.99827575e-01 -2.07978945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:-4.65, Z:-2.08 [[ 9.94825850e-01 9.99342437e-02 1.82941351e-02 7.30484863e+01] [-9.99101260e-02 9.94993967e-01 -2.22987352e-03 -4.64868699e+00] [-1.84253948e-02 3.90566474e-04 9.99830162e-01 -2.08108436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27587156 meters Centerline goodness [0,1] 0.9999145773715458 Centerline is valid? [True, True] Translation: X:73.08, Y:-4.65, Z:-2.08 [[ 9.94799670e-01 1.00231466e-01 1.80906239e-02 7.30773550e+01] [-1.00207946e-01 9.94964074e-01 -2.20427410e-03 -4.64983061e+00] [-1.82204585e-02 3.79986882e-04 9.99833921e-01 -2.08270102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30587156 meters Centerline goodness [0,1] 0.9998066470449224 Centerline is valid? [True, True] Translation: X:73.10, Y:-4.65, Z:-2.09 [[ 9.94716732e-01 1.01134810e-01 1.76174070e-02 7.31046002e+01] [-1.01112657e-01 9.94872668e-01 -2.14595772e-03 -4.65344016e+00] [-1.77441077e-02 3.53277226e-04 9.99842499e-01 -2.08500466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33587156 meters Centerline goodness [0,1] 0.9998938090687055 Centerline is valid? [True, True] Translation: X:73.13, Y:-4.66, Z:-2.09 [[ 9.94449477e-01 1.03677424e-01 1.79228846e-02 7.31327786e+01] [-1.03654931e-01 9.94610926e-01 -2.18193119e-03 -4.65575679e+00] [-1.80525138e-02 3.12024967e-04 9.99836991e-01 -2.08667914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-4.66, Z:-2.09 [[ 9.94231198e-01 1.05824930e-01 1.74759524e-02 7.31614837e+01] [-1.05803891e-01 9.94384741e-01 -2.12671865e-03 -4.65742817e+00] [-1.76028803e-02 2.65426265e-04 9.99845022e-01 -2.08630777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:-4.66, Z:-2.09 [[ 9.93793347e-01 1.09910221e-01 1.71617541e-02 7.31894822e+01] [-1.09890549e-01 9.93941501e-01 -2.08803409e-03 -4.65574764e+00] [-1.72872759e-02 1.89159822e-04 9.99850546e-01 -2.08789619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:-4.66, Z:-2.09 [[ 9.93557849e-01 1.12006789e-01 1.72417953e-02 7.32171990e+01] [-1.11987271e-01 9.93707430e-01 -2.09643425e-03 -4.65614997e+00] [-1.73681149e-02 1.52067097e-04 9.99849151e-01 -2.08950013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:-4.66, Z:-2.09 [[ 9.93338653e-01 1.13981691e-01 1.69261231e-02 7.32462668e+01] [-1.13963186e-01 9.93482844e-01 -2.05699881e-03 -4.65606988e+00] [-1.70502731e-02 1.14341513e-04 9.99854627e-01 -2.09023512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.28, Y:-4.65, Z:-2.09 [[ 9.92883185e-01 1.17895423e-01 1.68419031e-02 7.32757920e+01] [-1.17877679e-01 9.93026015e-01 -2.04590360e-03 -4.65392087e+00] [-1.69656506e-02 4.60588346e-05 9.99856072e-01 -2.08925013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:-4.66, Z:-2.09 [[ 9.92735327e-01 1.19167750e-01 1.66017216e-02 7.33023590e+01] [-1.19150685e-01 9.92874134e-01 -2.01678379e-03 -4.65566838e+00] [-1.67237555e-02 2.40260087e-05 9.99860148e-01 -2.09331070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:-4.66, Z:-2.09 [[ 9.92564126e-01 1.20561248e-01 1.67761921e-02 7.33311234e+01] [-1.20544054e-01 9.92705891e-01 -2.03606133e-03 -4.65647261e+00] [-1.68992948e-02 -1.34877457e-06 9.99857197e-01 -2.09103054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.36, Y:-4.66, Z:-2.09 [[ 9.92346970e-01 1.22391576e-01 1.63643775e-02 7.33598735e+01] [-1.22375477e-01 9.92481890e-01 -1.98532889e-03 -4.65580183e+00] [-1.64843359e-02 -3.24634058e-05 9.99864124e-01 -2.09228691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:-4.66, Z:-2.09 [[ 9.92282593e-01 1.22889434e-01 1.65360874e-02 7.33877052e+01] [-1.22873073e-01 9.92420367e-01 -2.00569160e-03 -4.65761018e+00] [-1.66572282e-02 -4.16270074e-05 9.99861258e-01 -2.09219786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.42, Y:-4.66, Z:-2.09 [[ 9.92289746e-01 1.21849594e-01 2.26657485e-02 7.34220360e+01] [-1.21945695e-01 9.92532531e-01 2.90204369e-03 -4.66329996e+00] [-2.21428799e-02 -5.64365866e-03 9.99738887e-01 -2.09432292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.44, Y:-4.66, Z:-2.09 [[ 9.92102609e-01 1.24142084e-01 1.79208475e-02 7.34447348e+01] [-1.24014131e-01 9.92247496e-01 -8.08720965e-03 -4.65766293e+00] [-1.87858792e-02 5.80090346e-03 9.99806701e-01 -2.08981736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.47, Y:-4.66, Z:-2.09 [[ 9.92079545e-01 1.24212258e-01 1.86946782e-02 7.34721008e+01] [-1.24191649e-01 9.92255667e-01 -2.26387292e-03 -4.66362969e+00] [-1.88311011e-02 -7.57808946e-05 9.99822676e-01 -2.09093285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:-4.66, Z:-2.09 [[ 9.92054201e-01 1.24409493e-01 1.87280857e-02 7.34993100e+01] [-1.24388869e-01 9.92230957e-01 -2.26668549e-03 -4.66471847e+00] [-1.88645835e-02 -8.08905319e-05 9.99822045e-01 -2.09234756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:-4.67, Z:-2.09 [[ 9.92095697e-01 1.24074246e-01 1.87539030e-02 7.35266485e+01] [-1.24053534e-01 9.92272934e-01 -2.26822827e-03 -4.66705031e+00] [-1.88904190e-02 -7.61884356e-05 9.99821557e-01 -2.09367820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:-4.67, Z:-2.09 [[ 9.92178334e-01 1.23394550e-01 1.88663395e-02 7.35542853e+01] [-1.23373501e-01 9.92357688e-01 -2.27998083e-03 -4.66974800e+00] [-1.90034943e-02 -6.54587900e-05 9.99819415e-01 -2.09431781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81587156 meters Centerline goodness [0,1] 0.9999143725649698 Centerline is valid? [True, True] Translation: X:73.58, Y:-4.67, Z:-2.10 [[ 9.92496799e-01 1.20806228e-01 1.88668723e-02 7.35829702e+01] [-1.20784734e-01 9.92676108e-01 -2.27883271e-03 -4.67424908e+00] [-1.90039905e-02 -1.70959732e-05 9.99819408e-01 -2.09662583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.61, Y:-4.68, Z:-2.10 [[ 9.92731836e-01 1.18930222e-01 1.84148040e-02 7.36113475e+01] [-1.18909439e-01 9.92902615e-01 -2.22338642e-03 -4.68039909e+00] [-1.85485348e-02 1.75324819e-05 9.99827961e-01 -2.09647870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-4.69, Z:-2.10 [[ 9.92971600e-01 1.16906921e-01 1.84437725e-02 7.36383975e+01] [-1.16885737e-01 9.93142874e-01 -2.22613920e-03 -4.68602397e+00] [-1.85775523e-02 5.46790680e-05 9.99827421e-01 -2.09760352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.67, Y:-4.69, Z:-2.10 [[ 9.93415319e-01 1.13110135e-01 1.82236508e-02 7.36664422e+01] [-1.13088836e-01 9.93582449e-01 -2.19838186e-03 -4.69408617e+00] [-1.83553589e-02 1.23014754e-04 9.99831519e-01 -2.09817451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.69, Y:-4.70, Z:-2.10 [[ 9.93582974e-01 1.11603682e-01 1.83709378e-02 7.36944048e+01] [-1.11581796e-01 9.93752784e-01 -2.21526697e-03 -4.69983530e+00] [-1.85034025e-02 1.51189315e-04 9.99828786e-01 -2.09862658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:-4.71, Z:-2.10 [[ 9.93836406e-01 1.09404543e-01 1.78841767e-02 7.37223088e+01] [-1.09383460e-01 9.93997289e-01 -2.15575622e-03 -4.70590868e+00] [-1.80126727e-02 1.86235886e-04 9.99837741e-01 -2.09999468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:-4.71, Z:-2.10 [[ 9.93901054e-01 1.08785386e-01 1.80675163e-02 7.37498501e+01] [-1.08763780e-01 9.94065239e-01 -2.17712044e-03 -4.71014200e+00] [-1.81971288e-02 1.98750927e-04 9.99834399e-01 -2.10183430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.78, Y:-4.71, Z:-2.10 [[ 9.93935371e-01 1.08469195e-01 1.80806861e-02 7.37785232e+01] [-1.08447527e-01 9.94099790e-01 -2.17750370e-03 -4.71169552e+00] [-1.82101983e-02 2.03492260e-04 9.99834160e-01 -2.10108834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05587156 meters Centerline goodness [0,1] 0.9999569670367502 Centerline is valid? [True, True] Translation: X:73.81, Y:-4.71, Z:-2.10 [[ 9.93971602e-01 1.08133584e-01 1.80992603e-02 7.38065969e+01] [-1.08111829e-01 9.94136351e-01 -2.17901765e-03 -4.71404028e+00] [-1.82287576e-02 2.09137520e-04 9.99833821e-01 -2.10297304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08587156 meters Centerline goodness [0,1] 0.9998083720137972 Centerline is valid? [True, True] Translation: X:73.83, Y:-4.72, Z:-2.10 [[ 9.93966910e-01 1.08182326e-01 1.80656240e-02 7.38342107e+01] [-1.08160677e-01 9.94131048e-01 -2.17404790e-03 -4.71684707e+00] [-1.81947912e-02 2.06941554e-04 9.99834440e-01 -2.10484009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:-4.72, Z:-2.10 [[ 9.93983218e-01 1.08071321e-01 1.78311876e-02 7.38616352e+01] [-1.08050237e-01 9.94143122e-01 -2.14444935e-03 -4.72263553e+00] [-1.79585060e-02 2.04882624e-04 9.99838712e-01 -2.10498990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:-4.72, Z:-2.10 [[ 9.93897666e-01 1.08645259e-01 1.90692684e-02 7.38903291e+01] [-1.08621277e-01 9.94080563e-01 -2.29197507e-03 -4.72478136e+00] [-1.92054013e-02 2.06660388e-04 9.99815538e-01 -2.10347541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:-4.73, Z:-2.10 [[ 9.93845568e-01 1.09104620e-01 1.91616355e-02 7.39176472e+01] [-1.09080505e-01 9.94030252e-01 -2.30228529e-03 -4.72728204e+00] [-1.92984353e-02 1.97955146e-04 9.99813748e-01 -2.10356361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:-4.73, Z:-2.10 [[ 9.93814158e-01 1.09417452e-01 1.90063160e-02 7.39456386e+01] [-1.09393803e-01 9.93995868e-01 -2.28265110e-03 -4.72924584e+00] [-1.91419614e-02 1.89357791e-04 9.99816758e-01 -2.10374525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23587156 meters Centerline goodness [0,1] 0.9998294315807428 Centerline is valid? [True, True] Translation: X:73.97, Y:-4.73, Z:-2.11 [[ 9.93624447e-01 1.10992474e-01 1.97769677e-02 7.39738015e+01] [-1.10967213e-01 9.93821233e-01 -2.37357795e-03 -4.72993445e+00] [-1.99182197e-02 1.63850108e-04 9.99801599e-01 -2.10623257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.00, Y:-4.73, Z:-2.11 [[ 9.93604711e-01 1.11284620e-01 1.91157529e-02 7.40024409e+01] [-1.11261097e-01 9.93788564e-01 -2.29301709e-03 -4.73257602e+00] [-1.92521941e-02 1.51512947e-04 9.99814648e-01 -2.10576868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:-4.73, Z:-2.11 [[ 9.93521879e-01 1.12114549e-01 1.85635127e-02 7.40297548e+01] [-1.12092518e-01 9.93695281e-01 -2.22632647e-03 -4.73477507e+00] [-1.86960786e-02 1.31073167e-04 9.99825204e-01 -2.10774139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.06, Y:-4.74, Z:-2.11 [[ 9.93399876e-01 1.13388617e-01 1.73120638e-02 7.40587535e+01] [-1.13369680e-01 9.93550709e-01 -2.07452881e-03 -4.73581587e+00] [-1.74356412e-02 9.81735239e-05 9.99847983e-01 -2.11041488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35587156000001 meters Centerline goodness [0,1] 0.9999145828439642 Centerline is valid? [True, True] Translation: X:74.09, Y:-4.74, Z:-2.11 [[ 9.93270703e-01 1.14512400e-01 1.73268976e-02 7.40877090e+01] [-1.14493617e-01 9.93421816e-01 -2.07547262e-03 -4.73729323e+00] [-1.74505854e-02 7.76869791e-05 9.99847724e-01 -2.11348182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-4.74, Z:-2.11 [[ 9.93152673e-01 1.15668357e-01 1.63890083e-02 7.41153119e+01] [-1.15651719e-01 9.93287888e-01 -1.96257816e-03 -4.73798564e+00] [-1.65060117e-02 5.37227675e-05 9.99863765e-01 -2.11423255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:-4.74, Z:-2.12 [[ 9.93036188e-01 1.16629998e-01 1.66304518e-02 7.41427275e+01] [-1.16613018e-01 9.93175434e-01 -1.99046415e-03 -4.73945220e+00] [-1.67491040e-02 3.72757526e-05 9.99859723e-01 -2.11509113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.17, Y:-4.74, Z:-2.11 [[ 9.92943577e-01 1.17350820e-01 1.70832676e-02 7.41718856e+01] [-1.17333030e-01 9.93090522e-01 -2.04345000e-03 -4.74134415e+00] [-1.72050317e-02 2.45989977e-05 9.99851982e-01 -2.11486847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:-4.74, Z:-2.12 [[ 9.92821050e-01 1.18289393e-01 1.77195490e-02 7.41992683e+01] [-1.18270415e-01 9.92979164e-01 -2.11880986e-03 -4.74300515e+00] [-1.78457757e-02 7.90060961e-06 9.99840751e-01 -2.11531213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:-4.74, Z:-2.12 [[ 9.92745921e-01 1.18873435e-01 1.80178742e-02 7.42270027e+01] [-1.18853929e-01 9.92909415e-01 -2.15337283e-03 -4.74472973e+00] [-1.81460957e-02 -3.74304783e-06 9.99835346e-01 -2.11625816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:-4.75, Z:-2.12 [[ 9.92759818e-01 1.18762568e-01 1.79831984e-02 7.42548978e+01] [-1.18743134e-01 9.92922682e-01 -2.14838616e-03 -4.74818432e+00] [-1.81110734e-02 -2.54988649e-06 9.99835981e-01 -2.11516752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:-4.75, Z:-2.12 [[ 9.92850365e-01 1.17826908e-01 1.91042519e-02 7.42835739e+01] [-1.17804837e-01 9.93034148e-01 -2.28053263e-03 -4.75277898e+00] [-1.92398826e-02 1.36543836e-05 9.99814896e-01 -2.11535029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59587156 meters Centerline goodness [0,1] 0.9999786206011887 Centerline is valid? [True, True] Translation: X:74.31, Y:-4.76, Z:-2.12 [[ 9.92955667e-01 1.16934793e-01 1.91127523e-02 7.43102896e+01] [-1.16912548e-01 9.93139594e-01 -2.28100829e-03 -4.75646111e+00] [-1.92483603e-02 3.04195461e-05 9.99814733e-01 -2.11743107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:-4.76, Z:-2.12 [[ 9.93135147e-01 1.15417392e-01 1.90106905e-02 7.43373546e+01] [-1.15395141e-01 9.93317080e-01 -2.26697699e-03 -4.76185588e+00] [-1.91452921e-02 5.76732206e-05 9.99816710e-01 -2.11875623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65587156000001 meters Centerline goodness [0,1] 0.9999142753048584 Centerline is valid? [True, True] Translation: X:74.37, Y:-4.77, Z:-2.12 [[ 9.93274687e-01 1.14216938e-01 1.89707066e-02 7.43662257e+01] [-1.14194585e-01 9.93455829e-01 -2.26099106e-03 -4.76666960e+00] [-1.91048026e-02 7.94332178e-05 9.99817483e-01 -2.11996511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-4.77, Z:-2.12 [[ 9.93510756e-01 1.12246107e-01 1.83626885e-02 7.43944863e+01] [-1.12224842e-01 9.93680431e-01 -2.18770060e-03 -4.77330451e+00] [-1.84922051e-02 1.12754274e-04 9.99828998e-01 -2.12000904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:-4.78, Z:-2.12 [[ 9.93799865e-01 1.09735457e-01 1.78873808e-02 7.44210240e+01] [-1.09714884e-01 9.93960817e-01 -2.13039740e-03 -4.78209181e+00] [-1.80131357e-02 1.54676739e-04 9.99837738e-01 -2.12213742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:-4.79, Z:-2.12 [[ 9.93898573e-01 1.08836805e-01 1.78934543e-02 7.44482548e+01] [-1.08816087e-01 9.94059616e-01 -2.13028654e-03 -4.78835639e+00] [-1.80190139e-02 1.70193060e-04 9.99837630e-01 -2.12448294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-4.79, Z:-2.13 [[ 9.93980237e-01 1.08114225e-01 1.77370254e-02 7.44763479e+01] [-1.08093784e-01 9.94138462e-01 -2.10993613e-03 -4.79442406e+00] [-1.78611732e-02 1.79972623e-04 9.99840460e-01 -2.12576306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80587156 meters Centerline goodness [0,1] 0.9997406582956928 Centerline is valid? [True, True] Translation: X:74.50, Y:-4.80, Z:-2.13 [[ 9.93960550e-01 1.08289406e-01 1.77716029e-02 7.45047515e+01] [-1.08268927e-01 9.94119396e-01 -2.11327289e-03 -4.79659672e+00] [-1.78959402e-02 1.76397506e-04 9.99839839e-01 -2.12706988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-4.80, Z:-2.13 [[ 9.93982979e-01 1.08116484e-01 1.75687914e-02 7.45332093e+01] [-1.08096458e-01 9.94138217e-01 -2.08835949e-03 -4.79964926e+00] [-1.76915931e-02 1.76669668e-04 9.99843476e-01 -2.12555831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:-4.80, Z:-2.13 [[ 9.93906849e-01 1.08855304e-01 1.73118005e-02 7.45607700e+01] [-1.08835983e-01 9.94057592e-01 -2.05714420e-03 -4.80410245e+00] [-1.74328578e-02 1.60462887e-04 9.99848023e-01 -2.12774256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-4.81, Z:-2.13 [[ 9.93839197e-01 1.09447569e-01 1.74608100e-02 7.45887616e+01] [-1.09428023e-01 9.93992559e-01 -2.07378277e-03 -4.80727471e+00] [-1.75828857e-02 1.50304674e-04 9.99845398e-01 -2.12920057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92587156 meters Centerline goodness [0,1] 0.9998285946907205 Centerline is valid? [True, True] Translation: X:74.62, Y:-4.81, Z:-2.13 [[ 9.93634763e-01 1.11260941e-01 1.76340770e-02 7.46172347e+01] [-1.11241313e-01 9.93791220e-01 -2.09316348e-03 -4.80814325e+00] [-1.77574782e-02 1.18202121e-04 9.99842317e-01 -2.13150487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-4.81, Z:-2.13 [[ 9.93596359e-01 1.11630737e-01 1.74600857e-02 7.46448397e+01] [-1.11611560e-01 9.93749750e-01 -2.07200578e-03 -4.81210209e+00] [-1.75822554e-02 1.09989987e-04 9.99845414e-01 -2.13093155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:-4.81, Z:-2.13 [[ 9.93497828e-01 1.12498543e-01 1.74969759e-02 7.46735947e+01] [-1.12479446e-01 9.93651885e-01 -2.07491007e-03 -4.81451698e+00] [-1.76193275e-02 9.33684945e-05 9.99844763e-01 -2.13078274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01587156000001 meters Centerline goodness [0,1] 0.9999571697789961 Centerline is valid? [True, True] Translation: X:74.70, Y:-4.82, Z:-2.13 [[ 9.93363963e-01 1.13634611e-01 1.77542356e-02 7.47017336e+01] [-1.13615147e-01 9.93522607e-01 -2.10440547e-03 -4.81696775e+00] [-1.78783677e-02 7.32904664e-05 9.99840167e-01 -2.13396106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04587156000001 meters Centerline goodness [0,1] 0.9999571697789961 Centerline is valid? [True, True] Translation: X:74.73, Y:-4.82, Z:-2.13 [[ 9.93371739e-01 1.13566604e-01 1.77542610e-02 7.47290307e+01] [-1.13547133e-01 9.93530382e-01 -2.10419117e-03 -4.82006642e+00] [-1.78783635e-02 7.42986090e-05 9.99840167e-01 -2.13478761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.76, Y:-4.82, Z:-2.13 [[ 9.93196946e-01 1.15166288e-01 1.72206959e-02 7.47566260e+01] [-1.15148230e-01 9.93346226e-01 -2.03984223e-03 -4.82113736e+00] [-1.73410344e-02 4.30324137e-05 9.99849632e-01 -2.13457729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10587156000001 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:74.78, Y:-4.82, Z:-2.14 [[ 9.93070753e-01 1.16257919e-01 1.71632361e-02 7.47835368e+01] [-1.16240163e-01 9.93219057e-01 -2.03196329e-03 -4.82305528e+00] [-1.72830850e-02 2.28259599e-05 9.99850636e-01 -2.13735926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:-4.83, Z:-2.14 [[ 9.92992132e-01 1.17018743e-01 1.65299569e-02 7.48106688e+01] [-1.17002402e-01 9.93129706e-01 -1.95554317e-03 -4.82598094e+00] [-1.66452265e-02 7.79431355e-06 9.99861459e-01 -2.13897234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.84, Y:-4.83, Z:-2.14 [[ 9.92967255e-01 1.17240104e-01 1.64556216e-02 7.48371278e+01] [-1.17223957e-01 9.93103599e-01 -1.94577001e-03 -4.82899435e+00] [-1.65702593e-02 3.09282750e-06 9.99862704e-01 -2.14025529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:-4.83, Z:-2.14 [[ 9.92978013e-01 1.17127548e-01 1.66073081e-02 7.48637504e+01] [-1.17111108e-01 9.93116880e-01 -1.96235155e-03 -4.83270740e+00] [-1.67228434e-02 3.67169035e-06 9.99860163e-01 -2.14087786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.89, Y:-4.84, Z:-2.14 [[ 9.93101666e-01 1.16096272e-01 1.64540783e-02 7.48918509e+01] [-1.16080021e-01 9.93237965e-01 -1.94253410e-03 -4.83918347e+00] [-1.65683362e-02 1.91440906e-05 9.99862736e-01 -2.14039373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.92, Y:-4.84, Z:-2.14 [[ 9.93141401e-01 1.15827103e-01 1.59449036e-02 7.49200067e+01] [-1.15811819e-01 9.93269390e-01 -1.88170423e-03 -4.84361556e+00] [-1.60555371e-02 2.21900705e-05 9.99871101e-01 -2.14206864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:-4.85, Z:-2.15 [[ 9.93228270e-01 1.15131628e-01 1.55663409e-02 7.49469161e+01] [-1.15116985e-01 9.93350244e-01 -1.83648666e-03 -4.84883587e+00] [-1.56742662e-02 3.21002430e-05 9.99877151e-01 -2.14515618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.97, Y:-4.85, Z:-2.15 [[ 9.93328559e-01 1.14257709e-01 1.56061095e-02 7.49748595e+01] [-1.14242896e-01 9.93451143e-01 -1.84036898e-03 -4.85448495e+00] [-1.57141836e-02 4.52039327e-05 9.99876524e-01 -2.14619195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.00, Y:-4.86, Z:-2.14 [[ 9.93481625e-01 1.12834269e-01 1.62076486e-02 7.50035997e+01] [-1.12818126e-01 9.93613820e-01 -1.90982596e-03 -4.86115172e+00] [-1.63196375e-02 6.88604621e-05 9.99866823e-01 -2.14472087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.03, Y:-4.87, Z:-2.14 [[ 9.93631108e-01 1.11426466e-01 1.67739190e-02 7.50297765e+01] [-1.11408982e-01 9.93772677e-01 -1.97616757e-03 -4.86817557e+00] [-1.68896597e-02 9.48163451e-05 9.99857355e-01 -2.14487547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.06, Y:-4.87, Z:-2.15 [[ 9.93720819e-01 1.10643387e-01 1.66425329e-02 7.50582729e+01] [-1.10626096e-01 9.93860166e-01 -1.95886375e-03 -4.87344964e+00] [-1.67570859e-02 1.05465245e-04 9.99859585e-01 -2.14594556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:-4.88, Z:-2.15 [[ 9.93805504e-01 1.09904155e-01 1.64832506e-02 7.50851621e+01] [-1.09887101e-01 9.93942183e-01 -1.93951324e-03 -4.87904656e+00] [-1.65965586e-02 1.16202311e-04 9.99862261e-01 -2.14731952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.11, Y:-4.88, Z:-2.15 [[ 9.93874238e-01 1.09284033e-01 1.64620601e-02 7.51132453e+01] [-1.09266957e-01 9.94010556e-01 -1.93591553e-03 -4.88382156e+00] [-1.65750262e-02 1.25297362e-04 9.99862617e-01 -2.14715759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.14, Y:-4.89, Z:-2.15 [[ 9.93924281e-01 1.08679120e-01 1.74175974e-02 7.51416059e+01] [-1.08659927e-01 9.94076873e-01 -2.04737766e-03 -4.89136286e+00] [-1.75369379e-02 1.42343510e-04 9.99846206e-01 -2.14645841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:-4.90, Z:-2.15 [[ 9.93930033e-01 1.08561375e-01 1.78190204e-02 7.51690935e+01] [-1.08541280e-01 9.94089738e-01 -2.09382552e-03 -4.89671710e+00] [-1.79410139e-02 1.47016785e-04 9.99839036e-01 -2.14729966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.20, Y:-4.90, Z:-2.15 [[ 9.93932406e-01 1.08489427e-01 1.81222706e-02 7.51973892e+01] [-1.08468654e-01 9.94097592e-01 -2.12821952e-03 -4.90034273e+00] [-1.82461949e-02 1.49608061e-04 9.99833513e-01 -2.14721881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:-4.91, Z:-2.15 [[ 9.93939460e-01 1.08356190e-01 1.85279995e-02 7.52255919e+01] [-1.08334469e-01 9.94112123e-01 -2.17498710e-03 -4.90512525e+00] [-1.86545822e-02 1.54584512e-04 9.99825976e-01 -2.14557104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:-4.91, Z:-2.15 [[ 9.93925204e-01 1.08446381e-01 1.87635757e-02 7.52524501e+01] [-1.08424135e-01 9.94102288e-01 -2.20183969e-03 -4.91092265e+00] [-1.88916951e-02 1.54039483e-04 9.99821524e-01 -2.14780489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:-4.92, Z:-2.15 [[ 9.93943245e-01 1.08385785e-01 1.81479320e-02 7.52804573e+01] [-1.08364987e-01 9.94108897e-01 -2.12840565e-03 -4.91571735e+00] [-1.82717095e-02 1.48914002e-04 9.99833047e-01 -2.14855256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:-4.92, Z:-2.15 [[ 9.93923603e-01 1.08610026e-01 1.78810981e-02 7.53093896e+01] [-1.08589887e-01 9.94084424e-01 -2.09627336e-03 -4.91966620e+00] [-1.80029975e-02 1.41829150e-04 9.99837923e-01 -2.15011909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:-4.92, Z:-2.15 [[ 9.93906982e-01 1.08806346e-01 1.76093946e-02 7.53369793e+01] [-1.08786855e-01 9.94062956e-01 -2.06389491e-03 -4.92350120e+00] [-1.77294117e-02 1.35648912e-04 9.99842812e-01 -2.15097446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.36, Y:-4.93, Z:-2.15 [[ 9.93878077e-01 1.09084050e-01 1.75225297e-02 7.53645415e+01] [-1.09064815e-01 9.94032521e-01 -2.05248450e-03 -4.92778160e+00] [-1.76418577e-02 1.28827899e-04 9.99844362e-01 -2.15161652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:-4.93, Z:-2.15 [[ 9.93859864e-01 1.09217377e-01 1.77238747e-02 7.53930992e+01] [-1.09197747e-01 9.94017881e-01 -2.07446739e-03 -4.93178231e+00] [-1.78444162e-02 1.26322690e-04 9.99840768e-01 -2.15270774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.42, Y:-4.94, Z:-2.15 [[ 9.93856050e-01 1.09269026e-01 1.76190994e-02 7.54208656e+01] [-1.09249645e-01 9.94012205e-01 -2.06167496e-03 -4.93552490e+00] [-1.77388770e-02 1.24127785e-04 9.99842646e-01 -2.15293270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.45, Y:-4.94, Z:-2.16 [[ 9.93935746e-01 1.08587567e-01 1.73341666e-02 7.54476482e+01] [-1.08568729e-01 9.94086879e-01 -2.02692739e-03 -4.94200569e+00] [-1.74517667e-02 1.32687152e-04 9.99847698e-01 -2.15600505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.47, Y:-4.95, Z:-2.16 [[ 9.93978134e-01 1.08230753e-01 1.71340045e-02 7.54746271e+01] [-1.08212313e-01 9.94125790e-01 -2.00246079e-03 -4.94706961e+00] [-1.72500836e-02 1.36291979e-04 9.99851197e-01 -2.15883795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-4.95, Z:-2.16 [[ 9.94033501e-01 1.07799200e-01 1.66352267e-02 7.55026635e+01] [-1.07781776e-01 9.94172678e-01 -1.94306117e-03 -4.95164045e+00] [-1.67477483e-02 1.38493622e-04 9.99859737e-01 -2.15996517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:-4.96, Z:-2.16 [[ 9.94078896e-01 1.07346834e-01 1.68465470e-02 7.55316242e+01] [-1.07328913e-01 9.94221623e-01 -1.96697196e-03 -4.95563652e+00] [-1.69603495e-02 1.47203742e-04 9.99856152e-01 -2.15916872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-4.96, Z:-2.16 [[ 9.94205513e-01 1.06093248e-01 1.73095482e-02 7.55587486e+01] [-1.06074150e-01 9.94356170e-01 -2.02032032e-03 -4.96407594e+00] [-1.74261984e-02 1.72517993e-04 9.99848137e-01 -2.15950398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-4.97, Z:-2.16 [[ 9.94300461e-01 1.05179260e-01 1.74331785e-02 7.55873751e+01] [-1.05159771e-01 9.94453261e-01 -2.03347413e-03 -4.97006708e+00] [-1.75503605e-02 1.88615213e-04 9.99845963e-01 -2.15994920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-4.98, Z:-2.16 [[ 9.94524391e-01 1.02879565e-01 1.83584175e-02 7.56145028e+01] [-1.02857575e-01 9.94693791e-01 -2.14057090e-03 -4.97989396e+00] [-1.84812249e-02 2.40547671e-04 9.99829179e-01 -2.15994545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-4.99, Z:-2.16 [[ 9.94663270e-01 1.01397127e-01 1.90683446e-02 7.56422088e+01] [-1.01373157e-01 9.94845991e-01 -2.22201099e-03 -4.98735490e+00] [-1.91953717e-02 2.77134429e-04 9.99815713e-01 -2.15991265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06587156 meters Centerline goodness [0,1] 0.9999571128361281 Centerline is valid? [True, True] Translation: X:75.67, Y:-5.00, Z:-2.16 [[ 9.94817933e-01 9.98816196e-02 1.89985012e-02 7.56698924e+01] [-9.98575691e-02 9.94999281e-01 -2.21276805e-03 -4.99597815e+00] [-1.91245098e-02 3.04157195e-04 9.99817064e-01 -2.16087590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:-5.00, Z:-2.16 [[ 9.95115469e-01 9.71597533e-02 1.74695402e-02 7.57018516e+01] [-9.70100105e-02 9.95240644e-01 -9.22595920e-03 -5.00144966e+00] [-1.82827884e-02 7.48617445e-03 9.99804829e-01 -2.15969887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12587156000001 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:75.73, Y:-5.02, Z:-2.17 [[ 9.95109092e-01 9.67398752e-02 1.99822938e-02 7.57271223e+01] [-9.68526943e-02 9.95287367e-01 4.75525936e-03 -5.02245499e+00] [-1.94281013e-02 -6.66734081e-03 9.99789025e-01 -2.16517472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15587156000001 meters Centerline goodness [0,1] 0.9999141778235496 Centerline is valid? [True, True] Translation: X:75.76, Y:-5.02, Z:-2.17 [[ 9.95168105e-01 9.63338686e-02 1.89796664e-02 7.57566676e+01] [-9.63092352e-02 9.95349008e-01 -2.20980929e-03 -5.02270557e+00] [-1.91042716e-02 3.71214573e-04 9.99817428e-01 -2.16628052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-5.03, Z:-2.16 [[ 9.95363812e-01 9.45562318e-02 1.76068656e-02 7.57898252e+01] [-9.44105379e-02 9.95493282e-01 -8.93177884e-03 -5.02558890e+00] [-1.83720718e-02 7.22809577e-03 9.99805092e-01 -2.16179683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21587156000001 meters Centerline goodness [0,1] 0.9999784756451925 Centerline is valid? [True, True] Translation: X:75.82, Y:-5.04, Z:-2.16 [[ 9.95310851e-01 9.46231284e-02 2.00692053e-02 7.58150412e+01] [-9.47294296e-02 9.95493280e-01 4.41176710e-03 -5.04114885e+00] [-1.95613038e-02 -6.29222403e-03 9.99788859e-01 -2.16495260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-5.05, Z:-2.17 [[ 9.95283631e-01 9.50261113e-02 1.95072066e-02 7.58451635e+01] [-9.49998718e-02 9.95474698e-01 -2.26951789e-03 -5.04504902e+00] [-1.96345940e-02 4.05631879e-04 9.99807140e-01 -2.16552790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:-5.05, Z:-2.17 [[ 9.95141165e-01 9.66063385e-02 1.90073150e-02 7.58753894e+01] [-9.65816805e-02 9.95322601e-01 -2.21315314e-03 -5.05294091e+00] [-1.91322148e-02 3.66641375e-04 9.99816895e-01 -2.16699743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:-5.06, Z:-2.17 [[ 9.95062794e-01 9.75174064e-02 1.84497184e-02 7.59090606e+01] [-9.74236646e-02 9.95225420e-01 -5.91542814e-03 -5.05510561e+00] [-1.89384860e-02 4.08878328e-03 9.99812290e-01 -2.16731876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33587156 meters Centerline goodness [0,1] 0.9999570262140095 Centerline is valid? [True, True] Translation: X:75.94, Y:-5.06, Z:-2.17 [[ 9.94821318e-01 9.97820089e-02 1.93415795e-02 7.59353072e+01] [-9.98272932e-02 9.95003812e-01 1.38769376e-03 -5.06385148e+00] [-1.91064785e-02 -3.31132486e-03 9.99811971e-01 -2.16958426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:-5.07, Z:-2.17 [[ 9.94664570e-01 1.01404458e-01 1.89612392e-02 7.59643309e+01] [-1.01380740e-01 9.94845244e-01 -2.21041397e-03 -5.06684157e+00] [-1.90876445e-02 2.76315995e-04 9.99817776e-01 -2.16995850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:-5.07, Z:-2.17 [[ 9.94251527e-01 1.05343209e-01 1.91496387e-02 7.59938898e+01] [-1.05319733e-01 9.94435904e-01 -2.23318281e-03 -5.06843727e+00] [-1.92783389e-02 2.03510590e-04 9.99814135e-01 -2.16993549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-5.07, Z:-2.17 [[ 9.94016905e-01 1.07499451e-01 1.93458311e-02 7.60233761e+01] [-1.07475907e-01 9.94205131e-01 -2.25560355e-03 -5.07022270e+00] [-1.94762007e-02 1.62897303e-04 9.99810308e-01 -2.17042010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.05, Y:-5.07, Z:-2.17 [[ 9.93568038e-01 1.11568957e-01 1.93629094e-02 7.60517549e+01] [-1.11546151e-01 9.93756691e-01 -2.25725360e-03 -5.07261913e+00] [-1.94938602e-02 8.28770081e-05 9.99809973e-01 -2.17130507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.08, Y:-5.08, Z:-2.17 [[ 9.93381748e-01 1.13249829e-01 1.91619321e-02 7.60801612e+01] [-1.13227820e-01 9.93566542e-01 -2.23314954e-03 -5.07511065e+00] [-1.92915584e-02 4.87061941e-05 9.99813899e-01 -2.17310154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:-5.08, Z:-2.17 [[ 9.93200028e-01 1.14842560e-01 1.91021353e-02 7.61119452e+01] [-1.14830311e-01 9.93383597e-01 -1.74050545e-03 -5.07830074e+00] [-1.91756320e-02 -4.64834069e-04 9.99816023e-01 -2.17239656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54587156000001 meters Centerline goodness [0,1] 0.9998279717873731 Centerline is valid? [True, True] Translation: X:76.14, Y:-5.08, Z:-2.18 [[ 9.92842480e-01 1.18114940e-01 1.76824979e-02 7.61382722e+01] [-1.18085860e-01 9.92999763e-01 -2.68341621e-03 -5.07971055e+00] [-1.78756677e-02 5.76156643e-04 9.99840051e-01 -2.17971387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57587156000001 meters Centerline goodness [0,1] 0.9999787025599522 Centerline is valid? [True, True] Translation: X:76.17, Y:-5.08, Z:-2.18 [[ 9.92713004e-01 1.19171853e-01 1.78594630e-02 7.61666822e+01] [-1.19153718e-01 9.92873640e-01 -2.07996529e-03 -5.08264063e+00] [-1.79800634e-02 -6.32128205e-05 9.99838344e-01 -2.17871269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.20, Y:-5.08, Z:-2.18 [[ 9.92586627e-01 1.20172682e-01 1.81745530e-02 7.61957961e+01] [-1.20154084e-01 9.92753000e-01 -2.11578261e-03 -5.08493953e+00] [-1.82971013e-02 -8.36492553e-05 9.99832591e-01 -2.17862650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.22, Y:-5.09, Z:-2.18 [[ 9.92365795e-01 1.21851346e-01 1.90362221e-02 7.62235317e+01] [-1.21831266e-01 9.92548354e-01 -2.21529730e-03 -5.08660852e+00] [-1.91643079e-02 -1.20821781e-04 9.99816340e-01 -2.17882523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.25, Y:-5.09, Z:-2.18 [[ 9.92301442e-01 1.22356484e-01 1.91504454e-02 7.62523452e+01] [-1.22336284e-01 9.92486208e-01 -2.22716595e-03 -5.09075333e+00] [-1.92790612e-02 -1.32774353e-04 9.99814133e-01 -2.17835488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69587156 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:76.28, Y:-5.10, Z:-2.18 [[ 9.92276223e-01 1.22577327e-01 1.90445886e-02 7.62809366e+01] [-1.22557408e-01 9.92458956e-01 -2.21396608e-03 -5.09522995e+00] [-1.91723545e-02 -1.37189514e-04 9.99816184e-01 -2.17882729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.31, Y:-5.10, Z:-2.18 [[ 9.92255724e-01 1.22768714e-01 1.88791305e-02 7.63087073e+01] [-1.22749189e-01 9.92435299e-01 -2.19395497e-03 -5.09959322e+00] [-1.90056646e-02 -1.40433575e-04 9.99819366e-01 -2.18005553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75587156 meters Centerline goodness [0,1] 0.9999360532037345 Centerline is valid? [True, True] Translation: X:76.34, Y:-5.10, Z:-2.18 [[ 9.92275606e-01 1.22616953e-01 1.88203161e-02 7.63369514e+01] [-1.22597547e-01 9.92454061e-01 -2.18585629e-03 -5.10332818e+00] [-1.89463222e-02 -1.38352709e-04 9.99820493e-01 -2.18263080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:-5.11, Z:-2.18 [[ 9.92301165e-01 1.22482086e-01 1.83449573e-02 7.63649178e+01] [-1.22463637e-01 9.92470715e-01 -2.12992991e-03 -5.10744407e+00] [-1.84677112e-02 -1.33058273e-04 9.99829448e-01 -2.18350787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.40, Y:-5.12, Z:-2.18 [[ 9.92384921e-01 1.21301791e-01 2.14019611e-02 7.63962764e+01] [-1.21438043e-01 9.92585492e-01 5.18103935e-03 -5.11886938e+00] [-2.06148067e-02 -7.74059760e-03 9.99757527e-01 -2.18260420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.43, Y:-5.12, Z:-2.18 [[ 9.92448988e-01 1.20763027e-01 2.14778606e-02 7.64262823e+01] [-1.20744935e-01 9.92681254e-01 -2.14196127e-03 -5.11966803e+00] [-2.15793393e-02 -4.67555585e-04 9.99767030e-01 -2.18279494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.45, Y:-5.12, Z:-2.18 [[ 9.92503763e-01 1.20813004e-01 1.84525983e-02 7.64539649e+01] [-1.20640456e-01 9.92643883e-01 -1.01981635e-02 -5.11963355e+00] [-1.95489296e-02 7.89558576e-03 9.99777725e-01 -2.18370720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.48, Y:-5.13, Z:-2.18 [[ 9.92760493e-01 1.18490044e-01 1.96650411e-02 7.64827317e+01] [-1.18468142e-01 9.92955238e-01 -2.27914075e-03 -5.13387181e+00] [-1.97965611e-02 -6.70399850e-05 9.99804027e-01 -2.18329709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:-5.14, Z:-2.18 [[ 9.92763366e-01 1.18465964e-01 1.96650543e-02 7.65116946e+01] [-1.18444059e-01 9.92958111e-01 -2.27902742e-03 -5.13718373e+00] [-1.97965623e-02 -6.66739184e-05 9.99804027e-01 -2.18417745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:-5.14, Z:-2.19 [[ 9.92857668e-01 1.17640243e-01 1.98601283e-02 7.65400053e+01] [-1.17617744e-01 9.93056278e-01 -2.30126187e-03 -5.14225058e+00] [-1.99929461e-02 -5.10779835e-05 9.99800120e-01 -2.18500631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.57, Y:-5.15, Z:-2.19 [[ 9.92924965e-01 1.17033567e-01 2.00788234e-02 7.65687937e+01] [-1.17010462e-01 9.93127959e-01 -2.32572625e-03 -5.14689877e+00] [-2.02130290e-02 -4.01607621e-05 9.99795695e-01 -2.18620656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:-5.15, Z:-2.19 [[ 9.92974270e-01 1.16640243e-01 1.99287115e-02 7.65984531e+01] [-1.16617413e-01 9.93174231e-01 -2.30787885e-03 -5.15323285e+00] [-2.00618743e-02 -3.23704722e-05 9.99798740e-01 -2.18519247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05587156 meters Centerline goodness [0,1] 0.9998055819580057 Centerline is valid? [True, True] Translation: X:76.63, Y:-5.16, Z:-2.19 [[ 9.92975809e-01 1.16585910e-01 2.01684825e-02 7.66288630e+01] [-1.16562532e-01 9.93180610e-01 -2.33489774e-03 -5.15792019e+00] [-2.03031619e-02 -3.23923997e-05 9.99793869e-01 -2.18804824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.66, Y:-5.16, Z:-2.19 [[ 9.92960038e-01 1.16605840e-01 2.08192288e-02 7.66575667e+01] [-1.16580930e-01 9.93178270e-01 -2.41034805e-03 -5.16437292e+00] [-2.09582663e-02 -3.37457689e-05 9.99780351e-01 -2.18554149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:-5.17, Z:-2.19 [[ 9.92961153e-01 1.16608146e-01 2.07530342e-02 7.66878648e+01] [-1.16583405e-01 9.93178000e-01 -2.40219991e-03 -5.16910151e+00] [-2.08915731e-02 -3.41681954e-05 9.99781747e-01 -2.18727284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:-5.17, Z:-2.19 [[ 9.92970866e-01 1.16568458e-01 2.05098686e-02 7.67182032e+01] [-1.16544278e-01 9.93182659e-01 -2.37441844e-03 -5.17398991e+00] [-2.06468281e-02 -3.25794897e-05 9.99786831e-01 -2.18838705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:-5.17, Z:-2.19 [[ 9.92836194e-01 1.18327759e-01 1.65781175e-02 7.67482237e+01] [-1.18032069e-01 9.92850099e-01 -1.78076021e-02 -5.17145549e+00] [-1.85667193e-02 1.57232824e-02 9.99703984e-01 -2.18821973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.78, Y:-5.20, Z:-2.19 [[ 9.93031147e-01 1.15792895e-01 2.19350482e-02 7.67762714e+01] [-1.16102676e-01 9.93146624e-01 1.34146263e-02 -5.19514146e+00] [-2.02314006e-02 -1.58678596e-02 9.99669396e-01 -2.19197060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:-5.19, Z:-2.19 [[ 9.92987751e-01 1.16569687e-01 1.96681241e-02 7.68084994e+01] [-1.16547429e-01 9.93182515e-01 -2.27808769e-03 -5.19130489e+00] [-1.97995929e-02 -3.01561236e-05 9.99803968e-01 -2.19218336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:-5.20, Z:-2.19 [[ 9.92893987e-01 1.16651914e-01 2.35342485e-02 7.68389525e+01] [-1.16864242e-01 9.93116848e-01 7.85334990e-03 -5.20245283e+00] [-2.24561504e-02 -1.05478560e-02 9.99692185e-01 -2.19385486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29587156000001 meters Centerline goodness [0,1] 0.9998498917075891 Centerline is valid? [True, True] Translation: X:76.87, Y:-5.19, Z:-2.20 [[ 9.92760204e-01 1.18835608e-01 1.74721301e-02 7.68692260e+01] [-1.18623657e-01 9.92857964e-01 -1.27079270e-02 -5.19308374e+00] [-1.88574978e-02 1.05433162e-02 9.99766589e-01 -2.19928783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-5.20, Z:-2.20 [[ 9.92602435e-01 1.20034008e-01 1.82275255e-02 7.68979940e+01] [-1.20015456e-01 9.92769776e-01 -2.11225470e-03 -5.20244036e+00] [-1.83492788e-02 -9.09556316e-05 9.99831634e-01 -2.19807521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-5.20, Z:-2.20 [[ 9.92416305e-01 1.21553610e-01 1.82920000e-02 7.69277860e+01] [-1.21535193e-01 9.92584861e-01 -2.11928200e-03 -5.20446567e+00] [-1.84139686e-02 -1.19911737e-04 9.99830441e-01 -2.19914888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:-5.20, Z:-2.20 [[ 9.92004253e-01 1.24835875e-01 1.85355470e-02 7.69575053e+01] [-1.24817545e-01 9.92177389e-01 -2.14704883e-03 -5.20392419e+00] [-1.86585794e-02 -1.83679915e-04 9.99825897e-01 -2.19903886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41587156 meters Centerline goodness [0,1] 0.999957337883959 Centerline is valid? [True, True] Translation: X:76.99, Y:-5.21, Z:-2.20 [[ 9.91791740e-01 1.26487584e-01 1.87092415e-02 7.69866931e+01] [-1.26469210e-01 9.91968167e-01 -2.16675486e-03 -5.20518030e+00] [-1.88330396e-02 -2.17173425e-04 9.99822619e-01 -2.19982540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:-5.20, Z:-2.20 [[ 9.91364807e-01 1.29769380e-01 1.88607455e-02 7.70163264e+01] [-1.29751313e-01 9.91544164e-01 -2.18370830e-03 -5.20439317e+00] [-1.89846406e-02 -2.82354921e-04 9.99819736e-01 -2.20017589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47587156 meters Centerline goodness [0,1] 0.9999572338878673 Centerline is valid? [True, True] Translation: X:77.05, Y:-5.20, Z:-2.20 [[ 9.91128568e-01 1.31536738e-01 1.90328289e-02 7.70456990e+01] [-1.31518669e-01 9.91311245e-01 -2.20342790e-03 -5.20449062e+00] [-1.91572890e-02 -3.19291983e-04 9.99816431e-01 -2.20128384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-5.20, Z:-2.20 [[ 9.90873266e-01 1.33472562e-01 1.88479765e-02 7.70746564e+01] [-1.33455212e-01 9.91052445e-01 -2.18099900e-03 -5.20399438e+00] [-1.89704368e-02 -3.54267109e-04 9.99819982e-01 -2.20228207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:-5.20, Z:-2.20 [[ 9.90324351e-01 1.37468569e-01 1.89755583e-02 7.71034364e+01] [-1.37451730e-01 9.90506034e-01 -2.19501483e-03 -5.19839502e+00] [-1.90971505e-02 -4.34446676e-04 9.99817538e-01 -2.20345168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56587156 meters Centerline goodness [0,1] 0.9999572676965152 Centerline is valid? [True, True] Translation: X:77.13, Y:-5.20, Z:-2.20 [[ 9.90126081e-01 1.38913717e-01 1.87969124e-02 7.71320797e+01] [-1.38897461e-01 9.90304382e-01 -2.17396980e-03 -5.19859957e+00] [-1.89166589e-02 -4.58339205e-04 9.99820959e-01 -2.20368468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59587156 meters Centerline goodness [0,1] 0.9999360641063894 Centerline is valid? [True, True] Translation: X:77.16, Y:-5.19, Z:-2.21 [[ 9.89980247e-01 1.39954312e-01 1.87590193e-02 7.71603519e+01] [-1.39938323e-01 9.90157847e-01 -2.16882905e-03 -5.19432894e+00] [-1.88779271e-02 -4.78007773e-04 9.99821682e-01 -2.20674338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62587156000001 meters Centerline goodness [0,1] 0.9998278496266488 Centerline is valid? [True, True] Translation: X:77.19, Y:-5.20, Z:-2.21 [[ 9.89913346e-01 1.40463347e-01 1.84828413e-02 7.71888284e+01] [-1.40447936e-01 9.90085762e-01 -2.13572230e-03 -5.20254137e+00] [-1.85995887e-02 -4.81696900e-04 9.99826897e-01 -2.20771534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65587156000001 meters Centerline goodness [0,1] 0.9999575082858843 Centerline is valid? [True, True] Translation: X:77.22, Y:-5.20, Z:-2.21 [[ 9.90018911e-01 1.39725635e-01 1.84201553e-02 7.72167285e+01] [-1.39710215e-01 9.90190148e-01 -2.12770629e-03 -5.20096523e+00] [-1.85367515e-02 -4.67014389e-04 9.99828071e-01 -2.20823518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68587156000001 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:77.25, Y:-5.21, Z:-2.21 [[ 9.90170897e-01 1.38628577e-01 1.85394595e-02 7.72451854e+01] [-1.38612789e-01 9.90344341e-01 -2.14018947e-03 -5.20560219e+00] [-1.86571403e-02 -4.50652863e-04 9.99825839e-01 -2.20839793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71587156000001 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:77.27, Y:-5.21, Z:-2.21 [[ 9.89947559e-01 1.40002750e-01 2.00763855e-02 7.72708863e+01] [-1.39993747e-01 9.90150640e-01 -1.86013870e-03 -5.21173945e+00] [-2.01390705e-02 -9.69128662e-04 9.99796719e-01 -2.20844565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74587156000001 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:77.30, Y:-5.21, Z:-2.21 [[ 9.90503893e-01 1.36235412e-01 1.84918843e-02 7.73026093e+01] [-1.36212459e-01 9.90676491e-01 -2.50104564e-03 -5.20913687e+00] [-1.86602061e-02 -4.15295932e-05 9.99825882e-01 -2.21050958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77587156 meters Centerline goodness [0,1] 0.9998082086689681 Centerline is valid? [True, True] Translation: X:77.33, Y:-5.21, Z:-2.21 [[ 9.90586350e-01 1.35629414e-01 1.85295690e-02 7.73303762e+01] [-1.35613115e-01 9.90759561e-01 -2.13919843e-03 -5.21073970e+00] [-1.86484859e-02 -3.93791811e-04 9.99826024e-01 -2.21412002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80587156 meters Centerline goodness [0,1] 0.9999573678937608 Centerline is valid? [True, True] Translation: X:77.36, Y:-5.21, Z:-2.21 [[ 9.90634495e-01 1.35261963e-01 1.86413311e-02 7.73588319e+01] [-1.35245425e-01 9.90809795e-01 -2.15085246e-03 -5.21252781e+00] [-1.87609419e-02 -3.90446101e-04 9.99823922e-01 -2.21245086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83587156 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:77.39, Y:-5.21, Z:-2.21 [[ 9.90713539e-01 1.34660967e-01 1.87911500e-02 7.73872371e+01] [-1.34644069e-01 9.90891658e-01 -2.16736511e-03 -5.21141532e+00] [-1.89118533e-02 -3.82878935e-04 9.99821082e-01 -2.21336406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86587156 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:77.42, Y:-5.21, Z:-2.21 [[ 9.90773162e-01 1.34223085e-01 1.87804294e-02 7.74156288e+01] [-1.34206151e-01 9.90951070e-01 -2.16490362e-03 -5.21417727e+00] [-1.89010666e-02 -3.75520726e-04 9.99821288e-01 -2.21301917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89587156 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:77.44, Y:-5.21, Z:-2.22 [[ 9.90959066e-01 1.32847280e-01 1.87544783e-02 7.74440851e+01] [-1.32830161e-01 9.91136458e-01 -2.16113418e-03 -5.21185412e+00] [-1.88753480e-02 -3.49564869e-04 9.99821784e-01 -2.21544149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92587156 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:77.47, Y:-5.22, Z:-2.22 [[ 9.91131722e-01 1.31556280e-01 1.87311117e-02 7.74726996e+01] [-1.31538996e-01 9.91308650e-01 -2.15717829e-03 -5.21552814e+00] [-1.88521034e-02 -3.25823807e-04 9.99822230e-01 -2.21617318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95587156 meters Centerline goodness [0,1] 0.9999360259308228 Centerline is valid? [True, True] Translation: X:77.50, Y:-5.22, Z:-2.22 [[ 9.91357660e-01 1.29895541e-01 1.83613111e-02 7.75004633e+01] [-1.29878661e-01 9.91527642e-01 -2.11389733e-03 -5.21899097e+00] [-1.84803333e-02 -2.89114179e-04 9.99829182e-01 -2.21983936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98587156 meters Centerline goodness [0,1] 0.9998929725795749 Centerline is valid? [True, True] Translation: X:77.53, Y:-5.23, Z:-2.22 [[ 9.91632704e-01 1.27814896e-01 1.81089003e-02 7.75283465e+01] [-1.27798153e-01 9.91798009e-01 -2.08360682e-03 -5.22500388e+00] [-1.82266873e-02 -2.48111336e-04 9.99833849e-01 -2.22041859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01587156000001 meters Centerline goodness [0,1] 0.9999785278708236 Centerline is valid? [True, True] Translation: X:77.56, Y:-5.23, Z:-2.22 [[ 9.92228033e-01 1.23143252e-01 1.78681502e-02 7.75573451e+01] [-1.23126211e-01 9.92388892e-01 -2.05490723e-03 -5.23080545e+00] [-1.79852017e-02 -1.61101077e-04 9.99838240e-01 -2.21923217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.58, Y:-5.23, Z:-2.22 [[ 9.92569388e-01 1.20354177e-01 1.79131954e-02 7.75844053e+01] [-1.20336602e-01 9.92731011e-01 -2.05971342e-03 -5.23489598e+00] [-1.80308797e-02 -1.11204579e-04 9.99837424e-01 -2.22183883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07587156000001 meters Centerline goodness [0,1] 0.9999359767809125 Centerline is valid? [True, True] Translation: X:77.61, Y:-5.24, Z:-2.22 [[ 9.92925513e-01 1.17399914e-01 1.77816275e-02 7.76126944e+01] [-1.17382145e-01 9.93084718e-01 -2.04333857e-03 -5.24152947e+00] [-1.78985503e-02 -5.83625903e-05 9.99839806e-01 -2.22335500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.64, Y:-5.25, Z:-2.22 [[ 9.93533950e-01 1.12116762e-01 1.78919471e-02 7.76399395e+01] [-1.12097927e-01 9.93695039e-01 -2.05529330e-03 -5.25008394e+00] [-1.80095719e-02 3.63534908e-05 9.99837814e-01 -2.22197556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.67, Y:-5.26, Z:-2.22 [[ 9.93769214e-01 1.09929121e-01 1.83939575e-02 7.76688805e+01] [-1.09908869e-01 9.93939426e-01 -2.11139928e-03 -5.25562524e+00] [-1.85145838e-02 7.65845269e-05 9.99828587e-01 -2.22142384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:-5.26, Z:-2.22 [[ 9.93965635e-01 1.08094002e-01 1.86548470e-02 7.76984641e+01] [-1.08072856e-01 9.94140671e-01 -2.14089629e-03 -5.26080537e+00] [-1.87769602e-02 1.11894742e-04 9.99823691e-01 -2.22217258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19587156 meters Centerline goodness [0,1] 0.9997652932767193 Centerline is valid? [True, True] Translation: X:77.73, Y:-5.27, Z:-2.22 [[ 9.94190257e-01 1.05877188e-01 1.93844005e-02 7.77273493e+01] [-1.05853944e-01 9.94379201e-01 -2.22414648e-03 -5.26544385e+00] [-1.95109311e-02 1.59309512e-04 9.99809631e-01 -2.22347972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.76, Y:-5.27, Z:-2.22 [[ 9.94251156e-01 1.05343770e-01 1.91658479e-02 7.77568020e+01] [-1.05320960e-01 9.94435851e-01 -2.19847752e-03 -5.26877486e+00] [-1.92908022e-02 1.67273307e-04 9.99813901e-01 -2.22216270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25587156 meters Centerline goodness [0,1] 0.9998719344304284 Centerline is valid? [True, True] Translation: X:77.79, Y:-5.27, Z:-2.23 [[ 9.94212191e-01 1.05778921e-01 1.87866836e-02 7.77865186e+01] [-1.05757084e-01 9.94389660e-01 -2.15489941e-03 -5.26814764e+00] [-1.89092268e-02 1.55602400e-04 9.99821192e-01 -2.22581562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:-5.27, Z:-2.23 [[ 9.94166643e-01 1.06318083e-01 1.81425331e-02 7.78164566e+01] [-1.06297814e-01 9.94332161e-01 -2.08060108e-03 -5.26985765e+00] [-1.82609096e-02 1.39952580e-04 9.99833246e-01 -2.22520897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-5.27, Z:-2.23 [[ 9.94109604e-01 1.06862785e-01 1.80676490e-02 7.78449337e+01] [-1.06842779e-01 9.94273769e-01 -2.07171568e-03 -5.27214857e+00] [-1.81855788e-02 1.29114631e-04 9.99834620e-01 -2.22681656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:-5.27, Z:-2.23 [[ 9.93932803e-01 1.08501134e-01 1.80301639e-02 7.78752074e+01] [-1.08481495e-01 9.94096320e-01 -2.06662133e-03 -5.27239282e+00] [-1.81479503e-02 9.81436016e-05 9.99835308e-01 -2.22694104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:-5.28, Z:-2.23 [[ 9.93839324e-01 1.09258217e-01 1.86021542e-02 7.79040699e+01] [-1.09237451e-01 9.94013398e-01 -2.13184545e-03 -5.27502155e+00] [-1.87237121e-02 8.66599370e-05 9.99824692e-01 -2.23076157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:-5.27, Z:-2.23 [[ 9.93728079e-01 1.10215505e-01 1.88956840e-02 7.79334783e+01] [-1.10194262e-01 9.93907711e-01 -2.16492261e-03 -5.27430970e+00] [-1.90191741e-02 6.91484250e-05 9.99819117e-01 -2.22702692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43587156000001 meters Centerline goodness [0,1] 0.9998714239794279 Centerline is valid? [True, True] Translation: X:77.96, Y:-5.28, Z:-2.23 [[ 9.93589646e-01 1.11282887e-01 1.98930592e-02 7.79617925e+01] [-1.11259575e-01 9.93788769e-01 -2.27828006e-03 -5.27516324e+00] [-2.00230324e-02 5.03821741e-05 9.99799518e-01 -2.22896461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-5.27, Z:-2.23 [[ 9.93342253e-01 1.13494227e-01 1.97542132e-02 7.79911455e+01] [-1.13471701e-01 9.93538656e-01 -2.26108916e-03 -5.27371897e+00] [-1.98831950e-02 4.49121800e-06 9.99802310e-01 -2.22819372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-5.27, Z:-2.23 [[ 9.93191103e-01 1.14836595e-01 1.95956712e-02 7.80206049e+01] [-1.14814709e-01 9.93384395e-01 -2.24202100e-03 -5.27297485e+00] [-1.97235000e-02 -2.31159737e-05 9.99805473e-01 -2.22898799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-5.27, Z:-2.23 [[ 9.92990038e-01 1.16537318e-01 1.97443344e-02 7.80494979e+01] [-1.16515453e-01 9.93186312e-01 -2.25808522e-03 -5.27172466e+00] [-1.98729539e-02 -5.82639531e-05 9.99802512e-01 -2.22939877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-5.27, Z:-2.23 [[ 9.92551607e-01 1.20144741e-01 2.01630618e-02 7.80785743e+01] [-1.20122701e-01 9.92756377e-01 -2.30510403e-03 -5.26609833e+00] [-2.02939543e-02 -1.34106727e-04 9.99794048e-01 -2.22940170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58587156 meters Centerline goodness [0,1] 0.9998724544024489 Centerline is valid? [True, True] Translation: X:78.11, Y:-5.26, Z:-2.23 [[ 9.92324576e-01 1.21896272e-01 2.08143014e-02 7.81073549e+01] [-1.21873199e-01 9.92542829e-01 -2.37816374e-03 -5.26401764e+00] [-2.09489749e-02 -1.76795172e-04 9.99780531e-01 -2.23192988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:-5.26, Z:-2.23 [[ 9.91885907e-01 1.25386158e-01 2.09918827e-02 7.81359771e+01] [-1.25363490e-01 9.92107982e-01 -2.39756662e-03 -5.25746912e+00] [-2.11268360e-02 -2.53503133e-04 9.99776771e-01 -2.23068862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:-5.26, Z:-2.23 [[ 9.91716059e-01 1.26755287e-01 2.07931738e-02 7.81647600e+01] [-1.26733373e-01 9.91933979e-01 -2.37357293e-03 -5.25622616e+00] [-2.09263186e-02 -2.81278669e-04 9.99780981e-01 -2.23162020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67587156 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:78.19, Y:-5.26, Z:-2.23 [[ 9.91603563e-01 1.27647679e-01 2.06989000e-02 7.81939682e+01] [-1.27626178e-01 9.91819530e-01 -2.36186024e-03 -5.25520720e+00] [-2.08310593e-02 -2.99692470e-04 9.99782965e-01 -2.23294754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-5.25, Z:-2.23 [[ 9.91470666e-01 1.28614751e-01 2.10751969e-02 7.82227490e+01] [-1.28592698e-01 9.91694580e-01 -2.40390107e-03 -5.24960490e+00] [-2.12093356e-02 -3.26719038e-04 9.99775003e-01 -2.23321850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73587156 meters Centerline goodness [0,1] 0.9999788027810751 Centerline is valid? [True, True] Translation: X:78.25, Y:-5.25, Z:-2.23 [[ 9.91504938e-01 1.28341533e-01 2.11283662e-02 7.82516923e+01] [-1.28319336e-01 9.91729977e-01 -2.40864551e-03 -5.25022856e+00] [-2.12627634e-02 -3.22993998e-04 9.99773870e-01 -2.23441957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:-5.25, Z:-2.24 [[ 9.91617629e-01 1.27515507e-01 2.08392121e-02 7.82799835e+01] [-1.27493750e-01 9.91836531e-01 -2.37474660e-03 -5.25283561e+00] [-2.09719089e-02 -3.02028721e-04 9.99780020e-01 -2.23618721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.31, Y:-5.26, Z:-2.24 [[ 9.91764795e-01 1.26376982e-01 2.07713593e-02 7.83089781e+01] [-1.26355136e-01 9.91982248e-01 -2.36607258e-03 -5.25567880e+00] [-2.09038368e-02 -2.77980453e-04 9.99781452e-01 -2.23739668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.34, Y:-5.26, Z:-2.24 [[ 9.91919759e-01 1.25145858e-01 2.08256270e-02 7.83364864e+01] [-1.25123644e-01 9.92138322e-01 -2.37140709e-03 -5.25755095e+00] [-2.09586744e-02 -2.53532797e-04 9.99780311e-01 -2.23841413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:-5.26, Z:-2.24 [[ 9.91928125e-01 1.25079509e-01 2.08257479e-02 7.83638013e+01] [-1.25057303e-01 9.92146689e-01 -2.37034486e-03 -5.26051783e+00] [-2.09586784e-02 -2.53200143e-04 9.99780311e-01 -2.23924444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88587156 meters Centerline goodness [0,1] 0.9999788059258631 Centerline is valid? [True, True] Translation: X:78.39, Y:-5.26, Z:-2.24 [[ 9.92299738e-01 1.21923926e-01 2.18125168e-02 7.83917516e+01] [-1.21898840e-01 9.92539429e-01 -2.48098812e-03 -5.26333574e+00] [-2.19522747e-02 -1.97036635e-04 9.99759000e-01 -2.23818421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.42, Y:-5.27, Z:-2.24 [[ 9.92537644e-01 1.19835083e-01 2.25516552e-02 7.84206489e+01] [-1.19807763e-01 9.92793799e-01 -2.56357494e-03 -5.26910573e+00] [-2.26963496e-02 -1.57418715e-04 9.99742392e-01 -2.23709744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:-5.28, Z:-2.24 [[ 9.93059763e-01 1.15454826e-01 2.24162847e-02 7.84486668e+01] [-1.15426732e-01 9.93312730e-01 -2.54750527e-03 -5.27580178e+00] [-2.25605028e-02 -5.76135043e-05 9.99745478e-01 -2.23764289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:-5.28, Z:-2.24 [[ 9.93324783e-01 1.13279414e-01 2.17634941e-02 7.84774120e+01] [-1.13252432e-01 9.93563171e-01 -2.47235374e-03 -5.28064545e+00] [-2.19034730e-02 -8.91838692e-06 9.99760090e-01 -2.23862255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:-5.29, Z:-2.24 [[ 9.93572829e-01 1.11171779e-01 2.13041924e-02 7.85042531e+01] [-1.11145458e-01 9.93801205e-01 -2.41929645e-03 -5.28570089e+00] [-2.14410895e-02 3.58830055e-05 9.99770113e-01 -2.24290377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:-5.29, Z:-2.24 [[ 9.93964910e-01 1.07707193e-01 2.08066948e-02 7.85328647e+01] [-1.07681356e-01 9.94182654e-01 -2.36141178e-03 -5.29232367e+00] [-2.09399961e-02 1.06667328e-04 9.99780729e-01 -2.24334563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06587156 meters Centerline goodness [0,1] 0.9999140358040876 Centerline is valid? [True, True] Translation: X:78.56, Y:-5.30, Z:-2.25 [[ 9.94157825e-01 1.05959972e-01 2.05597603e-02 7.85605392e+01] [-1.05934390e-01 9.94370386e-01 -2.33253610e-03 -5.29617859e+00] [-2.06911723e-02 1.40923351e-04 9.99785905e-01 -2.24665424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:-5.30, Z:-2.25 [[ 9.94414023e-01 1.03692660e-01 1.97125074e-02 7.85880307e+01] [-1.03668723e-01 9.94609371e-01 -2.23508091e-03 -5.30458227e+00] [-1.98380060e-02 1.79025326e-04 9.99803191e-01 -2.25008909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12587156000001 meters Centerline goodness [0,1] 0.9998286864533813 Centerline is valid? [True, True] Translation: X:78.62, Y:-5.31, Z:-2.25 [[ 9.94531636e-01 1.02592619e-01 1.95340522e-02 7.86168064e+01] [-1.02568913e-01 9.94723437e-01 -2.21427654e-03 -5.30635344e+00] [-1.96581480e-02 1.98581575e-04 9.99806740e-01 -2.25223218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.65, Y:-5.31, Z:-2.25 [[ 9.94563724e-01 1.02394816e-01 1.89288129e-02 7.86456691e+01] [-1.02372536e-01 9.94743818e-01 -2.14487035e-03 -5.30957081e+00] [-1.90489432e-02 1.95419672e-04 9.99818533e-01 -2.25111125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.67, Y:-5.31, Z:-2.25 [[ 9.94611066e-01 1.02001068e-01 1.85636755e-02 7.86742252e+01] [-1.01979586e-01 9.94784270e-01 -2.10266684e-03 -5.31225282e+00] [-1.86813266e-02 1.98219765e-04 9.99825469e-01 -2.25188649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.70, Y:-5.32, Z:-2.26 [[ 9.94674374e-01 1.01435480e-01 1.82683427e-02 7.87014642e+01] [-1.01414594e-01 9.94842099e-01 -2.06849965e-03 -5.31991536e+00] [-1.83839357e-02 2.04807039e-04 9.99830980e-01 -2.25801524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24587156000001 meters Centerline goodness [0,1] 0.9999573397039375 Centerline is valid? [True, True] Translation: X:78.73, Y:-5.32, Z:-2.26 [[ 9.94666695e-01 1.01495496e-01 1.83529603e-02 7.87305216e+01] [-1.01474450e-01 9.94835978e-01 -2.07676872e-03 -5.32285561e+00] [-1.84689679e-02 2.03336120e-04 9.99829413e-01 -2.25883828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27587156 meters Centerline goodness [0,1] 0.9998497015502211 Centerline is valid? [True, True] Translation: X:78.76, Y:-5.32, Z:-2.26 [[ 9.94655677e-01 1.01534700e-01 1.87293609e-02 7.87604484e+01] [-1.01512797e-01 9.94831977e-01 -2.11897302e-03 -5.32000396e+00] [-1.88477164e-02 2.06378738e-04 9.99822345e-01 -2.25617874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30587156 meters Centerline goodness [0,1] 0.9999357725491875 Centerline is valid? [True, True] Translation: X:78.79, Y:-5.32, Z:-2.26 [[ 9.94607540e-01 1.01922224e-01 1.91755548e-02 7.87880551e+01] [-1.01899371e-01 9.94792350e-01 -2.16767789e-03 -5.32242319e+00] [-1.92966297e-02 2.02011808e-04 9.99813782e-01 -2.25595236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:-5.32, Z:-2.25 [[ 9.94492351e-01 1.02996103e-01 1.94104847e-02 7.88172107e+01] [-1.02972916e-01 9.94681743e-01 -2.19293130e-03 -5.32433912e+00] [-1.95331182e-02 1.82099190e-04 9.99809194e-01 -2.25448962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-5.33, Z:-2.25 [[ 9.94448780e-01 1.03368843e-01 1.96597606e-02 7.88462708e+01] [-1.03345148e-01 9.94643077e-01 -2.22015234e-03 -5.32648617e+00] [-1.97839394e-02 1.76086920e-04 9.99804263e-01 -2.25487327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:-5.33, Z:-2.26 [[ 9.94398908e-01 1.03832358e-01 1.97396161e-02 7.88735103e+01] [-1.03808578e-01 9.94594799e-01 -2.22834816e-03 -5.32925540e+00] [-1.98642941e-02 1.66725505e-04 9.99802672e-01 -2.25597537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42587156 meters Centerline goodness [0,1] 0.9998720191118127 Centerline is valid? [True, True] Translation: X:78.90, Y:-5.33, Z:-2.26 [[ 9.94340844e-01 1.04360587e-01 1.98784988e-02 7.89020379e+01] [-1.04336603e-01 9.94539513e-01 -2.24272425e-03 -5.33201191e+00] [-2.00040045e-02 1.55977292e-04 9.99799888e-01 -2.25860177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:-5.34, Z:-2.26 [[ 9.94292415e-01 1.04794086e-01 2.00197924e-02 7.89303990e+01] [-1.04769866e-01 9.94493931e-01 -2.25770802e-03 -5.33618833e+00] [-2.01461565e-02 1.47350983e-04 9.99797035e-01 -2.25773508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-5.34, Z:-2.26 [[ 9.94214393e-01 1.05523407e-01 2.00636813e-02 7.89596689e+01] [-1.05499241e-01 9.94416811e-01 -2.26206157e-03 -5.33723527e+00] [-2.01903624e-02 1.32271011e-04 9.99796145e-01 -2.25691922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-5.34, Z:-2.26 [[ 9.94164085e-01 1.05977523e-01 2.01627552e-02 7.89875592e+01] [-1.05953250e-01 9.94368518e-01 -2.27137856e-03 -5.34029699e+00] [-2.02899241e-02 1.21813552e-04 9.99794131e-01 -2.25852323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:-5.34, Z:-2.26 [[ 9.94128018e-01 1.06255830e-01 2.04739590e-02 7.90148804e+01] [-1.06230888e-01 9.94338818e-01 -2.30508129e-03 -5.34345864e+00] [-2.06029806e-02 1.16579037e-04 9.99787729e-01 -2.25985268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:-5.35, Z:-2.26 [[ 9.94050405e-01 1.06999817e-01 2.03674127e-02 7.90430695e+01] [-1.06975318e-01 9.94259035e-01 -2.29175585e-03 -5.34734793e+00] [-2.04957016e-02 9.93103829e-05 9.99789936e-01 -2.26029860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.07, Y:-5.35, Z:-2.26 [[ 9.93974855e-01 1.07662577e-01 2.05610621e-02 7.90718764e+01] [-1.07637771e-01 9.94187488e-01 -2.31258124e-03 -5.34988069e+00] [-2.06905292e-02 8.55006981e-05 9.99785924e-01 -2.25991302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63587156000001 meters Centerline goodness [0,1] 0.9997654284130166 Centerline is valid? [True, True] Translation: X:79.10, Y:-5.35, Z:-2.26 [[ 9.93952418e-01 1.07912153e-01 2.03361324e-02 7.90997437e+01] [-1.07887957e-01 9.94160430e-01 -2.28641560e-03 -5.35221719e+00] [-2.04641102e-02 7.85645307e-05 9.99790585e-01 -2.26369346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-5.36, Z:-2.26 [[ 9.93815450e-01 1.09130011e-01 2.05302849e-02 7.91271005e+01] [-1.09105637e-01 9.94027484e-01 -2.30695676e-03 -5.35725782e+00] [-2.06594256e-02 5.27194660e-05 9.99786570e-01 -2.26463913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-5.36, Z:-2.26 [[ 9.93807365e-01 1.09229528e-01 2.03919238e-02 7.91555456e+01] [-1.09205530e-01 9.94016553e-01 -2.29008917e-03 -5.36065504e+00] [-2.05200552e-02 4.89966435e-05 9.99789440e-01 -2.26471302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-5.36, Z:-2.27 [[ 9.93800143e-01 1.09292447e-01 2.04067798e-02 7.91827240e+01] [-1.09268444e-01 9.94009637e-01 -2.29093189e-03 -5.36388197e+00] [-2.05349174e-02 4.69113651e-05 9.99789135e-01 -2.26554222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75587156 meters Centerline goodness [0,1] 0.9999359261869674 Centerline is valid? [True, True] Translation: X:79.21, Y:-5.37, Z:-2.27 [[ 9.93772621e-01 1.09558945e-01 2.03178582e-02 7.92114404e+01] [-1.09535232e-01 9.93980300e-01 -2.27971872e-03 -5.36593894e+00] [-2.04453143e-02 4.00007422e-05 9.99790972e-01 -2.26624910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:-5.37, Z:-2.27 [[ 9.93648387e-01 1.10581563e-01 2.08470842e-02 7.92398263e+01] [-1.10556845e-01 9.93867052e-01 -2.33805023e-03 -5.37130509e+00] [-2.09777754e-02 1.84119799e-05 9.99779942e-01 -2.26544923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:-5.37, Z:-2.27 [[ 9.93605115e-01 1.10953371e-01 2.09338200e-02 7.92679711e+01] [-1.10928551e-01 9.93825613e-01 -2.34675917e-03 -5.37481011e+00] [-2.10649473e-02 9.59359548e-06 9.99778109e-01 -2.26568278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:-5.38, Z:-2.27 [[ 9.93514899e-01 1.11653097e-01 2.14879442e-02 7.92958293e+01] [-1.11627130e-01 9.93747244e-01 -2.40788921e-03 -5.37734328e+00] [-2.16224336e-02 -6.36373422e-06 9.99766208e-01 -2.26663659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-5.38, Z:-2.27 [[ 9.93439628e-01 1.12355932e-01 2.13037556e-02 7.93236456e+01] [-1.12330596e-01 9.93668025e-01 -2.38601975e-03 -5.37962918e+00] [-2.14369443e-02 -2.26969954e-05 9.99770202e-01 -2.26819793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-5.38, Z:-2.27 [[ 9.93215996e-01 1.14511879e-01 2.02241039e-02 7.93523323e+01] [-1.14489523e-01 9.93421877e-01 -2.26364021e-03 -5.38080901e+00] [-2.03502810e-02 -6.71643514e-05 9.99792909e-01 -2.27022256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93587156000001 meters Centerline goodness [0,1] 0.9998510131108462 Centerline is valid? [True, True] Translation: X:79.38, Y:-5.38, Z:-2.27 [[ 9.93127892e-01 1.15346197e-01 1.98051580e-02 7.93807585e+01] [-1.15324942e-01 9.93325348e-01 -2.21583800e-03 -5.38160853e+00] [-1.99285539e-02 -8.34181692e-05 9.99801403e-01 -2.27348744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:-5.38, Z:-2.27 [[ 9.92947136e-01 1.16778088e-01 2.04661572e-02 7.94083745e+01] [-1.16755711e-01 9.93158026e-01 -2.28899785e-03 -5.38394948e+00] [-2.05934331e-02 -1.16686873e-04 9.99787926e-01 -2.27188689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-5.39, Z:-2.27 [[ 9.92927751e-01 1.16853243e-01 2.09714261e-02 7.94365359e+01] [-1.16829801e-01 9.93149185e-01 -2.34375639e-03 -5.38784122e+00] [-2.11016303e-02 -1.22906770e-04 9.99777328e-01 -2.27170397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:-5.39, Z:-2.27 [[ 9.92948313e-01 1.16639977e-01 2.11840237e-02 7.94649881e+01] [-1.16616031e-01 9.93174255e-01 -2.36649339e-03 -5.39219575e+00] [-2.13154547e-02 -1.20591132e-04 9.99772793e-01 -2.27161325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:-5.40, Z:-2.27 [[ 9.92979926e-01 1.16361750e-01 2.12322807e-02 7.94938836e+01] [-1.16337652e-01 9.93206892e-01 -2.37086172e-03 -5.39680562e+00] [-2.13639251e-02 -1.15895594e-04 9.99771759e-01 -2.27192631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08587156 meters Centerline goodness [0,1] 0.9998720109217347 Centerline is valid? [True, True] Translation: X:79.52, Y:-5.40, Z:-2.28 [[ 9.93066094e-01 1.15616559e-01 2.12731098e-02 7.95210102e+01] [-1.15592217e-01 9.93293915e-01 -2.37448751e-03 -5.39951737e+00] [-2.14049805e-02 -1.00982876e-04 9.99770882e-01 -2.27575485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:-5.41, Z:-2.28 [[ 9.93113635e-01 1.15340775e-01 2.05381155e-02 7.95491134e+01] [-1.15318054e-01 9.93325977e-01 -2.29114122e-03 -5.40586987e+00] [-2.06653057e-02 -9.30519375e-05 9.99786445e-01 -2.27553688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-5.41, Z:-2.28 [[ 9.93114750e-01 1.15402572e-01 2.01330591e-02 7.95770918e+01] [-1.15380769e-01 9.93318800e-01 -2.24513415e-03 -5.40949591e+00] [-2.02576404e-02 -9.32919969e-05 9.99794789e-01 -2.27744407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:-5.41, Z:-2.28 [[ 9.93062972e-01 1.15844647e-01 2.01482398e-02 7.96051881e+01] [-1.15822924e-01 9.93267339e-01 -2.24570524e-03 -5.41222086e+00] [-2.02727415e-02 -1.03501341e-04 9.99794482e-01 -2.27885543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-5.41, Z:-2.28 [[ 9.92917625e-01 1.17126591e-01 1.98985510e-02 7.96341476e+01] [-1.17105691e-01 9.93116985e-01 -2.21635926e-03 -5.41443333e+00] [-2.00211836e-02 -1.29571385e-04 9.99799548e-01 -2.27921890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-5.42, Z:-2.28 [[ 9.92852133e-01 1.17712450e-01 1.97083882e-02 7.96623802e+01] [-1.17692079e-01 9.93047713e-01 -2.19436616e-03 -5.41674543e+00] [-1.98296740e-02 -1.40840055e-04 9.99803363e-01 -2.28018480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:-5.42, Z:-2.28 [[ 9.92787373e-01 1.18273555e-01 1.96111503e-02 7.96896389e+01] [-1.18253517e-01 9.92981039e-01 -2.18237116e-03 -5.41978353e+00] [-1.97316172e-02 -1.52456972e-04 9.99805301e-01 -2.28190427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29587156000001 meters Centerline goodness [0,1] 0.9999141833472786 Centerline is valid? [True, True] Translation: X:79.72, Y:-5.42, Z:-2.28 [[ 9.92666295e-01 1.19296948e-01 1.95413669e-02 7.97178858e+01] [-1.19277276e-01 9.92858604e-01 -2.17331008e-03 -5.42383939e+00] [-1.96610835e-02 -1.73469351e-04 9.99806687e-01 -2.28448885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:-5.43, Z:-2.28 [[ 9.92621420e-01 1.19638371e-01 1.97326320e-02 7.97451932e+01] [-1.19618393e-01 9.92817519e-01 -2.19390034e-03 -5.42905228e+00] [-1.98533774e-02 -1.82673249e-04 9.99802886e-01 -2.28253746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35587156000001 meters Centerline goodness [0,1] 0.9999789047337777 Centerline is valid? [True, True] Translation: X:79.77, Y:-5.43, Z:-2.28 [[ 9.92558726e-01 1.20153834e-01 1.97542943e-02 7.97731992e+01] [-1.20133946e-01 9.92755266e-01 -2.19472991e-03 -5.43004044e+00] [-1.98748849e-02 -1.94763005e-04 9.99802456e-01 -2.28446754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:-5.43, Z:-2.28 [[ 9.92429141e-01 1.21182236e-01 1.99816194e-02 7.98018349e+01] [-1.21162123e-01 9.92630252e-01 -2.21862062e-03 -5.43246318e+00] [-2.01032173e-02 -2.19191673e-04 9.99797886e-01 -2.28342212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:-5.43, Z:-2.28 [[ 9.92294665e-01 1.22196733e-01 2.04757717e-02 7.98306580e+01] [-1.22175849e-01 9.92505868e-01 -2.27248148e-03 -5.43445389e+00] [-2.06000134e-02 -2.46673553e-04 9.99787767e-01 -2.28344604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.86, Y:-5.43, Z:-2.28 [[ 9.91958946e-01 1.24899636e-01 2.04335738e-02 7.98599961e+01] [-1.24879432e-01 9.92169335e-01 -2.26681488e-03 -5.43471092e+00] [-2.05566897e-02 -3.03145782e-04 9.99788643e-01 -2.28387905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:-5.44, Z:-2.28 [[ 9.91793515e-01 1.26164301e-01 2.06928267e-02 7.98881706e+01] [-1.26143875e-01 9.92009303e-01 -2.29467256e-03 -5.43545256e+00] [-2.08169824e-02 -3.34431983e-04 9.99783247e-01 -2.28482181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50587156 meters Centerline goodness [0,1] 0.9999785743363401 Centerline is valid? [True, True] Translation: X:79.92, Y:-5.44, Z:-2.28 [[ 9.91618339e-01 1.27488982e-01 2.09673477e-02 7.99166824e+01] [-1.27468335e-01 9.91839918e-01 -2.32373088e-03 -5.43888140e+00] [-2.10925025e-02 -3.68418742e-04 9.99777461e-01 -2.28430381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53587156 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:79.94, Y:-5.43, Z:-2.28 [[ 9.91241908e-01 1.30368676e-01 2.10591333e-02 7.99446036e+01] [-1.30348515e-01 9.91465492e-01 -2.33307694e-03 -5.43480654e+00] [-2.11835641e-02 -4.32383115e-04 9.99775510e-01 -2.28433222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56587156 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:79.97, Y:-5.43, Z:-2.28 [[ 9.91025226e-01 1.31969925e-01 2.12824100e-02 7.99735949e+01] [-1.31949742e-01 9.91253608e-01 -2.35600782e-03 -5.43494406e+00] [-2.14071879e-02 -4.73345327e-04 9.99770728e-01 -2.28493282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:-5.44, Z:-2.29 [[ 9.90800488e-01 1.33667947e-01 2.11488246e-02 8.00026488e+01] [-1.33648424e-01 9.91026045e-01 -2.34022803e-03 -5.43739053e+00] [-2.12718495e-02 -5.07808002e-04 9.99773600e-01 -2.28510487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62587156000001 meters Centerline goodness [0,1] 0.9999787514342782 Centerline is valid? [True, True] Translation: X:80.03, Y:-5.43, Z:-2.29 [[ 9.90592582e-01 1.35177096e-01 2.12952820e-02 8.00310758e+01] [-1.35157671e-01 9.90821304e-01 -2.35546785e-03 -5.43362459e+00] [-2.14182244e-02 -5.44911733e-04 9.99770455e-01 -2.28688505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65587156000001 meters Centerline goodness [0,1] 0.9999787518857701 Centerline is valid? [True, True] Translation: X:80.06, Y:-5.43, Z:-2.29 [[ 9.90178526e-01 1.38145130e-01 2.15037200e-02 8.00612050e+01] [-1.38126056e-01 9.90411805e-01 -2.37694605e-03 -5.42828259e+00] [-2.16259016e-02 -6.16623096e-04 9.99765943e-01 -2.28700801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68587156000001 meters Centerline goodness [0,1] 0.9997862791194699 Centerline is valid? [True, True] Translation: X:80.09, Y:-5.43, Z:-2.29 [[ 9.90008652e-01 1.39371964e-01 2.14085074e-02 8.00895825e+01] [-1.39353351e-01 9.90239893e-01 -2.36611732e-03 -5.42786255e+00] [-2.15293285e-02 -6.40870637e-04 9.99768012e-01 -2.28953685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71587156000001 meters Centerline goodness [0,1] 0.9998935536064039 Centerline is valid? [True, True] Translation: X:80.12, Y:-5.43, Z:-2.29 [[ 9.89897460e-01 1.40141092e-01 2.15289032e-02 8.01173001e+01] [-1.40122496e-01 9.90131322e-01 -2.37732960e-03 -5.42545026e+00] [-2.16496029e-02 -6.63371122e-04 9.99765400e-01 -2.28946374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74587156000001 meters Centerline goodness [0,1] 0.9998935536064039 Centerline is valid? [True, True] Translation: X:80.14, Y:-5.43, Z:-2.29 [[ 9.89907146e-01 1.40072628e-01 2.15290749e-02 8.01446333e+01] [-1.40054050e-01 9.90141009e-01 -2.37577313e-03 -5.42832605e+00] [-2.16496007e-02 -6.63439346e-04 9.99765400e-01 -2.29029443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77587156 meters Centerline goodness [0,1] 0.9997867621972023 Centerline is valid? [True, True] Translation: X:80.17, Y:-5.43, Z:-2.29 [[ 9.89819145e-01 1.40681670e-01 2.16038933e-02 8.01727738e+01] [-1.40663143e-01 9.90054647e-01 -2.38242679e-03 -5.43142167e+00] [-2.17241987e-02 -6.80699883e-04 9.99763770e-01 -2.29042430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80587156 meters Centerline goodness [0,1] 0.9998296168508934 Centerline is valid? [True, True] Translation: X:80.20, Y:-5.43, Z:-2.29 [[ 9.89778856e-01 1.40953505e-01 2.16777491e-02 8.02018267e+01] [-1.40934946e-01 9.90015976e-01 -2.38916867e-03 -5.43351272e+00] [-2.17980796e-02 -6.90403764e-04 9.99762155e-01 -2.29091925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83587156 meters Centerline goodness [0,1] 0.9998934923847055 Centerline is valid? [True, True] Translation: X:80.23, Y:-5.43, Z:-2.29 [[ 9.89885292e-01 1.40392372e-01 2.04227737e-02 8.02308157e+01] [-1.40375800e-01 9.90095739e-01 -2.24994692e-03 -5.43255593e+00] [-2.05363766e-02 -6.39673818e-04 9.99788902e-01 -2.29346066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86587156 meters Centerline goodness [0,1] 0.9999360600183295 Centerline is valid? [True, True] Translation: X:80.26, Y:-5.43, Z:-2.30 [[ 9.90023620e-01 1.39483352e-01 1.99405528e-02 8.02587385e+01] [-1.39467385e-01 9.90224230e-01 -2.19599886e-03 -5.43073502e+00] [-2.00519238e-02 -6.06966003e-04 9.99798756e-01 -2.29684438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89587156 meters Centerline goodness [0,1] 0.9998722071947349 Centerline is valid? [True, True] Translation: X:80.29, Y:-5.43, Z:-2.30 [[ 9.90171335e-01 1.38468041e-01 1.96806987e-02 8.02875004e+01] [-1.38452313e-01 9.90366733e-01 -2.16606701e-03 -5.43342993e+00] [-1.97910404e-02 -5.80060801e-04 9.99803970e-01 -2.29804543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92587156 meters Centerline goodness [0,1] 0.9999358974358974 Centerline is valid? [True, True] Translation: X:80.32, Y:-5.44, Z:-2.30 [[ 9.90415716e-01 1.36726109e-01 1.95622337e-02 8.03163392e+01] [-1.36710248e-01 9.90608740e-01 -2.15210579e-03 -5.43646387e+00] [-1.96727687e-02 -5.42878425e-04 9.99806325e-01 -2.29917534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95587156 meters Centerline goodness [0,1] 0.9999364191251272 Centerline is valid? [True, True] Translation: X:80.35, Y:-5.44, Z:-2.30 [[ 9.91035321e-01 1.32184910e-01 1.93943941e-02 8.03452259e+01] [-1.32168473e-01 9.91224973e-01 -2.13248166e-03 -5.44071997e+00] [-1.95060897e-02 -4.49962813e-04 9.99809637e-01 -2.30169041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98587156 meters Centerline goodness [0,1] 0.9998711948821433 Centerline is valid? [True, True] Translation: X:80.37, Y:-5.45, Z:-2.30 [[ 9.91390615e-01 1.29488687e-01 1.94249182e-02 8.03735090e+01] [-1.29471688e-01 9.91580820e-01 -2.13552521e-03 -5.45123591e+00] [-1.95379027e-02 -3.97837294e-04 9.99809038e-01 -2.30085168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01587156000001 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:80.40, Y:-5.45, Z:-2.30 [[ 9.91771898e-01 1.26479559e-01 1.97844208e-02 8.04012588e+01] [-1.26461336e-01 9.91969154e-01 -2.17453980e-03 -5.45378447e+00] [-1.99005700e-02 -3.45316804e-04 9.99801904e-01 -2.30189048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:-5.46, Z:-2.30 [[ 9.92465995e-01 1.20981903e-01 1.93552831e-02 8.04292645e+01] [-1.20963442e-01 9.92654686e-01 -2.12606927e-03 -5.46270982e+00] [-1.94703284e-02 -2.31230208e-04 9.99810408e-01 -2.30148889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:-5.47, Z:-2.30 [[ 9.92777445e-01 1.18451853e-01 1.90289898e-02 8.04582200e+01] [-1.18433563e-01 9.92959781e-01 -2.08922262e-03 -5.46745096e+00] [-1.91424938e-02 -1.79537969e-04 9.99816750e-01 -2.30336046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:-5.47, Z:-2.30 [[ 9.93099227e-01 1.15751394e-01 1.88557951e-02 8.04867354e+01] [-1.15732959e-01 9.93278208e-01 -2.06969098e-03 -5.47315416e+00] [-1.89686200e-02 -1.26828440e-04 9.99820071e-01 -2.30357811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.51, Y:-5.48, Z:-2.30 [[ 9.93385054e-01 1.13248946e-01 1.89950077e-02 8.05143915e+01] [-1.13229795e-01 9.93566641e-01 -2.08416110e-03 -5.47833937e+00] [-1.91088351e-02 -8.04263533e-05 9.99817406e-01 -2.30456159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.54, Y:-5.49, Z:-2.30 [[ 9.93981905e-01 1.07815615e-01 1.93846789e-02 8.05413596e+01] [-1.07794659e-01 9.94170907e-01 -2.12574198e-03 -5.48729119e+00] [-1.95008719e-02 2.33842055e-05 9.99809840e-01 -2.30444326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:-5.49, Z:-2.31 [[ 9.94234146e-01 1.05455470e-01 1.94321244e-02 8.05684132e+01] [-1.05433987e-01 9.94424024e-01 -2.12959756e-03 -5.49318084e+00] [-1.95483491e-02 6.85122637e-05 9.99808910e-01 -2.30582745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:-5.50, Z:-2.31 [[ 9.94475733e-01 1.03259515e-01 1.88544180e-02 8.05965825e+01] [-1.03238919e-01 9.94654443e-01 -2.06508037e-03 -5.49861875e+00] [-1.89668699e-02 1.07162579e-04 9.99820107e-01 -2.30701771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25587156 meters Centerline goodness [0,1] 0.999871904355252 Centerline is valid? [True, True] Translation: X:80.62, Y:-5.50, Z:-2.31 [[ 9.94647247e-01 1.01644982e-01 1.85782498e-02 8.06239593e+01] [-1.01624717e-01 9.94820727e-01 -2.03410203e-03 -5.50267575e+00] [-1.86887842e-02 1.35204619e-04 9.99825340e-01 -2.30986802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28587156 meters Centerline goodness [0,1] 0.9998292531961668 Centerline is valid? [True, True] Translation: X:80.65, Y:-5.51, Z:-2.31 [[ 9.94924232e-01 9.88402449e-02 1.88779865e-02 8.06526005e+01] [-9.88188399e-02 9.95103296e-01 -2.06563637e-03 -5.50848332e+00] [-1.89897146e-02 1.89650951e-04 9.99819661e-01 -2.30933213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-5.51, Z:-2.31 [[ 9.95039866e-01 9.75655991e-02 1.94066781e-02 8.06808993e+01] [-9.75427544e-02 9.95229072e-01 -2.12253524e-03 -5.51374580e+00] [-1.95211767e-02 2.19026340e-04 9.99809420e-01 -2.30812758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:-5.52, Z:-2.31 [[ 9.95139906e-01 9.65165934e-02 1.95221631e-02 8.07078150e+01] [-9.64932877e-02 9.95331347e-01 -2.13447890e-03 -5.51896484e+00] [-1.96370335e-02 2.40347440e-04 9.99807146e-01 -2.30888635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:-5.53, Z:-2.31 [[ 9.95313965e-01 9.46227939e-02 1.99157725e-02 8.07359517e+01] [-9.45981934e-02 9.95513158e-01 -2.17583455e-03 -5.52587715e+00] [-2.00322971e-02 2.81642420e-04 9.99799294e-01 -2.30863979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40587156000001 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:80.76, Y:-5.53, Z:-2.31 [[ 9.95364607e-01 9.41073858e-02 1.98267124e-02 8.07629882e+01] [-9.40829189e-02 9.95562010e-01 -2.16528580e-03 -5.53034275e+00] [-1.99424910e-02 2.89893876e-04 9.99801087e-01 -2.31068435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:-5.54, Z:-2.31 [[ 9.95393451e-01 9.38196707e-02 1.97420156e-02 8.07900126e+01] [-9.37953774e-02 9.95589164e-01 -2.15495076e-03 -5.53549862e+00] [-1.98571136e-02 2.93314073e-04 9.99802785e-01 -2.31060023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:-5.54, Z:-2.31 [[ 9.95390513e-01 9.38811668e-02 1.95972819e-02 8.08189242e+01] [-9.38572702e-02 9.95583368e-01 -2.13764287e-03 -5.53924298e+00] [-1.97114124e-02 2.88442049e-04 9.99805670e-01 -2.31218061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.85, Y:-5.54, Z:-2.31 [[ 9.95364167e-01 9.42658307e-02 1.90821385e-02 8.08478828e+01] [-9.42432608e-02 9.95547025e-01 -2.08061146e-03 -5.54261708e+00] [-1.91932967e-02 2.72603143e-04 9.99815755e-01 -2.31381124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.88, Y:-5.55, Z:-2.32 [[ 9.95209979e-01 9.59894777e-02 1.85234151e-02 8.08751765e+01] [-9.59685204e-02 9.95382322e-01 -2.01906652e-03 -5.54598375e+00] [-1.86316890e-02 2.31730411e-04 9.99826388e-01 -2.31653146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55587156 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:80.90, Y:-5.55, Z:-2.32 [[ 9.95053563e-01 9.75598457e-02 1.87212064e-02 8.09041452e+01] [-9.75387448e-02 9.95229639e-01 -2.03910979e-03 -5.54686253e+00] [-1.88308347e-02 2.02980492e-04 9.99822664e-01 -2.31730892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58587156 meters Centerline goodness [0,1] 0.9997858122001371 Centerline is valid? [True, True] Translation: X:80.93, Y:-5.55, Z:-2.32 [[ 9.94854263e-01 9.94786705e-02 1.92091235e-02 8.09326530e+01] [-9.94568235e-02 9.95039680e-01 -2.09169611e-03 -5.54770503e+00] [-1.93219192e-02 1.70454386e-04 9.99813300e-01 -2.31755378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.96, Y:-5.55, Z:-2.32 [[ 9.94692656e-01 1.01076554e-01 1.92366955e-02 8.09616292e+01] [-1.01054960e-01 9.94878641e-01 -2.09381097e-03 -5.54941161e+00] [-1.93498127e-02 1.38734897e-04 9.99812765e-01 -2.31615225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.99, Y:-5.55, Z:-2.32 [[ 9.94243699e-01 1.05419034e-01 1.91388047e-02 8.09908831e+01] [-1.05398480e-01 9.94427888e-01 -2.08228240e-03 -5.54732757e+00] [-1.92516734e-02 5.30952295e-05 9.99814668e-01 -2.31690507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.02, Y:-5.55, Z:-2.32 [[ 9.94031759e-01 1.07383822e-01 1.92243708e-02 8.10190879e+01] [-1.07363466e-01 9.94217639e-01 -2.09084075e-03 -5.54749312e+00] [-1.93377310e-02 1.43670207e-05 9.99813008e-01 -2.31816597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.05, Y:-5.55, Z:-2.32 [[ 9.93833100e-01 1.09169985e-01 1.94340636e-02 8.10468120e+01] [-1.09149545e-01 9.94023095e-01 -2.11255403e-03 -5.54770805e+00] [-1.95485355e-02 -2.16930706e-05 9.99808909e-01 -2.31790460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:-5.55, Z:-2.32 [[ 9.93666014e-01 1.10674698e-01 1.94669750e-02 8.10743067e+01] [-1.10654507e-01 9.93856684e-01 -2.11461472e-03 -5.54809983e+00] [-1.95814176e-02 -5.28877346e-05 9.99808264e-01 -2.31932820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-5.55, Z:-2.32 [[ 9.93494075e-01 1.12402844e-01 1.83063921e-02 8.11026217e+01] [-1.12385301e-01 9.93662716e-01 -1.98757523e-03 -5.54908290e+00] [-1.84137884e-02 -8.27251589e-05 9.99830448e-01 -2.32247212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-5.55, Z:-2.32 [[ 9.93454217e-01 1.12728063e-01 1.84689423e-02 8.11300336e+01] [-1.12710281e-01 9.93625873e-01 -2.00425426e-03 -5.55127733e+00] [-1.85771547e-02 -9.05048253e-05 9.99827426e-01 -2.32361078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-5.55, Z:-2.32 [[ 9.93422038e-01 1.12993080e-01 1.85800614e-02 8.11574901e+01] [-1.12975154e-01 9.93595770e-01 -2.01499797e-03 -5.55307514e+00] [-1.86887513e-02 -9.73419057e-05 9.99825345e-01 -2.32392725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.19, Y:-5.56, Z:-2.32 [[ 9.93409867e-01 1.13023419e-01 1.90405539e-02 8.11859789e+01] [-1.13004630e-01 9.93592319e-01 -2.06330758e-03 -5.55552150e+00] [-1.91517502e-02 -1.01960633e-04 9.99816583e-01 -2.32336254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.22, Y:-5.56, Z:-2.32 [[ 9.93378069e-01 1.13169741e-01 1.98146951e-02 8.12152728e+01] [-1.13149442e-01 9.93575663e-01 -2.14619070e-03 -5.55651153e+00] [-1.99302827e-02 -1.10042928e-04 9.99801366e-01 -2.32232794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91587156 meters Centerline goodness [0,1] 0.9997632779547215 Centerline is valid? [True, True] Translation: X:81.24, Y:-5.56, Z:-2.33 [[ 9.93385025e-01 1.13146535e-01 1.95973125e-02 8.12426939e+01] [-1.13126693e-01 9.93578306e-01 -2.12171379e-03 -5.55768097e+00] [-1.97115291e-02 -1.09300451e-04 9.99805703e-01 -2.32561389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.27, Y:-5.56, Z:-2.33 [[ 9.93439809e-01 1.12743263e-01 1.91390535e-02 8.12703507e+01] [-1.12724278e-01 9.93624148e-01 -2.07135081e-03 -5.56174837e+00] [-1.92505566e-02 -9.96736393e-05 9.99814686e-01 -2.32652909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97587156 meters Centerline goodness [0,1] 0.9999361905774753 Centerline is valid? [True, True] Translation: X:81.30, Y:-5.56, Z:-2.33 [[ 9.93529094e-01 1.12036055e-01 1.86510537e-02 8.12983012e+01] [-1.12017916e-01 9.93704139e-01 -2.01769260e-03 -5.56390505e+00] [-1.87596835e-02 -8.46158730e-05 9.99824018e-01 -2.33108105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00587156 meters Centerline goodness [0,1] 0.9998712667353244 Centerline is valid? [True, True] Translation: X:81.33, Y:-5.57, Z:-2.33 [[ 9.93653154e-01 1.11037130e-01 1.80046068e-02 8.13269695e+01] [-1.11020094e-01 9.93816256e-01 -1.94605981e-03 -5.56795280e+00] [-1.81093559e-02 -6.51646802e-05 9.99836010e-01 -2.33158198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-5.57, Z:-2.33 [[ 9.93940999e-01 1.08438393e-01 1.79556521e-02 8.13539399e+01] [-1.08421039e-01 9.94103171e-01 -1.94005658e-03 -5.57384881e+00] [-1.80601473e-02 -1.84686740e-05 9.99836902e-01 -2.33233396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.38, Y:-5.58, Z:-2.33 [[ 9.94106477e-01 1.06886956e-01 1.80967036e-02 8.13812600e+01] [-1.06869089e-01 9.94271180e-01 -1.95431117e-03 -5.57854653e+00] [-1.82019212e-02 8.81517088e-06 9.99834331e-01 -2.33483015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:-5.58, Z:-2.33 [[ 9.94279666e-01 1.05278860e-01 1.80085635e-02 8.14096714e+01] [-1.05260929e-01 9.94442739e-01 -1.94333639e-03 -5.58325617e+00] [-1.81130774e-02 3.66217403e-05 9.99835944e-01 -2.33407895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:-5.59, Z:-2.33 [[ 9.94437273e-01 1.03802069e-01 1.78785097e-02 8.14382101e+01] [-1.03784172e-01 9.94597972e-01 -1.92849900e-03 -5.58813679e+00] [-1.79821117e-02 6.22649620e-05 9.99838307e-01 -2.33419955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15587156000001 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:81.47, Y:-5.60, Z:-2.34 [[ 9.94763793e-01 1.00759711e-01 1.71019655e-02 8.14658134e+01] [-1.00742899e-01 9.94910784e-01 -1.84397896e-03 -5.59569374e+00] [-1.72007287e-02 1.11421925e-04 9.99852050e-01 -2.33710689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18587156000001 meters Centerline goodness [0,1] 0.999893244512768 Centerline is valid? [True, True] Translation: X:81.49, Y:-5.60, Z:-2.34 [[ 9.94866586e-01 9.97799009e-02 1.68655540e-02 8.14938623e+01] [-9.97634221e-02 9.95009525e-01 -1.81770775e-03 -5.59975645e+00] [-1.69627576e-02 1.25811314e-04 9.99856114e-01 -2.33959733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21587156000001 meters Centerline goodness [0,1] 0.9998713136729223 Centerline is valid? [True, True] Translation: X:81.53, Y:-5.60, Z:-2.34 [[ 9.94976401e-01 9.89263966e-02 1.53469418e-02 8.15264379e+01] [-9.87961064e-02 9.95066732e-01 -9.02927512e-03 -5.59966689e+00] [-1.61644649e-02 7.46769757e-03 9.99841459e-01 -2.33872753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-5.61, Z:-2.34 [[ 9.94970368e-01 9.87040514e-02 1.70726705e-02 8.15503646e+01] [-9.88092206e-02 9.95091590e-01 5.42828209e-03 -5.61126158e+00] [-1.64530774e-02 -7.08791709e-03 9.99839516e-01 -2.34154239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27587156 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:81.58, Y:-5.61, Z:-2.34 [[ 9.94895256e-01 9.94884105e-02 1.68963008e-02 8.15796154e+01] [-9.94718651e-02 9.95038713e-01 -1.81892663e-03 -5.60710604e+00] [-1.69934355e-02 1.28934923e-04 9.99855593e-01 -2.34030881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:-5.61, Z:-2.34 [[ 9.94821654e-01 1.00162780e-01 1.72422295e-02 8.16076921e+01] [-1.00145664e-01 9.94971057e-01 -1.85545294e-03 -5.60947172e+00] [-1.73413666e-02 1.19110250e-04 9.99849620e-01 -2.34058489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:-5.61, Z:-2.34 [[ 9.94740832e-01 1.00923397e-01 1.74684082e-02 8.16367030e+01] [-1.00905968e-01 9.94894194e-01 -1.87854216e-03 -5.61015105e+00] [-1.75688067e-02 1.05995963e-04 9.99845651e-01 -2.34032750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36587156 meters Centerline goodness [0,1] 0.9997425886996439 Centerline is valid? [True, True] Translation: X:81.67, Y:-5.61, Z:-2.34 [[ 9.94485276e-01 1.03304272e-01 1.80904431e-02 8.16656531e+01] [-1.03285990e-01 9.94649799e-01 -1.94452564e-03 -5.60803950e+00] [-1.81945334e-02 6.53127891e-05 9.99834464e-01 -2.34192976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:-5.61, Z:-2.34 [[ 9.94442300e-01 1.03775181e-01 1.77545251e-02 8.16933574e+01] [-1.03757659e-01 9.94600779e-01 -1.90774717e-03 -5.61022374e+00] [-1.78566413e-02 5.49765262e-05 9.99840556e-01 -2.34226441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-5.61, Z:-2.34 [[ 9.94327179e-01 1.04768191e-01 1.83599640e-02 8.17224425e+01] [-1.04749646e-01 9.94496669e-01 -1.97150456e-03 -5.61062974e+00] [-1.84654740e-02 3.71208377e-05 9.99829498e-01 -2.34206303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:-5.61, Z:-2.34 [[ 9.94218997e-01 1.05748759e-01 1.85953395e-02 8.17511048e+01] [-1.05729923e-01 9.94392880e-01 -1.99593331e-03 -5.61094027e+00] [-1.87021407e-02 1.83109927e-05 9.99825100e-01 -2.34099364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48587156 meters Centerline goodness [0,1] 0.9999359959037378 Centerline is valid? [True, True] Translation: X:81.78, Y:-5.61, Z:-2.34 [[ 9.94014456e-01 1.07511633e-01 1.94038585e-02 8.17798131e+01] [-1.07491478e-01 9.94203826e-01 -2.08173716e-03 -5.61010651e+00] [-1.95152014e-02 -1.64726070e-05 9.99809560e-01 -2.34224501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:-5.61, Z:-2.34 [[ 9.93980914e-01 1.07736948e-01 1.98668790e-02 8.18085522e+01] [-1.07715884e-01 9.94179435e-01 -2.13045110e-03 -5.61174446e+00] [-1.99807708e-02 -2.23506971e-05 9.99800364e-01 -2.33996167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:-5.61, Z:-2.34 [[ 9.93930490e-01 1.08134335e-01 2.02273860e-02 8.18362757e+01] [-1.08112600e-01 9.94136291e-01 -2.16822206e-03 -5.61187322e+00] [-2.03432378e-02 -3.17732682e-05 9.99793054e-01 -2.34103236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:-5.61, Z:-2.34 [[ 9.93800149e-01 1.09233623e-01 2.07190641e-02 8.18649027e+01] [-1.09211081e-01 9.94016103e-01 -2.21974478e-03 -5.61086873e+00] [-2.08375541e-02 -5.67687027e-05 9.99782873e-01 -2.34116090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-5.61, Z:-2.34 [[ 9.93781861e-01 1.09451702e-01 2.04435385e-02 8.18929139e+01] [-1.09429834e-01 9.93992113e-01 -2.18867191e-03 -5.61179537e+00] [-2.05602699e-02 -6.20705735e-05 9.99788613e-01 -2.34402264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:-5.61, Z:-2.34 [[ 9.93750299e-01 1.09790372e-01 2.01598166e-02 8.19215039e+01] [-1.09769203e-01 9.93954762e-01 -2.15701388e-03 -5.61341329e+00] [-2.02747651e-02 -6.93938136e-05 9.99794443e-01 -2.34302032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:-5.62, Z:-2.34 [[ 9.93758081e-01 1.09719892e-01 2.01598938e-02 8.19488329e+01] [-1.09698723e-01 9.93962545e-01 -2.15629226e-03 -5.61620504e+00] [-2.02747675e-02 -6.86817516e-05 9.99794443e-01 -2.34385058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69587156 meters Centerline goodness [0,1] 0.9999575470696865 Centerline is valid? [True, True] Translation: X:81.98, Y:-5.61, Z:-2.35 [[ 9.93675039e-01 1.10565786e-01 1.96245539e-02 8.19770958e+01] [-1.10545921e-01 9.93868804e-01 -2.09755434e-03 -5.61308673e+00] [-1.97361497e-02 -8.51269866e-05 9.99805220e-01 -2.34617947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72587156 meters Centerline goodness [0,1] 0.9999356306055014 Centerline is valid? [True, True] Translation: X:82.01, Y:-5.61, Z:-2.35 [[ 9.93627206e-01 1.10989279e-01 1.96559038e-02 8.20058124e+01] [-1.10969458e-01 9.93821599e-01 -2.09961174e-03 -5.61429291e+00] [-1.97674961e-02 -9.49736483e-05 9.99804599e-01 -2.34854982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-5.62, Z:-2.35 [[ 9.93719534e-01 1.10235317e-01 1.92266189e-02 8.20331830e+01] [-1.10216224e-01 9.93905513e-01 -2.05312945e-03 -5.61698935e+00] [-1.93357699e-02 -7.88504864e-05 9.99813043e-01 -2.34862873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-5.62, Z:-2.35 [[ 9.93775786e-01 1.09709984e-01 1.93237231e-02 8.20616804e+01] [-1.09690630e-01 9.93963638e-01 -2.06184458e-03 -5.61975634e+00] [-1.94332831e-02 -7.06201521e-05 9.99811153e-01 -2.34957455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:-5.62, Z:-2.35 [[ 9.94000469e-01 1.07563255e-01 1.98296286e-02 8.20891797e+01] [-1.07542465e-01 9.94198242e-01 -2.11495371e-03 -5.62314607e+00] [-1.99420732e-02 -3.02621516e-05 9.99801137e-01 -2.34986835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-5.63, Z:-2.35 [[ 9.94008048e-01 1.07493170e-01 1.98297414e-02 8.21165094e+01] [-1.07472387e-01 9.94205822e-01 -2.11389520e-03 -5.62592693e+00] [-1.99420737e-02 -2.99208007e-05 9.99801137e-01 -2.35069868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.14, Y:-5.63, Z:-2.35 [[ 9.94305731e-01 1.04500214e-01 2.08762477e-02 8.21446258e+01] [-1.04476558e-01 9.94524864e-01 -2.22364038e-03 -5.63125885e+00] [-2.09943183e-02 2.98998726e-05 9.99779595e-01 -2.34924762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.17, Y:-5.64, Z:-2.35 [[ 9.94456271e-01 1.02997066e-01 2.11737804e-02 8.21719100e+01] [-1.02972409e-01 9.94681658e-01 -2.25439637e-03 -5.63525128e+00] [-2.12933672e-02 6.15834255e-05 9.99773269e-01 -2.34998239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-5.64, Z:-2.35 [[ 9.94600945e-01 1.01541009e-01 2.14098730e-02 8.22008018e+01] [-1.01515492e-01 9.94831350e-01 -2.27814138e-03 -5.63906329e+00] [-2.15305376e-02 9.24077718e-05 9.99768187e-01 -2.34997803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:-5.64, Z:-2.35 [[ 9.94742323e-01 1.00068843e-01 2.17701217e-02 8.22297432e+01] [-1.00042131e-01 9.94980508e-01 -2.31540437e-03 -5.64280554e+00] [-2.18925466e-02 1.25301347e-04 9.99760322e-01 -2.35020064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99587156000001 meters Centerline goodness [0,1] 0.9999784352626585 Centerline is valid? [True, True] Translation: X:82.26, Y:-5.65, Z:-2.35 [[ 9.94949331e-01 9.79350229e-02 2.20127154e-02 8.22567067e+01] [-9.79072091e-02 9.95192796e-01 -2.34032970e-03 -5.64711274e+00] [-2.21360960e-02 1.73305945e-04 9.99754952e-01 -2.35145950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:-5.65, Z:-2.35 [[ 9.95024606e-01 9.72672002e-02 2.15667436e-02 8.22855100e+01] [-9.72403817e-02 9.95258287e-01 -2.29123727e-03 -5.64923355e+00] [-2.16873425e-02 1.82679086e-04 9.99764785e-01 -2.35214247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05587156 meters Centerline goodness [0,1] 0.999870862209978 Centerline is valid? [True, True] Translation: X:82.31, Y:-5.65, Z:-2.36 [[ 9.95051039e-01 9.70044922e-02 2.15304134e-02 8.23138809e+01] [-9.69777248e-02 9.95283926e-01 -2.28635054e-03 -5.65160601e+00] [-2.16506606e-02 1.87064974e-04 9.99765579e-01 -2.35544375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.34, Y:-5.65, Z:-2.36 [[ 9.95185275e-01 9.59808616e-02 1.98479758e-02 8.23415079e+01] [-9.59579239e-02 9.95383161e-01 -2.10703916e-03 -5.65374979e+00] [-1.99585763e-02 1.92323799e-04 9.99800789e-01 -2.35794117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:-5.65, Z:-2.36 [[ 9.95226508e-01 9.57085704e-02 1.90805596e-02 8.23698233e+01] [-9.56873451e-02 9.95409380e-01 -2.02438546e-03 -5.65497577e+00] [-1.91867191e-02 1.88953982e-04 9.99815900e-01 -2.35946279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:-5.66, Z:-2.36 [[ 9.95271532e-01 9.52947000e-02 1.88015318e-02 8.23977625e+01] [-9.52740406e-02 9.95449086e-01 -1.99354171e-03 -5.65705964e+00] [-1.89059416e-02 1.92817411e-04 9.99821248e-01 -2.36152131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:-5.66, Z:-2.36 [[ 9.95299065e-01 9.49835854e-02 1.89179748e-02 8.24257295e+01] [-9.49626385e-02 9.95478819e-01 -2.00455801e-03 -5.65980807e+00] [-1.90228433e-02 1.98633914e-04 9.99819030e-01 -2.36405179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:-5.66, Z:-2.37 [[ 9.95348428e-01 9.44970863e-02 1.87565200e-02 8.24533272e+01] [-9.44764302e-02 9.95525117e-01 -1.98632268e-03 -5.66228298e+00] [-1.88602884e-02 2.05034107e-04 9.99822108e-01 -2.36613646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:-5.66, Z:-2.36 [[ 9.95477038e-01 9.32279553e-02 1.82760934e-02 8.24822275e+01] [-9.32081503e-02 9.95644765e-01 -1.93434759e-03 -5.66055920e+00] [-1.83768320e-02 2.22117748e-04 9.99831107e-01 -2.36495799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26587156000001 meters Centerline goodness [0,1] 0.9997433923530922 Centerline is valid? [True, True] Translation: X:82.51, Y:-5.67, Z:-2.37 [[ 9.95508635e-01 9.28896490e-02 1.82775908e-02 8.25092134e+01] [-9.28697963e-02 9.95676384e-01 -1.93382805e-03 -5.66653397e+00] [-1.83781981e-02 2.27706392e-04 9.99831081e-01 -2.37113211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:-5.67, Z:-2.37 [[ 9.95659452e-01 9.12387287e-02 1.83779656e-02 8.25376113e+01] [-9.12183993e-02 9.95829015e-01 -1.94318583e-03 -5.66828896e+00] [-1.84786052e-02 2.58342736e-04 9.99829223e-01 -2.36788740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:-5.67, Z:-2.37 [[ 9.95920675e-01 8.82571210e-02 1.87800518e-02 8.25661319e+01] [-8.82353861e-02 9.96097675e-01 -1.98443828e-03 -5.67309486e+00] [-1.88819068e-02 3.19277986e-04 9.99821670e-01 -2.36754815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35587156000001 meters Centerline goodness [0,1] 0.9998275936382053 Centerline is valid? [True, True] Translation: X:82.59, Y:-5.68, Z:-2.37 [[ 9.96012893e-01 8.71417172e-02 1.90954747e-02 8.25947448e+01] [-8.71190588e-02 9.96195865e-01 -2.01684166e-03 -5.67554742e+00] [-1.91985840e-02 3.45220519e-04 9.99815631e-01 -2.36885006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.62, Y:-5.68, Z:-2.37 [[ 9.96206126e-01 8.48974964e-02 1.91251092e-02 8.26218613e+01] [-8.48743698e-02 9.96389615e-01 -2.01916054e-03 -5.68263137e+00] [-1.92274818e-02 3.88268515e-04 9.99815059e-01 -2.36934547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.65, Y:-5.69, Z:-2.37 [[ 9.96338447e-01 8.32416383e-02 1.95071220e-02 8.26505217e+01] [-8.32172881e-02 9.96529301e-01 -2.05811842e-03 -5.68647568e+00] [-1.96107398e-02 4.27252715e-04 9.99807600e-01 -2.36927007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44587156 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:82.68, Y:-5.69, Z:-2.37 [[ 9.96454916e-01 8.18170491e-02 1.95849900e-02 8.26775204e+01] [-8.17922449e-02 9.96647261e-01 -2.06553099e-03 -5.69221274e+00] [-1.96883223e-02 4.56308213e-04 9.99806062e-01 -2.37020154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47587156 meters Centerline goodness [0,1] 0.999528453541957 Centerline is valid? [True, True] Translation: X:82.71, Y:-5.70, Z:-2.37 [[ 9.96593224e-01 8.00584602e-02 1.98138336e-02 8.27059646e+01] [-8.00327512e-02 9.96790047e-01 -2.08837051e-03 -5.69658983e+00] [-1.99174238e-02 4.95500281e-04 9.99801506e-01 -2.37182322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50587156 meters Centerline goodness [0,1] 0.9998070739549839 Centerline is valid? [True, True] Translation: X:82.73, Y:-5.70, Z:-2.37 [[ 9.96631404e-01 7.96106724e-02 1.96973469e-02 8.27341420e+01] [-7.95851956e-02 9.96825908e-01 -2.07517823e-03 -5.70013530e+00] [-1.98000320e-02 5.00570584e-04 9.99803835e-01 -2.37179145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:-5.70, Z:-2.37 [[ 9.96654773e-01 7.92657583e-02 1.99048353e-02 8.27629884e+01] [-7.92396971e-02 9.96853388e-01 -2.09584560e-03 -5.70453070e+00] [-2.00083313e-02 5.11581406e-04 9.99799682e-01 -2.37140037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:-5.71, Z:-2.37 [[ 9.96619203e-01 7.97200425e-02 1.98715748e-02 8.27923334e+01] [-7.96941578e-02 9.96817166e-01 -2.09237743e-03 -5.70581761e+00] [-1.99751313e-02 5.01655108e-04 9.99800351e-01 -2.37166306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:-5.71, Z:-2.37 [[ 9.96463279e-01 8.15434031e-02 2.02881109e-02 8.28208670e+01] [-8.15168425e-02 9.96669679e-01 -2.13411858e-03 -5.70664754e+00] [-2.03945683e-02 4.72748054e-04 9.99791897e-01 -2.37211183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.85, Y:-5.71, Z:-2.37 [[ 9.96346761e-01 8.28437522e-02 2.07375373e-02 8.28498286e+01] [-8.28162889e-02 9.96562444e-01 -2.18111371e-03 -5.70637880e+00] [-2.08469425e-02 4.55739701e-04 9.99782575e-01 -2.37194325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65587156000001 meters Centerline goodness [0,1] 0.9999782286858835 Centerline is valid? [True, True] Translation: X:82.88, Y:-5.71, Z:-2.37 [[ 9.96239113e-01 8.40238457e-02 2.11571193e-02 8.28771827e+01] [-8.39955456e-02 9.96463647e-01 -2.22430718e-03 -5.70812786e+00] [-2.12691951e-02 4.38838031e-04 9.99773689e-01 -2.37285500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-5.71, Z:-2.37 [[ 9.96136593e-01 8.52622759e-02 2.10293277e-02 8.29062525e+01] [-8.52346210e-02 9.96358458e-01 -2.20952779e-03 -5.70994019e+00] [-2.11411379e-02 4.08564713e-04 9.99776418e-01 -2.37408929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:-5.71, Z:-2.37 [[ 9.95981541e-01 8.70313861e-02 2.11259982e-02 8.29357065e+01] [-8.70038975e-02 9.96205501e-01 -2.21857711e-03 -5.70981586e+00] [-2.12389214e-02 3.71617670e-04 9.99774360e-01 -2.37480027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74587156000001 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:82.96, Y:-5.71, Z:-2.38 [[ 9.95904346e-01 8.79333775e-02 2.10298718e-02 8.29631328e+01] [-8.79063508e-02 9.96126296e-01 -2.20795005e-03 -5.71169650e+00] [-2.11425609e-02 3.50247754e-04 9.99776410e-01 -2.37746548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77587156 meters Centerline goodness [0,1] 0.9998930801471217 Centerline is valid? [True, True] Translation: X:82.99, Y:-5.71, Z:-2.38 [[ 9.95860614e-01 8.84959263e-02 2.07390378e-02 8.29919886e+01] [-8.84697915e-02 9.96076483e-01 -2.17609675e-03 -5.71293162e+00] [-2.08502436e-02 3.32310700e-04 9.99782555e-01 -2.37880421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80587156 meters Centerline goodness [0,1] 0.9998283409149429 Centerline is valid? [True, True] Translation: X:83.02, Y:-5.71, Z:-2.38 [[ 9.95834963e-01 8.88656679e-02 2.03867588e-02 8.30206990e+01] [-8.88405101e-02 9.96043569e-01 -2.13819786e-03 -5.71462064e+00] [-2.04961123e-02 3.18122136e-04 9.99789882e-01 -2.37989738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-5.72, Z:-2.38 [[ 9.95817512e-01 8.90469933e-02 2.04478978e-02 8.30498781e+01] [-8.90217423e-02 9.96027376e-01 -2.14364934e-03 -5.71670527e+00] [-2.05575515e-02 3.14376065e-04 9.99788622e-01 -2.37935234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-5.72, Z:-2.38 [[ 9.95706614e-01 9.02557319e-02 2.05485073e-02 8.30779123e+01] [-9.02305070e-02 9.95918580e-01 -2.15333116e-03 -5.71858749e+00] [-2.06589907e-02 2.89983840e-04 9.99786538e-01 -2.38050310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-5.72, Z:-2.38 [[ 9.95657526e-01 9.08755665e-02 2.01921490e-02 8.31066448e+01] [-9.08513622e-02 9.95862218e-01 -2.11471901e-03 -5.71890803e+00] [-2.03007746e-02 2.71051658e-04 9.99793881e-01 -2.38120229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92587156 meters Centerline goodness [0,1] 0.9999137596481393 Centerline is valid? [True, True] Translation: X:83.13, Y:-5.72, Z:-2.38 [[ 9.95570540e-01 9.19340327e-02 1.96833348e-02 8.31342471e+01] [-9.19112552e-02 9.95765070e-01 -2.06065232e-03 -5.72024435e+00] [-1.97894213e-02 2.42404742e-04 9.99804141e-01 -2.38327715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:-5.72, Z:-2.38 [[ 9.95517062e-01 9.24794571e-02 1.98325422e-02 8.31633342e+01] [-9.24564671e-02 9.95714566e-01 -2.07496847e-03 -5.72147223e+00] [-1.99394431e-02 2.32019732e-04 9.99801163e-01 -2.38401483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98587156 meters Centerline goodness [0,1] 0.9999786680319126 Centerline is valid? [True, True] Translation: X:83.19, Y:-5.72, Z:-2.39 [[ 9.95399859e-01 9.37074248e-02 1.99509140e-02 8.31919637e+01] [-9.36844250e-02 9.95599757e-01 -2.08641340e-03 -5.71963357e+00] [-2.00586375e-02 2.07725703e-04 9.99798784e-01 -2.38504395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:-5.72, Z:-2.38 [[ 9.95384585e-01 9.37561900e-02 2.04769230e-02 8.32205654e+01] [-9.37319918e-02 9.95595165e-01 -2.14044109e-03 -5.72002531e+00] [-2.05874051e-02 2.11219288e-04 9.99788035e-01 -2.38446652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:-5.72, Z:-2.38 [[ 9.95388575e-01 9.36085613e-02 2.09528331e-02 8.32493324e+01] [-9.35832140e-02 9.95609055e-01 -2.18916443e-03 -5.72239670e+00] [-2.10657549e-02 2.18235794e-04 9.99778069e-01 -2.38426254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:-5.73, Z:-2.39 [[ 9.95505624e-01 9.22968914e-02 2.12093450e-02 8.32771525e+01] [-9.22706414e-02 9.95731501e-01 -2.21504791e-03 -5.72706510e+00] [-2.13232550e-02 2.48092780e-04 9.99772603e-01 -2.38530515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:-5.73, Z:-2.39 [[ 9.95608137e-01 9.11955367e-02 2.11615495e-02 8.33060218e+01] [-9.11691852e-02 9.95832969e-01 -2.20869729e-03 -5.73108129e+00] [-2.12747920e-02 2.69715770e-04 9.99773630e-01 -2.38657314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13587156000001 meters Centerline goodness [0,1] 0.9999786498142533 Centerline is valid? [True, True] Translation: X:83.33, Y:-5.74, Z:-2.39 [[ 9.95741077e-01 8.98095476e-02 2.08315460e-02 8.33332934e+01] [-8.97837257e-02 9.95958914e-01 -2.17342685e-03 -5.73578587e+00] [-2.09425584e-02 2.93836580e-04 9.99780637e-01 -2.38829121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16587156 meters Centerline goodness [0,1] 0.9998501327395736 Centerline is valid? [True, True] Translation: X:83.36, Y:-5.74, Z:-2.39 [[ 9.95872015e-01 8.84581708e-02 2.03490086e-02 8.33614977e+01] [-8.84332747e-02 9.96079843e-01 -2.12184536e-03 -5.73971987e+00] [-2.04569318e-02 3.13556945e-04 9.99790686e-01 -2.39118495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19587156 meters Centerline goodness [0,1] 0.9998705473688753 Centerline is valid? [True, True] Translation: X:83.39, Y:-5.75, Z:-2.39 [[ 9.96209919e-01 8.46716007e-02 1.99127511e-02 8.33905343e+01] [-8.46470266e-02 9.96408839e-01 -2.07524581e-03 -5.74916036e+00] [-2.00169556e-02 3.81825291e-04 9.99799568e-01 -2.39305351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:-5.75, Z:-2.39 [[ 9.96420705e-01 8.21363508e-02 1.99849400e-02 8.34196433e+01] [-8.21110974e-02 9.96621007e-01 -2.08232133e-03 -5.75400697e+00] [-2.00884453e-02 4.33882741e-04 9.99798113e-01 -2.39151822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25587156 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:83.45, Y:-5.76, Z:-2.39 [[ 9.96612091e-01 7.98361675e-02 1.97617241e-02 8.34488404e+01] [-7.98110322e-02 9.96807886e-01 -2.05860716e-03 -5.76027941e+00] [-1.98629937e-02 4.74429187e-04 9.99802599e-01 -2.39259010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28587156 meters Centerline goodness [0,1] 0.9999785949740999 Centerline is valid? [True, True] Translation: X:83.48, Y:-5.77, Z:-2.40 [[ 9.96800472e-01 7.75139991e-02 1.95038212e-02 8.34756920e+01] [-7.74890815e-02 9.96991132e-01 -2.03122766e-03 -5.77293431e+00] [-1.96025853e-02 5.13395504e-04 9.99807719e-01 -2.39611859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31587156 meters Centerline goodness [0,1] 0.9999353754685278 Centerline is valid? [True, True] Translation: X:83.51, Y:-5.78, Z:-2.39 [[ 9.97084503e-01 7.37418163e-02 1.96122210e-02 8.35056116e+01] [-7.37159003e-02 9.97277191e-01 -2.04208035e-03 -5.77887247e+00] [-1.97094074e-02 5.90394139e-04 9.99805576e-01 -2.39433161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34587156 meters Centerline goodness [0,1] 0.9997850571747915 Centerline is valid? [True, True] Translation: X:83.53, Y:-5.79, Z:-2.40 [[ 9.97171404e-01 7.25518882e-02 1.96319605e-02 8.35345404e+01] [-7.25256917e-02 9.97364450e-01 -2.04402293e-03 -5.78541346e+00] [-1.97285172e-02 6.14419699e-04 9.99805185e-01 -2.39611546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37587156000001 meters Centerline goodness [0,1] 0.9997875504567665 Centerline is valid? [True, True] Translation: X:83.56, Y:-5.80, Z:-2.40 [[ 9.97202431e-01 7.19405510e-02 2.02945316e-02 8.35624240e+01] [-7.19124396e-02 9.97408712e-01 -2.11252666e-03 -5.79782336e+00] [-2.03939190e-02 6.47187441e-04 9.99791813e-01 -2.39637025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40587156000001 meters Centerline goodness [0,1] 0.9999355032893322 Centerline is valid? [True, True] Translation: X:83.59, Y:-5.79, Z:-2.39 [[ 9.97133083e-01 7.27430304e-02 2.08342389e-02 8.35925160e+01] [-7.27135886e-02 9.97350507e-01 -2.16822497e-03 -5.79472736e+00] [-2.09367620e-02 6.47076571e-04 9.99780593e-01 -2.39418249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:-5.80, Z:-2.39 [[ 9.97020154e-01 7.41333539e-02 2.13320906e-02 8.36206711e+01] [-7.41028254e-02 9.97248137e-01 -2.21912814e-03 -5.79835376e+00] [-2.14378990e-02 6.31747294e-04 9.99769982e-01 -2.39411584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46587156000001 meters Centerline goodness [0,1] 0.9998496143682729 Centerline is valid? [True, True] Translation: X:83.65, Y:-5.80, Z:-2.40 [[ 9.96903052e-01 7.57612918e-02 2.10839253e-02 8.36493233e+01] [-7.57318357e-02 9.97125809e-01 -2.19319669e-03 -5.80137582e+00] [-2.11894855e-02 5.89680106e-04 9.99775304e-01 -2.39594251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49587156000001 meters Centerline goodness [0,1] 0.9998932285549552 Centerline is valid? [True, True] Translation: X:83.68, Y:-5.80, Z:-2.40 [[ 9.96739958e-01 7.78235209e-02 2.12827556e-02 8.36782547e+01] [-7.77939946e-02 9.96966999e-01 -2.21301750e-03 -5.80377724e+00] [-2.13904298e-02 5.50132394e-04 9.99771047e-01 -2.39681946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52587156 meters Centerline goodness [0,1] 0.9998932285549552 Centerline is valid? [True, True] Translation: X:83.71, Y:-5.81, Z:-2.40 [[ 9.96741742e-01 7.78006601e-02 2.12828063e-02 8.37072611e+01] [-7.77711391e-02 9.96968783e-01 -2.21252962e-03 -5.80675001e+00] [-2.13904298e-02 5.50132537e-04 9.99771047e-01 -2.39770057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.74, Y:-5.80, Z:-2.40 [[ 9.96351814e-01 8.27306329e-02 2.09452855e-02 8.37372976e+01] [-8.27031391e-02 9.96571850e-01 -2.17696740e-03 -5.80458568e+00] [-2.10535838e-02 4.36784557e-04 9.99778253e-01 -2.39805383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.77, Y:-5.80, Z:-2.40 [[ 9.96142554e-01 8.53409064e-02 2.04191290e-02 8.37669050e+01] [-8.53153255e-02 9.96351741e-01 -2.12223931e-03 -5.80203769e+00] [-2.05257485e-02 3.71988255e-04 9.99789255e-01 -2.39821414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:-5.80, Z:-2.40 [[ 9.95901801e-01 8.81476472e-02 2.02384583e-02 8.37948894e+01] [-8.81231249e-02 9.96107372e-01 -2.10205892e-03 -5.80334338e+00] [-2.03449691e-02 3.09968080e-04 9.99792972e-01 -2.40100541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.82, Y:-5.80, Z:-2.40 [[ 9.95392588e-01 9.37671911e-02 2.00327318e-02 8.38234788e+01] [-9.37443255e-02 9.95594133e-01 -2.07952610e-03 -5.79757597e+00] [-2.01394615e-02 1.91989936e-04 9.99797162e-01 -2.40213990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:-5.80, Z:-2.40 [[ 9.95136824e-01 9.64552769e-02 1.99770343e-02 8.38528218e+01] [-9.64331049e-02 9.95337310e-01 -2.07249256e-03 -5.79627843e+00] [-2.00837904e-02 1.35966223e-04 9.99798291e-01 -2.40251023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:-5.80, Z:-2.40 [[ 9.94861580e-01 9.92321561e-02 2.00852133e-02 8.38809350e+01] [-9.92103257e-02 9.95064306e-01 -2.08288338e-03 -5.79520224e+00] [-2.01927679e-02 7.95200948e-05 9.99796102e-01 -2.40376493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:-5.79, Z:-2.40 [[ 9.94594946e-01 1.01900696e-01 1.99284294e-02 8.39105342e+01] [-1.01879766e-01 9.94794576e-01 -2.06536724e-03 -5.79333541e+00] [-2.00351558e-02 2.39001041e-05 9.99799276e-01 -2.40420855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:-5.79, Z:-2.41 [[ 9.94127088e-01 1.06464391e-01 1.94078953e-02 8.39396158e+01] [-1.06445424e-01 9.94316513e-01 -2.01067482e-03 -5.78693027e+00] [-1.95116561e-02 -6.70153391e-05 9.99809627e-01 -2.40620319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:-5.79, Z:-2.41 [[ 9.93971239e-01 1.08003966e-01 1.88763982e-02 8.39688719e+01] [-1.07986324e-01 9.94150458e-01 -1.95440920e-03 -5.78610794e+00] [-1.89770639e-02 -9.57663213e-05 9.99819915e-01 -2.40802331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82587156000001 meters Centerline goodness [0,1] 0.9998922344117076 Centerline is valid? [True, True] Translation: X:84.00, Y:-5.79, Z:-2.41 [[ 9.93926271e-01 1.08530858e-01 1.82104778e-02 8.39972739e+01] [-1.08514542e-01 9.94093075e-01 -1.88465281e-03 -5.78653610e+00] [-1.83074529e-02 -1.02895728e-04 9.99832399e-01 -2.41099845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:-5.79, Z:-2.41 [[ 9.93918422e-01 1.08613373e-01 1.81467741e-02 8.40242304e+01] [-1.08597192e-01 9.94084063e-01 -1.87761226e-03 -5.78676493e+00] [-1.82433527e-02 -1.04495301e-04 9.99833571e-01 -2.41316694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:-5.79, Z:-2.41 [[ 9.93998541e-01 1.07917517e-01 1.79083959e-02 8.40520084e+01] [-1.07901675e-01 9.94159847e-01 -1.85133311e-03 -5.78974563e+00] [-1.80035994e-02 -9.21235075e-05 9.99837918e-01 -2.41289843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-5.80, Z:-2.41 [[ 9.94322956e-01 1.04830368e-01 1.82332787e-02 8.40796473e+01] [-1.04813450e-01 9.94490117e-01 -1.88369748e-03 -5.79531103e+00] [-1.83302841e-02 -3.80891902e-05 9.99831986e-01 -2.41355314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-5.80, Z:-2.41 [[ 9.94529196e-01 1.02916852e-01 1.78829325e-02 8.41074703e+01] [-1.02900296e-01 9.94689962e-01 -1.84595290e-03 -5.80046613e+00] [-1.79779532e-02 -4.30499989e-06 9.99838384e-01 -2.41406478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-5.81, Z:-2.42 [[ 9.94750489e-01 1.00753560e-01 1.78937266e-02 8.41344570e+01] [-1.00736654e-01 9.94911413e-01 -1.84592308e-03 -5.80531740e+00] [-1.79886561e-02 3.36787423e-05 9.99838190e-01 -2.41656518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:-5.81, Z:-2.42 [[ 9.94934047e-01 9.89086708e-02 1.79810113e-02 8.41627883e+01] [-9.88913336e-02 9.95096513e-01 -1.85299061e-03 -5.80876986e+00] [-1.80761185e-02 6.54372509e-05 9.99836611e-01 -2.41597292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:-5.81, Z:-2.42 [[ 9.95256036e-01 9.55447564e-02 1.83472931e-02 8.41908045e+01] [-9.55261508e-02 9.95425127e-01 -1.88982625e-03 -5.81382110e+00] [-1.84439196e-02 1.28214692e-04 9.99829888e-01 -2.41645919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-5.82, Z:-2.42 [[ 9.95394881e-01 9.40296459e-02 1.86401819e-02 8.42190827e+01] [-9.40101927e-02 9.95569385e-01 -1.91908793e-03 -5.81818837e+00] [-1.87380456e-02 1.57883216e-04 9.99824415e-01 -2.41747085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09587156 meters Centerline goodness [0,1] 0.9999138914601856 Centerline is valid? [True, True] Translation: X:84.25, Y:-5.82, Z:-2.42 [[ 9.95562006e-01 9.23063988e-02 1.83253927e-02 8.42473933e+01] [-9.22873207e-02 9.95730633e-01 -1.88584002e-03 -5.82201203e+00] [-1.84212300e-02 1.86269273e-04 9.99830297e-01 -2.41964458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-5.83, Z:-2.42 [[ 9.95781936e-01 8.98145440e-02 1.87532199e-02 8.42749403e+01] [-8.97941351e-02 9.95958479e-01 -1.92921080e-03 -5.82628212e+00] [-1.88506996e-02 2.37144102e-04 9.99822282e-01 -2.41867569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15587156000001 meters Centerline goodness [0,1] 0.9999570446735395 Centerline is valid? [True, True] Translation: X:84.30, Y:-5.83, Z:-2.42 [[ 9.95950749e-01 8.79457024e-02 1.86456340e-02 8.43031992e+01] [-8.79252286e-02 9.96125234e-01 -1.91658808e-03 -5.83076892e+00] [-1.87419422e-02 2.69405701e-04 9.99824318e-01 -2.42065322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.33, Y:-5.84, Z:-2.42 [[ 9.96074493e-01 8.63598793e-02 1.94312973e-02 8.43316242e+01] [-8.63373606e-02 9.96263958e-01 -1.99639098e-03 -5.83521538e+00] [-1.95311092e-02 3.10907212e-04 9.99809201e-01 -2.41911506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.36, Y:-5.84, Z:-2.42 [[ 9.96249615e-01 8.42448618e-02 1.97359464e-02 8.43602409e+01] [-8.42212347e-02 9.96445019e-01 -2.02676860e-03 -5.83983418e+00] [-1.98365303e-02 3.56981663e-04 9.99803173e-01 -2.41851625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:-5.85, Z:-2.42 [[ 9.96579220e-01 8.01764664e-02 2.00397564e-02 8.43895177e+01] [-8.01513078e-02 9.96780586e-01 -2.05678013e-03 -5.84743535e+00] [-2.01401455e-02 4.43531663e-04 9.99797068e-01 -2.41880031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27587156 meters Centerline goodness [0,1] 0.9999570446735395 Centerline is valid? [True, True] Translation: X:84.42, Y:-5.85, Z:-2.42 [[ 9.96746919e-01 7.81102770e-02 1.98585787e-02 8.44180674e+01] [-7.80851657e-02 9.96944609e-01 -2.03797005e-03 -5.85175837e+00] [-1.99570894e-02 4.80679965e-04 9.99800722e-01 -2.41914627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30587156 meters Centerline goodness [0,1] 0.9997214424993036 Centerline is valid? [True, True] Translation: X:84.45, Y:-5.86, Z:-2.42 [[ 9.97055792e-01 7.42344261e-02 1.92093140e-02 8.44473102e+01] [-7.42102352e-02 9.97240673e-01 -1.97009353e-03 -5.85909588e+00] [-1.93025580e-02 5.38765457e-04 9.99813543e-01 -2.42259615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33587156 meters Centerline goodness [0,1] 0.9999353615444282 Centerline is valid? [True, True] Translation: X:84.48, Y:-5.87, Z:-2.42 [[ 9.97126506e-01 7.32249297e-02 1.94123980e-02 8.44756893e+01] [-7.32000346e-02 9.97315292e-01 -1.99085984e-03 -5.86709568e+00] [-1.95060619e-02 5.64150910e-04 9.99809580e-01 -2.42272644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36587156 meters Centerline goodness [0,1] 0.9997004578715393 Centerline is valid? [True, True] Translation: X:84.51, Y:-5.87, Z:-2.42 [[ 9.97257131e-01 7.14358299e-02 1.93684716e-02 8.45050595e+01] [-7.14107218e-02 9.97445019e-01 -1.98576219e-03 -5.87147434e+00] [-1.94608400e-02 5.97198966e-04 9.99810442e-01 -2.42468287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39587156 meters Centerline goodness [0,1] 0.9998079016456426 Centerline is valid? [True, True] Translation: X:84.53, Y:-5.88, Z:-2.42 [[ 9.97289408e-01 7.08758781e-02 1.97597186e-02 8.45335552e+01] [-7.08496424e-02 9.97484950e-01 -2.02552318e-03 -5.87882564e+00] [-1.98535827e-02 6.20063815e-04 9.99802706e-01 -2.42480571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42587156 meters Centerline goodness [0,1] 0.9998077457116613 Centerline is valid? [True, True] Translation: X:84.56, Y:-5.88, Z:-2.43 [[ 9.97414455e-01 6.93201533e-02 1.89504879e-02 8.45631570e+01] [-6.92957588e-02 9.97594270e-01 -1.94170454e-03 -5.88371247e+00] [-1.90394974e-02 6.23495734e-04 9.99818538e-01 -2.42669305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45587156 meters Centerline goodness [0,1] 0.9998068876729964 Centerline is valid? [True, True] Translation: X:84.59, Y:-5.89, Z:-2.43 [[ 9.97467177e-01 6.86932632e-02 1.84517358e-02 8.45929556e+01] [-6.86700300e-02 9.97637636e-01 -1.89053881e-03 -5.88670640e+00] [-1.85380133e-02 6.18669164e-04 9.99827965e-01 -2.42784882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48587156 meters Centerline goodness [0,1] 0.9990205680705191 Centerline is valid? [True, True] Translation: X:84.62, Y:-5.89, Z:-2.43 [[ 9.97519721e-01 6.80491487e-02 1.79921886e-02 8.46214200e+01] [-6.80269585e-02 9.97681781e-01 -1.84319551e-03 -5.89196431e+00] [-1.80759066e-02 6.14670003e-04 9.99836429e-01 -2.43113395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51587156000001 meters Centerline goodness [0,1] 0.9999784724016189 Centerline is valid? [True, True] Translation: X:84.65, Y:-5.89, Z:-2.43 [[ 9.97496563e-01 6.83659417e-02 1.80749791e-02 8.46515568e+01] [-6.83436122e-02 9.97660125e-01 -1.85093697e-03 -5.89172925e+00] [-1.81592269e-02 6.10993907e-04 9.99834921e-01 -2.42882614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54587156000001 meters Centerline goodness [0,1] 0.9996584626550259 Centerline is valid? [True, True] Translation: X:84.68, Y:-5.90, Z:-2.43 [[ 9.97442407e-01 6.90718079e-02 1.83774168e-02 8.46792968e+01] [-6.90488501e-02 9.97611505e-01 -1.88160215e-03 -5.90049970e+00] [-1.84634881e-02 6.07850278e-04 9.99829351e-01 -2.43071433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57587156000001 meters Centerline goodness [0,1] 0.9999571908645305 Centerline is valid? [True, True] Translation: X:84.71, Y:-5.90, Z:-2.43 [[ 9.97365464e-01 7.01540293e-02 1.84538091e-02 8.47093892e+01] [-7.01310798e-02 9.97535997e-01 -1.88863833e-03 -5.89763292e+00] [-1.85408344e-02 5.89477091e-04 9.99827930e-01 -2.42965884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60587156000001 meters Centerline goodness [0,1] 0.9998928234588014 Centerline is valid? [True, True] Translation: X:84.74, Y:-5.90, Z:-2.43 [[ 9.97279027e-01 7.14266527e-02 1.82421255e-02 8.47378048e+01] [-7.14044447e-02 9.97445698e-01 -1.86668899e-03 -5.89975596e+00] [-1.83288610e-02 5.59040940e-04 9.99831856e-01 -2.43159515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63587156000001 meters Centerline goodness [0,1] 0.9999575794854392 Centerline is valid? [True, True] Translation: X:84.77, Y:-5.90, Z:-2.43 [[ 9.97089270e-01 7.39402138e-02 1.85965536e-02 8.47662804e+01] [-7.39175835e-02 9.97262539e-01 -1.90228326e-03 -5.90108718e+00] [-1.86863015e-02 5.22133922e-04 9.99825259e-01 -2.43160014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:-5.90, Z:-2.43 [[ 9.96675507e-01 7.93465106e-02 1.84950004e-02 8.47971427e+01] [-7.93250672e-02 9.96847008e-01 -1.89132726e-03 -5.89677979e+00] [-1.85867560e-02 4.17922412e-04 9.99827164e-01 -2.43145587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:-5.90, Z:-2.43 [[ 9.96425077e-01 8.23709488e-02 1.87641274e-02 8.48262127e+01] [-8.23494261e-02 9.96601672e-01 -1.91812779e-03 -5.89624675e+00] [-1.88583588e-02 3.66055503e-04 9.99822098e-01 -2.43254937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.85, Y:-5.90, Z:-2.43 [[ 9.96178498e-01 8.52737819e-02 1.88886550e-02 8.48538705e+01] [-8.52525096e-02 9.96357508e-01 -1.93003878e-03 -5.89588403e+00] [-1.89844349e-02 3.12357893e-04 9.99819731e-01 -2.43388517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:-5.90, Z:-2.44 [[ 9.95968679e-01 8.77294197e-02 1.87066656e-02 8.48832525e+01] [-8.77090089e-02 9.96144307e-01 -1.91034728e-03 -5.89508194e+00] [-1.88021321e-02 2.61902962e-04 9.99823190e-01 -2.43508431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:-5.89, Z:-2.44 [[ 9.95616582e-01 9.16212860e-02 1.87925725e-02 8.49127023e+01] [-9.16013968e-02 9.95793907e-01 -1.91823962e-03 -5.89103340e+00] [-1.88892808e-02 1.88405278e-04 9.99821564e-01 -2.43506079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:-5.89, Z:-2.44 [[ 9.95495429e-01 9.28738850e-02 1.90602238e-02 8.49412512e+01] [-9.28536723e-02 9.95677867e-01 -1.94464342e-03 -5.89187143e+00] [-1.91584496e-02 1.66071855e-04 9.99816446e-01 -2.43552093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:-5.89, Z:-2.44 [[ 9.95424440e-01 9.35636016e-02 1.93916490e-02 8.49685840e+01] [-9.35428266e-02 9.95613293e-01 -1.97763748e-03 -5.89384200e+00] [-1.94916184e-02 1.54639021e-04 9.99810008e-01 -2.43586187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87587156000001 meters Centerline goodness [0,1] 0.9998505965466459 Centerline is valid? [True, True] Translation: X:85.00, Y:-5.90, Z:-2.44 [[ 9.95426944e-01 9.33913774e-02 2.00810662e-02 8.49966024e+01] [-9.33690891e-02 9.95629461e-01 -2.04668941e-03 -5.89696615e+00] [-2.01844443e-02 1.62378923e-04 9.99796260e-01 -2.43755820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:-5.90, Z:-2.44 [[ 9.95401119e-01 9.35737059e-02 2.05078984e-02 8.50244561e+01] [-9.35505224e-02 9.95612342e-01 -2.08903807e-03 -5.90152059e+00] [-2.06133958e-02 1.60906216e-04 9.99787508e-01 -2.43754323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:-5.90, Z:-2.44 [[ 9.95440057e-01 9.31238924e-02 2.06647993e-02 8.50520066e+01] [-9.31002844e-02 9.95654514e-01 -2.10364889e-03 -5.90392180e+00] [-2.07709007e-02 1.70157676e-04 9.99784247e-01 -2.43676477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-5.91, Z:-2.44 [[ 9.95467525e-01 9.27789138e-02 2.08920825e-02 8.50793205e+01] [-9.27547415e-02 9.95686719e-01 -2.12517201e-03 -5.90758738e+00] [-2.09991402e-02 1.77700009e-04 9.99779478e-01 -2.43754024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:-5.91, Z:-2.44 [[ 9.95569496e-01 9.16393323e-02 2.10620670e-02 8.51074623e+01] [-9.16145351e-02 9.95792243e-01 -2.14127542e-03 -5.91074224e+00] [-2.11696680e-02 2.02197006e-04 9.99775877e-01 -2.43760719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:-5.91, Z:-2.44 [[ 9.95640379e-01 9.09451931e-02 2.07173162e-02 8.51345046e+01] [-9.09210803e-02 9.95855877e-01 -2.10481882e-03 -5.91489582e+00] [-2.08228843e-02 2.12001835e-04 9.99783158e-01 -2.43984477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:-5.92, Z:-2.44 [[ 9.95753560e-01 8.97815716e-02 2.03498494e-02 8.51632815e+01] [-8.97580906e-02 9.95961453e-01 -2.06617188e-03 -5.91869568e+00] [-2.04531697e-02 2.30834383e-04 9.99790785e-01 -2.44178306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:-5.92, Z:-2.44 [[ 9.95863201e-01 8.85606106e-02 2.03347859e-02 8.51917165e+01] [-8.85369291e-02 9.96070757e-01 -2.06369414e-03 -5.92357551e+00] [-2.04376476e-02 2.54777551e-04 9.99791097e-01 -2.44315277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:-5.93, Z:-2.44 [[ 9.96130364e-01 8.54125743e-02 2.07120828e-02 8.52198112e+01] [-8.53873461e-02 9.96345616e-01 -2.10098902e-03 -5.93283709e+00] [-2.08158438e-02 3.24309167e-04 9.99783274e-01 -2.44377377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14587156 meters Centerline goodness [0,1] 0.9998292787025181 Centerline is valid? [True, True] Translation: X:85.25, Y:-5.94, Z:-2.45 [[ 9.96274866e-01 8.36746254e-02 2.08554392e-02 8.52485771e+01] [-8.36486868e-02 9.96493064e-01 -2.11453778e-03 -5.93837871e+00] [-2.09592337e-02 3.62130734e-04 9.99780266e-01 -2.44598550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:-5.94, Z:-2.44 [[ 9.96339190e-01 8.27347598e-02 2.15215641e-02 8.52755582e+01] [-8.27069392e-02 9.96571525e-01 -2.18111027e-03 -5.94428394e+00] [-2.16282316e-02 3.93142941e-04 9.99766005e-01 -2.44428744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:-5.95, Z:-2.45 [[ 9.96535351e-01 8.02540574e-02 2.18307140e-02 8.53035094e+01] [-8.02248694e-02 9.96774339e-01 -2.21094960e-03 -5.95491701e+00] [-2.19377331e-02 4.51923257e-04 9.99759237e-01 -2.44581712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:-5.96, Z:-2.45 [[ 9.96626831e-01 7.91281037e-02 2.17647303e-02 8.53320541e+01] [-7.90988382e-02 9.96864343e-01 -2.20359409e-03 -5.96093471e+00] [-2.18708498e-02 4.74596106e-04 9.99760692e-01 -2.44683950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-5.97, Z:-2.45 [[ 9.96716425e-01 7.79490788e-02 2.19159369e-02 8.53609418e+01] [-7.79191442e-02 9.96957215e-01 -2.21781717e-03 -5.96566629e+00] [-2.20221282e-02 5.02863752e-04 9.99757357e-01 -2.44706033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29587156000001 meters Centerline goodness [0,1] 0.9999360981532366 Centerline is valid? [True, True] Translation: X:85.39, Y:-5.97, Z:-2.45 [[ 9.96790788e-01 7.70531044e-02 2.17012402e-02 8.53897510e+01] [-7.70235596e-02 9.97026856e-01 -2.19525457e-03 -5.97216633e+00] [-2.18058705e-02 5.16702761e-04 9.99762090e-01 -2.44847142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32587156000001 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:85.42, Y:-5.98, Z:-2.45 [[ 9.96979021e-01 7.48242974e-02 2.08364302e-02 8.54182982e+01] [-7.47965860e-02 9.97196586e-01 -2.10721245e-03 -5.98414400e+00] [-2.09356877e-02 5.42352759e-04 9.99780677e-01 -2.45193902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:-5.99, Z:-2.45 [[ 9.97041430e-01 7.40364975e-02 2.06636117e-02 8.54481001e+01] [-7.40090775e-02 9.97255379e-01 -2.08961138e-03 -5.98818456e+00] [-2.07616054e-02 5.54134275e-04 9.99784301e-01 -2.45256904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38587156000001 meters Centerline goodness [0,1] 0.9999570068144199 Centerline is valid? [True, True] Translation: X:85.48, Y:-6.00, Z:-2.45 [[ 9.97061569e-01 7.37903705e-02 2.05720560e-02 8.54768087e+01] [-7.37631527e-02 9.97273619e-01 -2.07976789e-03 -5.99529321e+00] [-2.06694356e-02 5.56196920e-04 9.99786210e-01 -2.45458951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41587156 meters Centerline goodness [0,1] 0.9998068296452104 Centerline is valid? [True, True] Translation: X:85.51, Y:-6.00, Z:-2.46 [[ 9.97089421e-01 7.35440012e-02 2.00989268e-02 8.55064098e+01] [-7.35179734e-02 9.97291823e-01 -2.03182311e-03 -5.99911781e+00] [-2.01939237e-02 5.48276964e-04 9.99795932e-01 -2.45729469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44587156 meters Centerline goodness [0,1] 0.9998068296452104 Centerline is valid? [True, True] Translation: X:85.54, Y:-6.00, Z:-2.46 [[ 9.97091073e-01 7.35215831e-02 2.00989723e-02 8.55354264e+01] [-7.34955598e-02 9.97293475e-01 -2.03137246e-03 -6.00200684e+00] [-2.01939237e-02 5.48278126e-04 9.99795932e-01 -2.45817584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47587156 meters Centerline goodness [0,1] 0.9997846080944278 Centerline is valid? [True, True] Translation: X:85.57, Y:-6.00, Z:-2.46 [[ 9.97042554e-01 7.42159398e-02 1.99534572e-02 8.55653823e+01] [-7.41904399e-02 9.97242054e-01 -2.01622110e-03 -6.00405016e+00] [-2.00480624e-02 5.29902464e-04 9.99798877e-01 -2.45827803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50587156 meters Centerline goodness [0,1] 0.9999786744007506 Centerline is valid? [True, True] Translation: X:85.59, Y:-6.01, Z:-2.46 [[ 9.96704723e-01 7.83873524e-02 2.08594978e-02 8.55938658e+01] [-7.83604049e-02 9.96922869e-01 -2.10736496e-03 -6.00759764e+00] [-2.09605011e-02 4.65861914e-04 9.99780196e-01 -2.45710297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.62, Y:-6.01, Z:-2.46 [[ 9.96491240e-01 8.10288910e-02 2.09648883e-02 8.56240312e+01] [-8.10022744e-02 9.96711668e-01 -2.11707360e-03 -6.00751298e+00] [-2.10674929e-02 4.11441663e-04 9.99777971e-01 -2.45660838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.65, Y:-6.01, Z:-2.46 [[ 9.96219046e-01 8.41825406e-02 2.14688565e-02 8.56524639e+01] [-8.41553618e-02 9.96450287e-01 -2.16790729e-03 -6.00833283e+00] [-2.15751482e-02 3.52991151e-04 9.99767167e-01 -2.45755393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59587156 meters Centerline goodness [0,1] 0.9999786980231765 Centerline is valid? [True, True] Translation: X:85.68, Y:-6.01, Z:-2.46 [[ 9.95931982e-01 8.75047742e-02 2.15035266e-02 8.56819906e+01] [-8.74782929e-02 9.96164061e-01 -2.17087932e-03 -6.00689626e+00] [-2.16110027e-02 2.80956348e-04 9.99766416e-01 -2.45806314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62587156000001 meters Centerline goodness [0,1] 0.9998718414251233 Centerline is valid? [True, True] Translation: X:85.71, Y:-6.00, Z:-2.46 [[ 9.95448405e-01 9.29001855e-02 2.12609817e-02 8.57118340e+01] [-9.28755565e-02 9.95675414e-01 -2.14505960e-03 -6.00058206e+00] [-2.13683132e-02 1.60670652e-04 9.99771659e-01 -2.46071495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:-6.00, Z:-2.46 [[ 9.95172007e-01 9.57281803e-02 2.16516202e-02 8.57413738e+01] [-9.57033282e-02 9.95407507e-01 -2.18349206e-03 -5.99867778e+00] [-2.17612070e-02 1.00818057e-04 9.99763192e-01 -2.45905917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:-6.00, Z:-2.46 [[ 9.94949177e-01 9.79299359e-02 2.20422754e-02 8.57693159e+01] [-9.79047425e-02 9.95193310e-01 -2.22182205e-03 -5.99829816e+00] [-2.21539079e-02 5.25567314e-05 9.99754571e-01 -2.46069167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-6.00, Z:-2.46 [[ 9.94639210e-01 1.01115125e-01 2.16465443e-02 8.57973314e+01] [-1.01091600e-01 9.94874731e-01 -2.18114888e-03 -5.99617166e+00] [-2.17561471e-02 -1.88275990e-05 9.99763307e-01 -2.46111765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74587156000001 meters Centerline goodness [0,1] 0.9999351365375884 Centerline is valid? [True, True] Translation: X:85.83, Y:-6.00, Z:-2.46 [[ 9.94567097e-01 1.01940141e-01 2.10831011e-02 8.58263292e+01] [-1.01918045e-01 9.94790534e-01 -2.12271464e-03 -5.99789293e+00] [-2.11896592e-02 -3.75662995e-05 9.99775473e-01 -2.46356034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77587156000001 meters Centerline goodness [0,1] 0.9998925447551095 Centerline is valid? [True, True] Translation: X:85.85, Y:-6.00, Z:-2.47 [[ 9.94491929e-01 1.02624443e-01 2.13079234e-02 8.58543357e+01] [-1.02602050e-01 9.94720172e-01 -2.14442064e-03 -5.99962795e+00] [-2.14154912e-02 -5.36275903e-05 9.99770661e-01 -2.46530349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.88, Y:-6.00, Z:-2.47 [[ 9.94444981e-01 1.03032508e-01 2.15286380e-02 8.58808002e+01] [-1.03009764e-01 9.94677987e-01 -2.16569748e-03 -6.00163889e+00] [-2.16371995e-02 -6.39929329e-05 9.99765886e-01 -2.46534854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:-6.01, Z:-2.47 [[ 9.94497203e-01 1.02495810e-01 2.16776892e-02 8.59084103e+01] [-1.02472680e-01 9.94733435e-01 -2.17809247e-03 -6.00521202e+00] [-2.17867676e-02 -5.52640276e-05 9.99762639e-01 -2.46649154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-6.01, Z:-2.47 [[ 9.94570193e-01 1.01759237e-01 2.17988487e-02 8.59357452e+01] [-1.01735695e-01 9.94809055e-01 -2.18913831e-03 -6.00945084e+00] [-2.19084571e-02 -4.04692944e-05 9.99759980e-01 -2.46635216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:-6.01, Z:-2.47 [[ 9.94660860e-01 1.00872495e-01 2.17833047e-02 8.59632910e+01] [-1.00848808e-01 9.94899361e-01 -2.18603689e-03 -6.01384739e+00] [-2.18927069e-02 -2.24549630e-05 9.99760326e-01 -2.46740348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:-6.02, Z:-2.47 [[ 9.94821973e-01 9.92848492e-02 2.17200704e-02 8.59908544e+01] [-9.92609568e-02 9.95059053e-01 -2.17803810e-03 -6.01835481e+00] [-2.18289989e-02 1.08051847e-05 9.99761719e-01 -2.46844378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:-6.02, Z:-2.47 [[ 9.94899473e-01 9.85079805e-02 2.17075262e-02 8.60182669e+01] [-9.84839568e-02 9.95136261e-01 -2.17559109e-03 -6.02144207e+00] [-2.18162595e-02 2.66513562e-05 9.99761997e-01 -2.46907083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:-6.03, Z:-2.47 [[ 9.94940418e-01 9.80662697e-02 2.18304995e-02 8.60460254e+01] [-9.80419032e-02 9.95179886e-01 -2.18625261e-03 -6.02500151e+00] [-2.19396717e-02 3.48873691e-05 9.99759296e-01 -2.47101364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.08, Y:-6.03, Z:-2.47 [[ 9.95004969e-01 9.72625188e-02 2.24747435e-02 8.60750683e+01] [-9.72365206e-02 9.95258760e-01 -2.24930932e-03 -6.02808915e+00] [-2.25869589e-02 5.27080851e-05 9.99744881e-01 -2.46979338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04587156000001 meters Centerline goodness [0,1] 0.9998276122136747 Centerline is valid? [True, True] Translation: X:86.10, Y:-6.03, Z:-2.47 [[ 9.95028716e-01 9.69949125e-02 2.25796714e-02 8.61026269e+01] [-9.69686242e-02 9.95284876e-01 -2.25883756e-03 -6.03032281e+00] [-2.26923012e-02 5.80885666e-05 9.99742495e-01 -2.47161803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07587156000001 meters Centerline goodness [0,1] 0.9998508861622358 Centerline is valid? [True, True] Translation: X:86.13, Y:-6.03, Z:-2.47 [[ 9.95049617e-01 9.67528768e-02 2.26967048e-02 8.61316930e+01] [-9.67262864e-02 9.95308433e-01 -2.26904786e-03 -6.03271158e+00] [-2.28097586e-02 6.24472319e-05 9.99739822e-01 -2.47258831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:-6.04, Z:-2.47 [[ 9.95126874e-01 9.59256703e-02 2.28203970e-02 8.61591097e+01] [-9.58985946e-02 9.95388497e-01 -2.28042020e-03 -6.03720792e+00] [-2.29339115e-02 8.08634318e-05 9.99736980e-01 -2.47358642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:-6.04, Z:-2.47 [[ 9.95184542e-01 9.53009700e-02 2.29227504e-02 8.61881167e+01] [-9.52735180e-02 9.95448500e-01 -2.28922227e-03 -6.04052886e+00] [-2.30365826e-02 9.42675470e-05 9.99734618e-01 -2.47490327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:-6.04, Z:-2.48 [[ 9.95269070e-01 9.45277842e-02 2.24493968e-02 8.62171277e+01] [-9.45012802e-02 9.95522218e-01 -2.24095145e-03 -6.04349679e+00] [-2.25607055e-02 1.08852926e-04 9.99745469e-01 -2.47582562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:-6.05, Z:-2.48 [[ 9.95352492e-01 9.36809001e-02 2.23003510e-02 8.62454797e+01] [-9.36545571e-02 9.95602266e-01 -2.22506023e-03 -6.04618782e+00] [-2.24107256e-02 1.26189754e-04 9.99748840e-01 -2.47701752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:-6.05, Z:-2.48 [[ 9.95415367e-01 9.30400523e-02 2.21764871e-02 8.62735147e+01] [-9.30138629e-02 9.95662357e-01 -2.21177448e-03 -6.04905653e+00] [-2.22860770e-02 1.38913579e-04 9.99751625e-01 -2.47779261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:-6.05, Z:-2.48 [[ 9.95563225e-01 9.14420434e-02 2.21859990e-02 8.63010596e+01] [-9.14154632e-02 9.95810385e-01 -2.21144462e-03 -6.05217994e+00] [-2.22952672e-02 1.73489562e-04 9.99751415e-01 -2.47893733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.33, Y:-6.05, Z:-2.48 [[ 9.95651403e-01 9.04215459e-02 2.24104232e-02 8.63294433e+01] [-9.03941975e-02 9.95903562e-01 -2.23244700e-03 -6.05444261e+00] [-2.25204816e-02 1.96966773e-04 9.99746362e-01 -2.47868084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:-6.06, Z:-2.48 [[ 9.95752266e-01 8.92137106e-02 2.27670489e-02 8.63578429e+01] [-8.91851940e-02 9.96012481e-01 -2.26688506e-03 -6.05830210e+00] [-2.28785021e-02 2.26772258e-04 9.99738227e-01 -2.47937278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:-6.07, Z:-2.48 [[ 9.96012616e-01 8.60917706e-02 2.33896318e-02 8.63860045e+01] [-8.60608405e-02 9.96287164e-01 -2.32766046e-03 -6.06763241e+00] [-2.35031823e-02 3.05447813e-04 9.99723715e-01 -2.48045048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:-6.07, Z:-2.48 [[ 9.96189742e-01 8.39659512e-02 2.35736326e-02 8.64154609e+01] [-8.39339588e-02 9.96468560e-01 -2.34506268e-03 -6.07363004e+00] [-2.36872892e-02 3.57499073e-04 9.99719353e-01 -2.48117174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40587156000001 meters Centerline goodness [0,1] 0.9999359083917279 Centerline is valid? [True, True] Translation: X:86.44, Y:-6.08, Z:-2.48 [[ 9.96379867e-01 8.16145645e-02 2.37954516e-02 8.64444895e+01] [-8.15813099e-02 9.96663880e-01 -2.36657948e-03 -6.07966701e+00] [-2.39092144e-02 4.16748035e-04 9.99714047e-01 -2.48276326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43587156000001 meters Centerline goodness [0,1] 0.9999785596363714 Centerline is valid? [True, True] Translation: X:86.47, Y:-6.09, Z:-2.48 [[ 9.96553668e-01 7.94210833e-02 2.39390561e-02 8.64745772e+01] [-7.93868101e-02 9.96841045e-01 -2.38016360e-03 -6.08580237e+00] [-2.40524689e-02 4.71515463e-04 9.99710586e-01 -2.48270720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:-6.10, Z:-2.48 [[ 9.96843964e-01 7.54260690e-02 2.47592437e-02 8.65052800e+01] [-7.53881778e-02 9.97151224e-01 -2.46158828e-03 -6.09613257e+00] [-2.48743781e-02 5.87265152e-04 9.99690412e-01 -2.48269443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49587156000001 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:86.53, Y:-6.11, Z:-2.48 [[ 9.96953536e-01 7.38770734e-02 2.50164862e-02 8.65347550e+01] [-7.38378869e-02 9.97267154e-01 -2.48781253e-03 -6.10623878e+00] [-2.51319123e-02 6.33069026e-04 9.99683943e-01 -2.48410936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52587156000001 meters Centerline goodness [0,1] 0.9999360981532366 Centerline is valid? [True, True] Translation: X:86.57, Y:-6.11, Z:-2.49 [[ 9.97057973e-01 7.25645748e-02 2.46937251e-02 8.65653641e+01] [-7.25259853e-02 9.97363499e-01 -2.45593944e-03 -6.11263256e+00] [-2.48068342e-02 6.57777263e-04 9.99692047e-01 -2.48551396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55587156 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:86.60, Y:-6.12, Z:-2.49 [[ 9.97109411e-01 7.19961044e-02 2.42772139e-02 8.65969105e+01] [-7.19586439e-02 9.97404695e-01 -2.41425789e-03 -6.11701574e+00] [-2.43880243e-02 6.60323873e-04 9.99702350e-01 -2.48693759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58587156 meters Centerline goodness [0,1] 0.9999143395579921 Centerline is valid? [True, True] Translation: X:86.63, Y:-6.13, Z:-2.49 [[ 9.97143025e-01 7.17739362e-02 2.35433663e-02 8.66269954e+01] [-7.17385586e-02 9.97420714e-01 -2.34491976e-03 -6.12516775e+00] [-2.36509453e-02 6.49253225e-04 9.99720066e-01 -2.48980463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61587156 meters Centerline goodness [0,1] 0.9999785853480951 Centerline is valid? [True, True] Translation: X:86.66, Y:-6.13, Z:-2.49 [[ 9.97106643e-01 7.22414091e-02 2.36541973e-02 8.66578814e+01] [-7.22057468e-02 9.97386968e-01 -2.35942017e-03 -6.13329803e+00] [-2.37628359e-02 6.44624546e-04 9.99717416e-01 -2.49152173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:-6.13, Z:-2.49 [[ 9.97053945e-01 7.29569846e-02 2.36792989e-02 8.66901776e+01] [-7.29213687e-02 9.97334888e-01 -2.36526021e-03 -6.13334721e+00] [-2.37887532e-02 6.31565140e-04 9.99716808e-01 -2.49129412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.72, Y:-6.14, Z:-2.49 [[ 9.96961885e-01 7.42189807e-02 2.36335199e-02 8.67212337e+01] [-7.41837466e-02 9.97241785e-01 -2.36532360e-03 -6.13750471e+00] [-2.37438854e-02 6.04914429e-04 9.99717891e-01 -2.49183815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:-6.14, Z:-2.49 [[ 9.96925551e-01 7.47695890e-02 2.34297914e-02 8.67515597e+01] [-7.47350993e-02 9.97200664e-01 -2.34546469e-03 -6.14362293e+00] [-2.35395730e-02 5.87225886e-04 9.99722733e-01 -2.49363581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-6.15, Z:-2.50 [[ 9.96866397e-01 7.56239265e-02 2.32036069e-02 8.67820596e+01] [-7.55903384e-02 9.97136253e-01 -2.32250343e-03 -6.15042717e+00] [-2.33127945e-02 5.61257130e-04 9.99728062e-01 -2.49559056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76587156000001 meters Centerline goodness [0,1] 0.9999136665803332 Centerline is valid? [True, True] Translation: X:86.81, Y:-6.15, Z:-2.50 [[ 9.96815298e-01 7.63610125e-02 2.29838353e-02 8.68137639e+01] [-7.63281573e-02 9.97080088e-01 -2.30466655e-03 -6.15019388e+00] [-2.30927112e-02 5.43013077e-04 9.99733180e-01 -2.49627343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79587156000001 meters Centerline goodness [0,1] 0.9998927567938571 Centerline is valid? [True, True] Translation: X:86.84, Y:-6.16, Z:-2.50 [[ 9.96708800e-01 7.78560438e-02 2.25832684e-02 8.68441532e+01] [-7.78247177e-02 9.96964487e-01 -2.26405053e-03 -6.15882991e+00] [-2.26909866e-02 4.99062595e-04 9.99742402e-01 -2.49850811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:-6.16, Z:-2.50 [[ 9.96651238e-01 7.85109633e-02 2.28547165e-02 8.68749106e+01] [-7.84789456e-02 9.96913128e-01 -2.29587793e-03 -6.16299975e+00] [-2.29644185e-02 4.94575531e-04 9.99736161e-01 -2.49796403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:-6.17, Z:-2.50 [[ 9.96583982e-01 7.94707193e-02 2.24671402e-02 8.69054600e+01] [-7.94400408e-02 9.96837093e-01 -2.25612546e-03 -6.17267282e+00] [-2.25753747e-02 4.63627962e-04 9.99745036e-01 -2.50101319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88587156000001 meters Centerline goodness [0,1] 0.9999786966617669 Centerline is valid? [True, True] Translation: X:86.94, Y:-6.17, Z:-2.50 [[ 9.96458130e-01 8.10721338e-02 2.23271897e-02 8.69372703e+01] [-8.10421431e-02 9.96708144e-01 -2.24630528e-03 -6.17381078e+00] [-2.24358046e-02 4.28905853e-04 9.99748194e-01 -2.50144282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:-6.18, Z:-2.50 [[ 9.96106188e-01 8.53260268e-02 2.21795152e-02 8.69674649e+01] [-8.52974530e-02 9.96353029e-01 -2.23289480e-03 -6.17535675e+00] [-2.22891512e-02 3.32344167e-04 9.99751511e-01 -2.50253842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94587156 meters Centerline goodness [0,1] 0.9997872204608805 Centerline is valid? [True, True] Translation: X:87.00, Y:-6.18, Z:-2.50 [[ 9.95880105e-01 8.79824068e-02 2.19525210e-02 8.69965283e+01] [-8.79550637e-02 9.96121992e-01 -2.20987474e-03 -6.17708554e+00] [-2.20618190e-02 2.69934907e-04 9.99756572e-01 -2.50480677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97587156 meters Centerline goodness [0,1] 0.9998720136518772 Centerline is valid? [True, True] Translation: X:87.03, Y:-6.18, Z:-2.51 [[ 9.95597642e-01 9.11406330e-02 2.18796545e-02 8.70265392e+01] [-9.11142156e-02 9.95838011e-01 -2.20334992e-03 -6.17705855e+00] [-2.19894064e-02 2.00102426e-04 9.99758184e-01 -2.50569813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.06, Y:-6.17, Z:-2.51 [[ 9.94941454e-01 9.78770272e-02 2.26183603e-02 8.70568888e+01] [-9.78505460e-02 9.95198515e-01 -2.27724941e-03 -6.17287153e+00] [-2.27326490e-02 5.25109371e-05 9.99741579e-01 -2.50542871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:-6.17, Z:-2.51 [[ 9.94580473e-01 1.01443896e-01 2.27775899e-02 8.70850629e+01] [-1.01417986e-01 9.94841261e-01 -2.29281366e-03 -6.17161269e+00] [-2.28926782e-02 -2.96695944e-05 9.99737928e-01 -2.50654980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:-6.17, Z:-2.51 [[ 9.94180561e-01 1.05199485e-01 2.31965612e-02 8.71142554e+01] [-1.05173674e-01 9.94451132e-01 -2.33329589e-03 -6.17032603e+00] [-2.33133081e-02 -1.19950148e-04 9.99728201e-01 -2.50672439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:-6.16, Z:-2.51 [[ 9.93506894e-01 1.11403921e-01 2.30915072e-02 8.71428969e+01] [-1.11380041e-01 9.93775174e-01 -2.32173974e-03 -6.16471936e+00] [-2.32064175e-02 -2.65268573e-04 9.99730660e-01 -2.50807704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:-6.16, Z:-2.51 [[ 9.93238750e-01 1.13771124e-01 2.30850114e-02 8.71723252e+01] [-1.13747929e-01 9.93506934e-01 -2.31968607e-03 -6.16415334e+00] [-2.31990322e-02 -3.21870136e-04 9.99730814e-01 -2.50891539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:-6.16, Z:-2.51 [[ 9.93018138e-01 1.15662053e-01 2.31790241e-02 8.72003269e+01] [-1.15639206e-01 9.93288555e-01 -2.32813388e-03 -6.16257796e+00] [-2.32927361e-02 -3.68524777e-04 9.99728619e-01 -2.50981684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:-6.16, Z:-2.51 [[ 9.92815353e-01 1.17411100e-01 2.30718175e-02 8.72293499e+01] [-1.17388969e-01 9.93083313e-01 -2.31596531e-03 -6.16140593e+00] [-2.31841570e-02 -4.09050958e-04 9.99731128e-01 -2.51046900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:-6.16, Z:-2.51 [[ 9.92472912e-01 1.20324696e-01 2.27922282e-02 8.72578404e+01] [-1.20303890e-01 9.92734478e-01 -2.28685004e-03 -6.15813409e+00] [-2.29017953e-02 -4.72356981e-04 9.99737608e-01 -2.51256634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24587156000001 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:87.29, Y:-6.16, Z:-2.51 [[ 9.92344897e-01 1.21378123e-01 2.27806375e-02 8.72869621e+01] [-1.21357637e-01 9.92606218e-01 -2.28473637e-03 -6.15956598e+00] [-2.28895194e-02 -4.97357868e-04 9.99737877e-01 -2.51383453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27587156000001 meters Centerline goodness [0,1] 0.9999574323173847 Centerline is valid? [True, True] Translation: X:87.32, Y:-6.16, Z:-2.52 [[ 9.92258201e-01 1.22074326e-01 2.28368645e-02 8.73162282e+01] [-1.22053947e-01 9.92520827e-01 -2.28933524e-03 -6.16060948e+00] [-2.29455327e-02 -5.15717791e-04 9.99736584e-01 -2.51507215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.35, Y:-6.16, Z:-2.52 [[ 9.92182848e-01 1.22689239e-01 2.28154762e-02 8.73452327e+01] [-1.22669084e-01 9.92444996e-01 -2.28616129e-03 -6.16108308e+00] [-2.29235926e-02 -5.30463562e-04 9.99737079e-01 -2.51587233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:-6.16, Z:-2.52 [[ 9.92191108e-01 1.22622408e-01 2.28155622e-02 8.73725884e+01] [-1.22602255e-01 9.92453256e-01 -2.28530298e-03 -6.16368101e+00] [-2.29236083e-02 -5.29782071e-04 9.99737079e-01 -2.51670280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36587156 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:87.40, Y:-6.17, Z:-2.52 [[ 9.92158345e-01 1.22823378e-01 2.31567616e-02 8.74007572e+01] [-1.22802714e-01 9.92428396e-01 -2.31773445e-03 -6.16735352e+00] [-2.32660997e-02 -5.44153591e-04 9.99729160e-01 -2.51579262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:-6.16, Z:-2.52 [[ 9.92222939e-01 1.22289017e-01 2.32171382e-02 8.74290557e+01] [-1.22268119e-01 9.92494389e-01 -2.32289832e-03 -6.16494434e+00] [-2.33269443e-02 -5.33882812e-04 9.99727747e-01 -2.51801839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:-6.17, Z:-2.52 [[ 9.92324067e-01 1.21422760e-01 2.34405651e-02 8.74577369e+01] [-1.21401269e-01 9.92600747e-01 -2.34297809e-03 -6.17319857e+00] [-2.35516133e-02 -5.20720806e-04 9.99722487e-01 -2.51721945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.49, Y:-6.17, Z:-2.52 [[ 9.92617429e-01 1.18920430e-01 2.38447290e-02 8.74860857e+01] [-1.18897489e-01 9.92903676e-01 -2.38257768e-03 -6.17441049e+00] [-2.39588562e-02 -4.70090265e-04 9.99712835e-01 -2.51879911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.51, Y:-6.18, Z:-2.52 [[ 9.92778982e-01 1.17445544e-01 2.44220472e-02 8.75138556e+01] [-1.17421063e-01 9.93079224e-01 -2.43906911e-03 -6.18280109e+00] [-2.45394855e-02 -4.46206185e-04 9.99698762e-01 -2.51705727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:-6.19, Z:-2.52 [[ 9.92936903e-01 1.16018920e-01 2.48176747e-02 8.75419449e+01] [-1.15993221e-01 9.93246915e-01 -2.47743599e-03 -6.18521783e+00] [-2.49375083e-02 -4.18744413e-04 9.99688924e-01 -2.51802611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54587156000001 meters Centerline goodness [0,1] 0.9999352722879089 Centerline is valid? [True, True] Translation: X:87.57, Y:-6.19, Z:-2.52 [[ 9.93249264e-01 1.13495726e-01 2.39712135e-02 8.75699603e+01] [-1.13471050e-01 9.93538425e-01 -2.39152091e-03 -6.19139926e+00] [-2.40877491e-02 -3.44662373e-04 9.99709789e-01 -2.52005933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.60, Y:-6.19, Z:-2.52 [[ 9.93401409e-01 1.12276014e-01 2.34038019e-02 8.75973595e+01] [-1.12252179e-01 9.93677011e-01 -2.33385737e-03 -6.19208828e+00] [-2.35178561e-02 -3.08670558e-04 9.99723369e-01 -2.52285952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:-6.20, Z:-2.53 [[ 9.93557970e-01 1.10985266e-01 2.29091801e-02 8.76254217e+01] [-1.10962119e-01 9.93822014e-01 -2.28303544e-03 -6.19601108e+00] [-2.30210308e-02 -2.73723111e-04 9.99734943e-01 -2.52511015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:-6.20, Z:-2.53 [[ 9.93702896e-01 1.09779235e-01 2.24293162e-02 8.76543904e+01] [-1.09756764e-01 9.93955965e-01 -2.23421228e-03 -6.20015711e+00] [-2.25390227e-02 -2.41625935e-04 9.99745935e-01 -2.52624695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66587156 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:87.68, Y:-6.20, Z:-2.53 [[ 9.93998589e-01 1.07111049e-01 2.22267392e-02 8.76833523e+01] [-1.07088339e-01 9.94247047e-01 -2.21291790e-03 -6.20483994e+00] [-2.23358978e-02 -1.80587313e-04 9.99750506e-01 -2.52783088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:-6.21, Z:-2.53 [[ 9.94186292e-01 1.05317768e-01 2.24005584e-02 8.77119066e+01] [-1.05294262e-01 9.94438609e-01 -2.22954193e-03 -6.20962581e+00] [-2.25107905e-02 -1.42070243e-04 9.99746590e-01 -2.52718909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:-6.21, Z:-2.53 [[ 9.94374817e-01 1.03508289e-01 2.24668004e-02 8.77399489e+01] [-1.03484207e-01 9.94628586e-01 -2.23504688e-03 -6.21328835e+00] [-2.25774678e-02 -1.02484684e-04 9.99745091e-01 -2.52869143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:-6.22, Z:-2.53 [[ 9.94799994e-01 9.92299898e-02 2.29429843e-02 8.77678539e+01] [-9.92037634e-02 9.95064525e-01 -2.28128254e-03 -6.22194620e+00] [-2.30561214e-02 -6.61052892e-06 9.99734172e-01 -2.52872411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:-6.23, Z:-2.53 [[ 9.95026942e-01 9.68729903e-02 2.31734640e-02 8.77955964e+01] [-9.68456186e-02 9.95296750e-01 -2.30318582e-03 -6.22832561e+00] [-2.32875899e-02 4.74834842e-05 9.99728806e-01 -2.53017203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.82, Y:-6.23, Z:-2.53 [[ 9.95205873e-01 9.49663302e-02 2.33808912e-02 8.78244254e+01] [-9.49379738e-02 9.95480481e-01 -2.32236462e-03 -6.23385965e+00] [-2.34957672e-02 9.14964735e-05 9.99723932e-01 -2.53002215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.85, Y:-6.24, Z:-2.53 [[ 9.95373338e-01 9.31259883e-02 2.36530737e-02 8.78526961e+01] [-9.30964770e-02 9.95654324e-01 -2.34818487e-03 -6.23901603e+00] [-2.37689621e-02 1.35302789e-04 9.99717469e-01 -2.53037303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:-6.24, Z:-2.53 [[ 9.95501625e-01 9.16578498e-02 2.39865081e-02 8.78822879e+01] [-9.16270969e-02 9.95790545e-01 -2.38035328e-03 -6.24331238e+00] [-2.41037161e-02 1.71831456e-04 9.99709448e-01 -2.53027082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:-6.25, Z:-2.53 [[ 9.95626425e-01 9.03241617e-02 2.38656373e-02 8.79109159e+01] [-9.02933466e-02 9.95912398e-01 -2.36786651e-03 -6.24652207e+00] [-2.39819596e-02 2.02602209e-04 9.99712371e-01 -2.53123254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-6.25, Z:-2.53 [[ 9.95653825e-01 9.01007335e-02 2.35652015e-02 8.79401666e+01] [-9.00706501e-02 9.95932636e-01 -2.33707791e-03 -6.25189222e+00] [-2.36799257e-02 2.04387533e-04 9.99719570e-01 -2.53454413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:-6.25, Z:-2.53 [[ 9.95657705e-01 9.00105568e-02 2.37452095e-02 8.79696934e+01] [-8.99799932e-02 9.95940790e-01 -2.35464794e-03 -6.25283436e+00] [-2.38607658e-02 2.07829583e-04 9.99715270e-01 -2.53393955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:-6.26, Z:-2.53 [[ 9.95663944e-01 8.99302466e-02 2.37878376e-02 8.79977321e+01] [-8.98995534e-02 9.95948044e-01 -2.35874301e-03 -6.25536329e+00] [-2.39035727e-02 2.09999388e-04 9.99714247e-01 -2.53495016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02587156000001 meters Centerline goodness [0,1] 0.9997426107846081 Centerline is valid? [True, True] Translation: X:88.03, Y:-6.26, Z:-2.54 [[ 9.95730440e-01 8.92611612e-02 2.35231109e-02 8.80272773e+01] [-8.92309816e-02 9.96008231e-01 -2.33161092e-03 -6.25692161e+00] [-2.36373343e-02 2.22665698e-04 9.99720574e-01 -2.53574280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:-6.26, Z:-2.54 [[ 9.95761633e-01 8.88333315e-02 2.38203654e-02 8.80560073e+01] [-8.88022778e-02 9.96046477e-01 -2.36040546e-03 -6.26165996e+00] [-2.39358737e-02 2.35098491e-04 9.99713468e-01 -2.53624314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:-6.27, Z:-2.54 [[ 9.95836497e-01 8.78779643e-02 2.42308691e-02 8.80864828e+01] [-8.78455572e-02 9.96131214e-01 -2.40071130e-03 -6.26542500e+00] [-2.43480947e-02 2.62141731e-04 9.99703507e-01 -2.53612922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-6.27, Z:-2.54 [[ 9.95893968e-01 8.73595024e-02 2.37386030e-02 8.81158630e+01] [-8.73282498e-02 9.96176814e-01 -2.35201395e-03 -6.26913960e+00] [-2.38533167e-02 2.69305848e-04 9.99715433e-01 -2.53832999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:-6.27, Z:-2.54 [[ 9.95952570e-01 8.68350923e-02 2.31979636e-02 8.81463837e+01] [-8.68051132e-02 9.96222661e-01 -2.29810019e-03 -6.27306056e+00] [-2.33098928e-02 2.75096934e-04 9.99728250e-01 -2.54031121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:-6.28, Z:-2.54 [[ 9.95980513e-01 8.65928251e-02 2.29019537e-02 8.81763389e+01] [-8.65635422e-02 9.96243748e-01 -2.26877605e-03 -6.27722959e+00] [-2.30123879e-02 2.77182496e-04 9.99735142e-01 -2.54149659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.20, Y:-6.28, Z:-2.54 [[ 9.96008511e-01 8.62664163e-02 2.29161986e-02 8.82049725e+01] [-8.62370087e-02 9.96272063e-01 -2.27027212e-03 -6.28407014e+00] [-2.30266167e-02 2.84985939e-04 9.99734812e-01 -2.54373515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:-6.29, Z:-2.54 [[ 9.96060153e-01 8.57699958e-02 2.25317356e-02 8.82352189e+01] [-8.57414477e-02 9.96314922e-01 -2.23183240e-03 -6.28859923e+00] [-2.26401286e-02 2.91135697e-04 9.99743637e-01 -2.54415725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26587156000001 meters Centerline goodness [0,1] 0.9998928647953718 Centerline is valid? [True, True] Translation: X:88.26, Y:-6.29, Z:-2.55 [[ 9.96082395e-01 8.55095981e-02 2.25382226e-02 8.82640495e+01] [-8.54809649e-02 9.96337302e-01 -2.23256320e-03 -6.29299573e+00] [-2.26465774e-02 2.97227888e-04 9.99743489e-01 -2.54596916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:-6.29, Z:-2.54 [[ 9.95928205e-01 8.73985648e-02 2.21020553e-02 8.82940985e+01] [-8.71934137e-02 9.96140371e-01 -1.00831648e-02 -6.29337127e+00] [-2.28980037e-02 8.11495453e-03 9.99704871e-01 -2.54277256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32587156000001 meters Centerline goodness [0,1] 0.9999354713815577 Centerline is valid? [True, True] Translation: X:88.32, Y:-6.31, Z:-2.55 [[ 9.96003736e-01 8.59907255e-02 2.41278452e-02 8.83231617e+01] [-8.61428414e-02 9.96268508e-01 5.33574513e-03 -6.30542455e+00] [-2.35789877e-02 -7.39286323e-03 9.99694642e-01 -2.54614097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:-6.30, Z:-2.55 [[ 9.95912209e-01 8.72145756e-02 2.35051201e-02 8.83526783e+01] [-8.71838998e-02 9.96189513e-01 -2.32865663e-03 -6.30420209e+00] [-2.36186470e-02 2.69869524e-04 9.99721004e-01 -2.54541326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:-6.31, Z:-2.55 [[ 9.95794116e-01 8.84726671e-02 2.38047234e-02 8.83831595e+01] [-8.84415721e-02 9.96078575e-01 -2.35798053e-03 -6.30727661e+00] [-2.39199918e-02 2.42735972e-04 9.99713847e-01 -2.54580420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:-6.31, Z:-2.55 [[ 9.95487882e-01 9.18258044e-02 2.39143970e-02 8.84125686e+01] [-9.17953921e-02 9.95775073e-01 -2.36872577e-03 -6.30864016e+00] [-2.40308705e-02 1.62806356e-04 9.99711204e-01 -2.54663270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.44, Y:-6.31, Z:-2.55 [[ 9.95292491e-01 9.40782954e-02 2.32837351e-02 8.84424001e+01] [-9.40500653e-02 9.95564796e-01 -2.30698382e-03 -6.30908308e+00] [-2.33975041e-02 1.06286866e-04 9.99726235e-01 -2.54828816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:-6.31, Z:-2.55 [[ 9.95109082e-01 9.60915827e-02 2.28981139e-02 8.84725041e+01] [-9.60648249e-02 9.95372495e-01 -2.26825406e-03 -6.30999194e+00] [-2.30101129e-02 5.74569171e-05 9.99735231e-01 -2.55063166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:-6.31, Z:-2.55 [[ 9.94917429e-01 9.81503832e-02 2.24902683e-02 8.85009003e+01] [-9.81251037e-02 9.95171594e-01 -2.22751441e-03 -6.31112581e+00] [-2.26003076e-02 9.33299708e-06 9.99744580e-01 -2.55265357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53587156 meters Centerline goodness [0,1] 0.999957422349009 Centerline is valid? [True, True] Translation: X:88.53, Y:-6.31, Z:-2.55 [[ 9.94569940e-01 1.01625461e-01 2.24254442e-02 8.85289033e+01] [-1.01601230e-01 9.94822728e-01 -2.22020788e-03 -6.30931211e+00] [-2.25349713e-02 -7.03006986e-05 9.99746053e-01 -2.55432006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:-6.31, Z:-2.55 [[ 9.94411502e-01 1.03179522e-01 2.23550943e-02 8.85578182e+01] [-1.03155873e-01 9.94662744e-01 -2.21160143e-03 -6.31041146e+00] [-2.24639714e-02 -1.06817360e-04 9.99747647e-01 -2.55440866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:-6.31, Z:-2.55 [[ 9.94267348e-01 1.04491886e-01 2.26690792e-02 8.85867189e+01] [-1.04467932e-01 9.94525729e-01 -2.24159840e-03 -6.31206733e+00] [-2.27792114e-02 -1.39443738e-04 9.99740510e-01 -2.55485721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:-6.31, Z:-2.56 [[ 9.94092279e-01 1.06104448e-01 2.28558071e-02 8.86147936e+01] [-1.06080547e-01 9.94354974e-01 -2.25908423e-03 -6.31426291e+00] [-2.29664844e-02 -1.78818326e-04 9.99736220e-01 -2.55618933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65587156000001 meters Centerline goodness [0,1] 0.9999145189554216 Centerline is valid? [True, True] Translation: X:88.64, Y:-6.32, Z:-2.56 [[ 9.94034124e-01 1.06723048e-01 2.25022325e-02 8.86432689e+01] [-1.06700070e-01 9.94288768e-01 -2.22278779e-03 -6.31676582e+00] [-2.26109397e-02 -1.91462857e-04 9.99744322e-01 -2.55784960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68587156000001 meters Centerline goodness [0,1] 0.9998929450808265 Centerline is valid? [True, True] Translation: X:88.67, Y:-6.32, Z:-2.56 [[ 9.93963171e-01 1.07428097e-01 2.22804603e-02 8.86719207e+01] [-1.07405769e-01 9.94212835e-01 -2.19988379e-03 -6.31951869e+00] [-2.23878490e-02 -2.06446507e-04 9.99749339e-01 -2.55945346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:-6.32, Z:-2.56 [[ 9.93772111e-01 1.09222863e-01 2.20761726e-02 8.87002677e+01] [-1.09201406e-01 9.94017256e-01 -2.17874806e-03 -6.32332256e+00] [-2.21820656e-02 -2.45570035e-04 9.99753918e-01 -2.55797203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:-6.32, Z:-2.56 [[ 9.93641857e-01 1.10380872e-01 2.21793531e-02 8.87284336e+01] [-1.10359525e-01 9.93889324e-01 -2.18793387e-03 -6.32160111e+00] [-2.22853283e-02 -2.73680211e-04 9.99751614e-01 -2.56024479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:-6.32, Z:-2.56 [[ 9.93471181e-01 1.11937509e-01 2.20228604e-02 8.87570419e+01] [-1.11916876e-01 9.93715200e-01 -2.17106822e-03 -6.32418659e+00] [-2.21274751e-02 -3.07836025e-04 9.99755110e-01 -2.55946890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:-6.33, Z:-2.56 [[ 9.93282866e-01 1.13653776e-01 2.17248243e-02 8.87856939e+01] [-1.13634130e-01 9.93520358e-01 -2.14067699e-03 -6.32664947e+00] [-2.18273513e-02 -3.42383729e-04 9.99761696e-01 -2.55967395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:-6.32, Z:-2.56 [[ 9.92816577e-01 1.17691435e-01 2.15399799e-02 8.88151676e+01] [-1.17673097e-01 9.93050121e-01 -2.12128723e-03 -6.32216442e+00] [-2.16399370e-02 -4.28627006e-04 9.99765737e-01 -2.56229475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86587156 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:88.84, Y:-6.32, Z:-2.56 [[ 9.92601520e-01 1.19527281e-01 2.13413022e-02 8.88427595e+01] [-1.19509714e-01 9.92830808e-01 -2.10123294e-03 -6.32035952e+00] [-2.14394569e-02 -4.64805902e-04 9.99770040e-01 -2.56392587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89587156 meters Centerline goodness [0,1] 0.9999784960110101 Centerline is valid? [True, True] Translation: X:88.87, Y:-6.32, Z:-2.56 [[ 9.92256701e-01 1.22358366e-01 2.13323599e-02 8.88720957e+01] [-1.22341505e-01 9.92485845e-01 -2.09862252e-03 -6.31995064e+00] [-2.14288493e-02 -5.27460762e-04 9.99770237e-01 -2.56408991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92587156 meters Centerline goodness [0,1] 0.9998937955351643 Centerline is valid? [True, True] Translation: X:88.90, Y:-6.32, Z:-2.57 [[ 9.92167063e-01 1.23140683e-01 2.09974222e-02 8.89004591e+01] [-1.23124541e-01 9.92389079e-01 -2.06476647e-03 -6.31697117e+00] [-2.10918693e-02 -5.36704696e-04 9.99777398e-01 -2.56662084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95587156 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:88.93, Y:-6.32, Z:-2.57 [[ 9.92179656e-01 1.23120240e-01 2.05167318e-02 8.89286440e+01] [-1.23104850e-01 9.92391622e-01 -2.01623643e-03 -6.31771632e+00] [-2.06088723e-02 -5.25240433e-04 9.99787477e-01 -2.56869126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98587156 meters Centerline goodness [0,1] 0.9999572503419972 Centerline is valid? [True, True] Translation: X:88.96, Y:-6.32, Z:-2.57 [[ 9.92387396e-01 1.21527687e-01 1.99569115e-02 8.89567245e+01] [-1.21512829e-01 9.92587926e-01 -1.95995814e-03 -6.32204526e+00] [-2.00471786e-02 -4.79983016e-04 9.99798920e-01 -2.57047111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01587156000001 meters Centerline goodness [0,1] 0.999893678099815 Centerline is valid? [True, True] Translation: X:88.99, Y:-6.32, Z:-2.57 [[ 9.92568572e-01 1.20023550e-01 2.00493563e-02 8.89851669e+01] [-1.20008267e-01 9.92770942e-01 -1.96807100e-03 -6.32058970e+00] [-2.01406332e-02 -4.52643071e-04 9.99797054e-01 -2.57356822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04587156000001 meters Centerline goodness [0,1] 0.9998064432878834 Centerline is valid? [True, True] Translation: X:89.01, Y:-6.33, Z:-2.57 [[ 9.92823733e-01 1.17913667e-01 1.99349593e-02 8.90134200e+01] [-1.17898154e-01 9.93023766e-01 -1.95579290e-03 -6.33241181e+00] [-2.00265031e-02 -4.08537289e-04 9.99799366e-01 -2.57242252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.04, Y:-6.34, Z:-2.57 [[ 9.93019589e-01 1.16284582e-01 1.97481924e-02 8.90417950e+01] [-1.16269048e-01 9.93215866e-01 -1.93688219e-03 -6.33726065e+00] [-1.98394475e-02 -3.72741576e-04 9.99803109e-01 -2.57264171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10587156000001 meters Centerline goodness [0,1] 0.9999786625698801 Centerline is valid? [True, True] Translation: X:89.07, Y:-6.34, Z:-2.57 [[ 9.93493819e-01 1.12075654e-01 2.02257307e-02 8.90692675e+01] [-1.12058505e-01 9.93699633e-01 -1.98281246e-03 -6.34442285e+00] [-2.03205262e-02 -2.96553236e-04 9.99793473e-01 -2.57306702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13587156000001 meters Centerline goodness [0,1] 0.9999360831770923 Centerline is valid? [True, True] Translation: X:89.10, Y:-6.35, Z:-2.57 [[ 9.93716755e-01 1.09972528e-01 2.08099630e-02 8.90969218e+01] [-1.09953941e-01 9.93934593e-01 -2.03875515e-03 -6.34906757e+00] [-2.09079492e-02 -2.62192291e-04 9.99781371e-01 -2.57290165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:-6.36, Z:-2.57 [[ 9.94175182e-01 1.05687514e-01 2.11153458e-02 8.91254721e+01] [-1.05667440e-01 9.94399376e-01 -2.06729035e-03 -6.35529954e+00] [-2.12155735e-02 -1.75955769e-04 9.99774909e-01 -2.57358633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-6.36, Z:-2.57 [[ 9.94403379e-01 1.03533193e-01 2.10427635e-02 8.91542042e+01] [-1.03512795e-01 9.94625990e-01 -2.05920301e-03 -6.36026603e+00] [-2.11428754e-02 -1.30516829e-04 9.99776456e-01 -2.57403327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:-6.37, Z:-2.57 [[ 9.94648613e-01 1.01136903e-01 2.11060134e-02 8.91822186e+01] [-1.01115864e-01 9.94872515e-01 -2.06439377e-03 -6.36579187e+00] [-2.12065790e-02 -8.08063720e-05 9.99775112e-01 -2.57389084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.21, Y:-6.37, Z:-2.57 [[ 9.94653472e-01 1.01089083e-01 2.11061130e-02 8.92104036e+01] [-1.01068055e-01 9.94877375e-01 -2.06337489e-03 -6.36846047e+00] [-2.12065790e-02 -8.08107830e-05 9.99775112e-01 -2.57474495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28587156 meters Centerline goodness [0,1] 0.9999570169782935 Centerline is valid? [True, True] Translation: X:89.24, Y:-6.37, Z:-2.58 [[ 9.94923013e-01 9.83459713e-02 2.13604269e-02 8.92375582e+01] [-9.83238214e-02 9.95152285e-01 -2.08728522e-03 -6.37434550e+00] [-2.14621537e-02 -2.35507016e-05 9.99769661e-01 -2.57698136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31587156 meters Centerline goodness [0,1] 0.9998064557751446 Centerline is valid? [True, True] Translation: X:89.27, Y:-6.38, Z:-2.58 [[ 9.95214286e-01 9.54327381e-02 2.10027886e-02 8.92662230e+01] [-9.54107035e-02 9.95435880e-01 -2.05098886e-03 -6.38149650e+00] [-2.11026608e-02 3.72825773e-05 9.99777313e-01 -2.57856577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:-6.39, Z:-2.58 [[ 9.95768722e-01 8.96115861e-02 2.03571883e-02 8.92934788e+01] [-8.95896909e-02 9.95976777e-01 -1.98684942e-03 -6.39290581e+00] [-2.04533315e-02 1.54648309e-04 9.99790797e-01 -2.58045373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.32, Y:-6.40, Z:-2.58 [[ 9.96048891e-01 8.65437310e-02 1.99195674e-02 8.93217702e+01] [-8.65221788e-02 9.96248030e-01 -1.94287663e-03 -6.40121973e+00] [-2.00129736e-02 2.11715738e-04 9.99799698e-01 -2.58236735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40587156000001 meters Centerline goodness [0,1] 0.9999785954322652 Centerline is valid? [True, True] Translation: X:89.35, Y:-6.41, Z:-2.58 [[ 9.96317356e-01 8.34866676e-02 1.95372187e-02 8.93514216e+01] [-8.34653271e-02 9.96508858e-01 -1.90660774e-03 -6.40815400e+00] [-1.96281878e-02 2.68906033e-04 9.99807312e-01 -2.58285645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.38, Y:-6.42, Z:-2.58 [[ 9.96739777e-01 7.82535011e-02 1.96521411e-02 8.93802848e+01] [-7.82308915e-02 9.96933423e-01 -1.91782284e-03 -6.42156487e+00] [-1.97419526e-02 3.74165795e-04 9.99805039e-01 -2.58368738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46587156000001 meters Centerline goodness [0,1] 0.9995924146215892 Centerline is valid? [True, True] Translation: X:89.41, Y:-6.43, Z:-2.58 [[ 9.96892516e-01 7.61316133e-02 2.02308978e-02 8.94116389e+01] [-7.61072203e-02 9.97097685e-01 -1.97406391e-03 -6.42644187e+00] [-2.03224701e-02 4.28212137e-04 9.99793386e-01 -2.58404138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:-6.44, Z:-2.58 [[ 9.97049974e-01 7.41946630e-02 1.96596283e-02 8.94422001e+01] [-7.41712560e-02 9.97243674e-01 -1.91811692e-03 -6.43551621e+00] [-1.97477540e-02 4.54279104e-04 9.99804891e-01 -2.58391345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52587156000001 meters Centerline goodness [0,1] 0.9999569058392588 Centerline is valid? [True, True] Translation: X:89.47, Y:-6.44, Z:-2.59 [[ 9.97068431e-01 7.39106355e-02 1.97929796e-02 8.94731418e+01] [-7.38868324e-02 9.97264761e-01 -1.93220729e-03 -6.44119395e+00] [-1.98816517e-02 4.64102323e-04 9.99802233e-01 -2.58537346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55587156 meters Centerline goodness [0,1] 0.9998936373885852 Centerline is valid? [True, True] Translation: X:89.50, Y:-6.45, Z:-2.59 [[ 9.97018779e-01 7.44538626e-02 2.02528013e-02 8.95034960e+01] [-7.44289855e-02 9.97224350e-01 -1.98039540e-03 -6.44650709e+00] [-2.03440347e-02 4.67095946e-04 9.99792930e-01 -2.58607441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58587156 meters Centerline goodness [0,1] 0.9998276790522348 Centerline is valid? [True, True] Translation: X:89.53, Y:-6.45, Z:-2.59 [[ 9.96848034e-01 7.67767875e-02 1.99830406e-02 8.95344722e+01] [-7.67529758e-02 9.97048219e-01 -1.95696836e-03 -6.45169127e+00] [-2.00743048e-02 4.17042232e-04 9.99798404e-01 -2.58793971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:-6.45, Z:-2.59 [[ 9.96720258e-01 7.84721788e-02 1.97697831e-02 8.95662804e+01] [-7.84491175e-02 9.96916230e-01 -1.94053503e-03 -6.45319465e+00] [-1.98610957e-02 3.83248533e-04 9.99802676e-01 -2.58745324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:-6.45, Z:-2.59 [[ 9.96586912e-01 8.01945160e-02 1.95797555e-02 8.95977769e+01] [-8.01722124e-02 9.96779173e-01 -1.92269247e-03 -6.45489889e+00] [-1.96708818e-02 3.46377836e-04 9.99806449e-01 -2.58843595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67587156 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:89.63, Y:-6.46, Z:-2.59 [[ 9.96316794e-01 8.34945937e-02 1.95320188e-02 8.96282176e+01] [-8.34730209e-02 9.96508191e-01 -1.91859150e-03 -6.45652586e+00] [-1.96240088e-02 2.81128314e-04 9.99807391e-01 -2.59050510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70587156 meters Centerline goodness [0,1] 0.9998077908764736 Centerline is valid? [True, True] Translation: X:89.66, Y:-6.46, Z:-2.59 [[ 9.96198071e-01 8.49748373e-02 1.92010512e-02 8.96587550e+01] [-8.49542576e-02 9.96383067e-01 -1.88642901e-03 -6.45846036e+00] [-1.92919013e-02 2.48045890e-04 9.99813863e-01 -2.59308738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:-6.46, Z:-2.59 [[ 9.96079934e-01 8.64831745e-02 1.85856341e-02 8.96893408e+01] [-8.64641555e-02 9.96253289e-01 -1.82596666e-03 -6.46094889e+00] [-1.86739145e-02 2.11817594e-04 9.99825605e-01 -2.59368570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.72, Y:-6.46, Z:-2.60 [[ 9.95984101e-01 8.76937214e-02 1.80411202e-02 8.97194703e+01] [-8.76759991e-02 9.96147468e-01 -1.77247027e-03 -6.46367203e+00] [-1.81270507e-02 1.83578974e-04 9.99835675e-01 -2.59548330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:-6.47, Z:-2.60 [[ 9.95917778e-01 8.84578459e-02 1.79718866e-02 8.97482973e+01] [-8.84403812e-02 9.96079907e-01 -1.76580908e-03 -6.46698596e+00] [-1.80576348e-02 1.69160158e-04 9.99836933e-01 -2.59641007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:-6.47, Z:-2.60 [[ 9.95796663e-01 8.97096991e-02 1.84709294e-02 8.97778040e+01] [-8.96914679e-02 9.95967945e-01 -1.81475225e-03 -6.46987534e+00] [-1.85592545e-02 1.50439465e-04 9.99827751e-01 -2.59687942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85587156000001 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:89.81, Y:-6.47, Z:-2.60 [[ 9.95768200e-01 8.99709854e-02 1.87326872e-02 8.98074642e+01] [-8.99522910e-02 9.95944376e-01 -1.83988646e-03 -6.47326548e+00] [-1.88222509e-02 1.47052297e-04 9.99822835e-01 -2.59810283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88587156000001 meters Centerline goodness [0,1] 0.999978647990776 Centerline is valid? [True, True] Translation: X:89.84, Y:-6.48, Z:-2.60 [[ 9.95660804e-01 9.10091824e-02 1.94136905e-02 8.98382190e+01] [-9.09893083e-02 9.95850045e-01 -1.90640944e-03 -6.47641870e+00] [-1.95066254e-02 1.31698887e-04 9.99809719e-01 -2.59765705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.87, Y:-6.48, Z:-2.60 [[ 9.95585433e-01 9.16847145e-02 2.00887512e-02 8.98676727e+01] [-9.16635692e-02 9.95788079e-01 -1.97281590e-03 -6.47960649e+00] [-2.01850160e-02 1.22700133e-04 9.99796254e-01 -2.59748852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94587156 meters Centerline goodness [0,1] 0.9997867803837953 Centerline is valid? [True, True] Translation: X:89.90, Y:-6.48, Z:-2.60 [[ 9.95500463e-01 9.25365836e-02 2.03913810e-02 8.98981312e+01] [-9.25149823e-02 9.95709280e-01 -2.00217925e-03 -6.48166629e+00] [-2.04891621e-02 1.06662117e-04 9.99790069e-01 -2.59802008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:-6.48, Z:-2.60 [[ 9.95395650e-01 9.37214383e-02 2.00945570e-02 8.99288700e+01] [-9.37007028e-02 9.95598456e-01 -1.97303483e-03 -6.48414845e+00] [-2.01910256e-02 8.10761783e-05 9.99796137e-01 -2.59771648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:-6.49, Z:-2.60 [[ 9.95212262e-01 9.57690144e-02 1.95153578e-02 8.99590256e+01] [-9.57498506e-02 9.95403584e-01 -1.91616470e-03 -6.48590405e+00] [-1.96091663e-02 3.83980095e-05 9.99807721e-01 -2.60025110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.99, Y:-6.49, Z:-2.60 [[ 9.95167892e-01 9.63765064e-02 1.87732833e-02 8.99873912e+01] [-9.63588746e-02 9.95344949e-01 -1.84361897e-03 -6.48788467e+00] [-1.88635742e-02 2.57379588e-05 9.99822067e-01 -2.60266753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06587156 meters Centerline goodness [0,1] 0.9998499978571123 Centerline is valid? [True, True] Translation: X:90.02, Y:-6.49, Z:-2.60 [[ 9.95118816e-01 9.68884151e-02 1.87397426e-02 9.00169025e+01] [-9.68709479e-02 9.95295250e-01 -1.83974898e-03 -6.48978250e+00] [-1.88298271e-02 1.54322013e-05 9.99822703e-01 -2.60399480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-6.49, Z:-2.60 [[ 9.95066044e-01 9.74121220e-02 1.88267569e-02 9.00460644e+01] [-9.73945944e-02 9.95244130e-01 -1.84784240e-03 -6.49254489e+00] [-1.89172216e-02 5.10087454e-06 9.99821053e-01 -2.60368768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-6.50, Z:-2.60 [[ 9.95005026e-01 9.79263055e-02 1.93761904e-02 9.00754103e+01] [-9.79078468e-02 9.95193669e-01 -1.90127944e-03 -6.49702386e+00] [-1.94692473e-02 -5.29848333e-06 9.99810456e-01 -2.60306273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:-6.50, Z:-2.60 [[ 9.94984402e-01 9.80014313e-02 2.00439159e-02 9.01041179e+01] [-9.79817015e-02 9.95186274e-01 -1.96640918e-03 -6.50063693e+00] [-2.01401409e-02 -7.39052090e-06 9.99797167e-01 -2.60378473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.13, Y:-6.50, Z:-2.61 [[ 9.94948233e-01 9.82450341e-02 2.06379843e-02 9.01325180e+01] [-9.82241858e-02 9.95162255e-01 -2.02391508e-03 -6.50346338e+00] [-2.07369826e-02 -1.34584745e-05 9.99784966e-01 -2.60501524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-6.51, Z:-2.60 [[ 9.94817013e-01 9.93569438e-02 2.16173275e-02 9.01618997e+01] [-9.93343521e-02 9.95051856e-01 -2.11903883e-03 -6.50534983e+00] [-2.17209030e-02 -3.92873410e-05 9.99764073e-01 -2.60224258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:-6.51, Z:-2.60 [[ 9.94739735e-01 1.00126976e-01 2.16205581e-02 9.01913722e+01] [-1.00104570e-01 9.94974666e-01 -2.11884270e-03 -6.50728201e+00] [-2.17240609e-02 -5.66196419e-05 9.99764003e-01 -2.60284416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:-6.51, Z:-2.61 [[ 9.94682820e-01 1.00789980e-01 2.11534076e-02 9.02200626e+01] [-1.00768690e-01 9.94907722e-01 -2.07266863e-03 -6.50929399e+00] [-2.12545928e-02 -6.99533013e-05 9.99774093e-01 -2.60538481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:-6.51, Z:-2.61 [[ 9.94582267e-01 1.01905445e-01 2.05278839e-02 9.02488534e+01] [-1.01885649e-01 9.94794085e-01 -2.01065823e-03 -6.50997821e+00] [-2.06259145e-02 -9.17317454e-05 9.99787259e-01 -2.60924380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:-6.51, Z:-2.61 [[ 9.94531106e-01 1.02435511e-01 2.03677299e-02 9.02783255e+01] [-1.02416150e-01 9.94739642e-01 -1.99414696e-03 -6.51259166e+00] [-2.04648598e-02 -1.02743308e-04 9.99790568e-01 -2.60933657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:-6.51, Z:-2.61 [[ 9.94474140e-01 1.03019196e-01 2.02047235e-02 9.03081916e+01] [-1.03000274e-01 9.94679362e-01 -1.97772217e-03 -6.51460787e+00] [-2.03009648e-02 -1.14298494e-04 9.99793908e-01 -2.61001166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:-6.51, Z:-2.61 [[ 9.94430548e-01 1.03572494e-01 1.95095874e-02 9.03372792e+01] [-1.03554961e-01 9.94621900e-01 -1.90949186e-03 -6.51488603e+00] [-1.96024337e-02 -1.21457532e-04 9.99807846e-01 -2.61161970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:-6.52, Z:-2.61 [[ 9.94393483e-01 1.03922408e-01 1.95380367e-02 9.03659466e+01] [-1.03904910e-01 9.94585399e-01 -1.91134694e-03 -6.51677672e+00] [-1.96308778e-02 -1.29466998e-04 9.99807287e-01 -2.61218140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:-6.52, Z:-2.62 [[ 9.94399062e-01 1.03935838e-01 1.91793204e-02 9.03937583e+01] [-1.03918993e-01 9.94583996e-01 -1.87557423e-03 -6.51793762e+00] [-1.92703845e-02 -1.28026395e-04 9.99814301e-01 -2.61533353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:-6.52, Z:-2.61 [[ 9.94423470e-01 1.03683376e-01 1.92800526e-02 9.04220694e+01] [-1.03666335e-01 9.94610347e-01 -1.88391065e-03 -6.52138850e+00] [-1.93714700e-02 -1.25287426e-04 9.99812348e-01 -2.61437867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:-6.52, Z:-2.61 [[ 9.94441000e-01 1.03425786e-01 1.97535895e-02 9.04503281e+01] [-1.03407866e-01 9.94637166e-01 -1.92919878e-03 -6.52380387e+00] [-1.98471831e-02 -1.24202177e-04 9.99803018e-01 -2.61413190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54587156000001 meters Centerline goodness [0,1] 0.9998291401477938 Centerline is valid? [True, True] Translation: X:90.48, Y:-6.53, Z:-2.62 [[ 9.94456849e-01 1.03183319e-01 2.02182843e-02 9.04794434e+01] [-1.03164516e-01 9.94662349e-01 -1.97357495e-03 -6.52595270e+00] [-2.03140061e-02 -1.23174392e-04 9.99793642e-01 -2.61543577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:-6.53, Z:-2.62 [[ 9.94509782e-01 1.02734029e-01 1.99000535e-02 9.05080929e+01] [-1.02715745e-01 9.94708855e-01 -1.94144651e-03 -6.52768323e+00] [-1.99942121e-02 -1.13261279e-04 9.99800089e-01 -2.61663136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.54, Y:-6.53, Z:-2.62 [[ 9.94599999e-01 1.01902699e-01 1.96642268e-02 9.05367231e+01] [-1.01884695e-01 9.94794366e-01 -1.91786113e-03 -6.53109433e+00] [-1.97572972e-02 -9.59790645e-05 9.99804801e-01 -2.61822599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63587156000001 meters Centerline goodness [0,1] 0.9997853248035722 Centerline is valid? [True, True] Translation: X:90.57, Y:-6.54, Z:-2.62 [[ 9.94711999e-01 1.00868066e-01 1.93305843e-02 9.05662431e+01] [-1.00850494e-01 9.94899808e-01 -1.88418629e-03 -6.53507257e+00] [-1.94220488e-02 -7.52762682e-05 9.99811371e-01 -2.62061146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66587156 meters Centerline goodness [0,1] 0.9997213290460879 Centerline is valid? [True, True] Translation: X:90.60, Y:-6.54, Z:-2.62 [[ 9.94979068e-01 9.82423748e-02 1.91073236e-02 9.05953800e+01] [-9.82247313e-02 9.95162517e-01 -1.86197453e-03 -6.54070520e+00] [-1.91978171e-02 -2.41860484e-05 9.99815705e-01 -2.62180641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69587156 meters Centerline goodness [0,1] 0.9998493360022385 Centerline is valid? [True, True] Translation: X:90.62, Y:-6.55, Z:-2.62 [[ 9.95138774e-01 9.65543699e-02 1.93926461e-02 9.06249751e+01] [-9.65358844e-02 9.95327712e-01 -1.88929622e-03 -6.54554400e+00] [-1.94844579e-02 8.02568488e-06 9.99810160e-01 -2.62197373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72587156 meters Centerline goodness [0,1] 0.999893781998173 Centerline is valid? [True, True] Translation: X:90.65, Y:-6.55, Z:-2.62 [[ 9.95302073e-01 9.47838343e-02 1.97435755e-02 9.06528612e+01] [-9.47643326e-02 9.95497877e-01 -1.92311560e-03 -6.55063830e+00] [-1.98369677e-02 4.30941893e-05 9.99803227e-01 -2.62299586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:-6.56, Z:-2.62 [[ 9.95603527e-01 9.15622289e-02 1.97477692e-02 9.06826705e+01] [-9.15421063e-02 9.95799351e-01 -1.92245198e-03 -6.55892785e+00] [-1.98408397e-02 1.06247585e-04 9.99803146e-01 -2.62231554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.71, Y:-6.56, Z:-2.62 [[ 9.95723509e-01 9.02019391e-02 1.99575436e-02 9.07128989e+01] [-9.01811135e-02 9.95923487e-01 -1.94287359e-03 -6.56459069e+00] [-2.00514374e-02 1.34771404e-04 9.99798941e-01 -2.62339890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:-6.57, Z:-2.62 [[ 9.95844692e-01 8.88647298e-02 1.99100214e-02 9.07426497e+01] [-8.88437360e-02 9.96043691e-01 -1.93824729e-03 -6.56970965e+00] [-2.00034930e-02 1.61312588e-04 9.99799897e-01 -2.62389268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:-6.58, Z:-2.62 [[ 9.95983224e-01 8.73767881e-02 1.95630967e-02 9.07735015e+01] [-8.73562376e-02 9.96175317e-01 -1.90422034e-03 -6.57551929e+00] [-1.96546587e-02 1.87612990e-04 9.99806811e-01 -2.62395829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.80, Y:-6.58, Z:-2.63 [[ 9.96010352e-01 8.69761268e-02 1.99632622e-02 9.08030835e+01] [-8.69546339e-02 9.96210376e-01 -1.94379408e-03 -6.58032391e+00] [-2.00566727e-02 2.00140869e-04 9.99798825e-01 -2.62506117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:-6.59, Z:-2.62 [[ 9.96030146e-01 8.64943639e-02 2.10398089e-02 9.08336734e+01] [-8.64703792e-02 9.96252315e-01 -2.04877906e-03 -6.58582050e+00] [-2.11381662e-02 2.21325454e-04 9.99776540e-01 -2.62330889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93587156000001 meters Centerline goodness [0,1] 0.999808298543069 Centerline is valid? [True, True] Translation: X:90.86, Y:-6.59, Z:-2.63 [[ 9.96016049e-01 8.65363012e-02 2.15290032e-02 9.08645418e+01] [-8.65112105e-02 9.96248673e-01 -2.09583027e-03 -6.59169791e+00] [-2.16296063e-02 2.24980459e-04 9.99766027e-01 -2.62545994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:-6.60, Z:-2.62 [[ 9.96010674e-01 8.65426988e-02 2.17508506e-02 9.08963866e+01] [-8.65170151e-02 9.96248116e-01 -2.12084538e-03 -6.59672104e+00] [-2.18527876e-02 2.30565968e-04 9.99761173e-01 -2.62450982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99587156000001 meters Centerline goodness [0,1] 0.99980757718293 Centerline is valid? [True, True] Translation: X:90.93, Y:-6.60, Z:-2.63 [[ 9.95970152e-01 8.68572237e-02 2.23445726e-02 9.09282252e+01] [-8.68301127e-02 9.96220743e-01 -2.18251695e-03 -6.60061247e+00] [-2.24496941e-02 2.33539983e-04 9.99747947e-01 -2.62562520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:-6.61, Z:-2.62 [[ 9.95889700e-01 8.77740609e-02 2.23476927e-02 9.09601308e+01] [-8.77470900e-02 9.96140385e-01 -2.18651935e-03 -6.60546573e+00] [-2.24533589e-02 2.16587099e-04 9.99747868e-01 -2.62454914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:-6.61, Z:-2.63 [[ 9.95802483e-01 8.88835115e-02 2.18434513e-02 9.09916945e+01] [-8.88579323e-02 9.96042010e-01 -2.14076998e-03 -6.60872507e+00] [-2.19472743e-02 1.90820147e-04 9.99759111e-01 -2.62634489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:-6.61, Z:-2.63 [[ 9.95687011e-01 9.02641974e-02 2.14418184e-02 9.10240740e+01] [-9.02397941e-02 9.95917842e-01 -2.10494953e-03 -6.61161950e+00] [-2.15442911e-02 1.60965626e-04 9.99767882e-01 -2.62843887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11587156 meters Centerline goodness [0,1] 0.9998284145504461 Centerline is valid? [True, True] Translation: X:91.05, Y:-6.61, Z:-2.63 [[ 9.95553914e-01 9.18887895e-02 2.07088185e-02 9.10545809e+01] [-9.18662785e-02 9.95769268e-01 -2.03775631e-03 -6.61360117e+00] [-2.08084520e-02 1.26254178e-04 9.99783473e-01 -2.63220099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:-6.61, Z:-2.63 [[ 9.95235044e-01 9.54251218e-02 2.00313231e-02 9.10850807e+01] [-9.54047711e-02 9.95436610e-01 -1.97132043e-03 -6.61440853e+00] [-2.01280259e-02 5.08433786e-05 9.99797409e-01 -2.63316846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:-6.62, Z:-2.63 [[ 9.95235043e-01 9.54251324e-02 2.00312885e-02 9.11149245e+01] [-9.54047746e-02 9.95436608e-01 -1.97167229e-03 -6.61734583e+00] [-2.01280250e-02 5.11967972e-05 9.99797409e-01 -2.63407292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:-6.62, Z:-2.63 [[ 9.95040396e-01 9.74112430e-02 2.01409844e-02 9.11450641e+01] [-9.73910684e-02 9.95244216e-01 -1.98246963e-03 -6.61775436e+00] [-2.02383131e-02 1.10853684e-05 9.99795184e-01 -2.63421647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23587156 meters Centerline goodness [0,1] 0.999872062774532 Centerline is valid? [True, True] Translation: X:91.17, Y:-6.61, Z:-2.64 [[ 9.94612955e-01 1.01730036e-01 1.99014885e-02 9.11745196e+01] [-1.01711195e-01 9.94812040e-01 -1.95925834e-03 -6.61303062e+00] [-1.99975558e-02 -7.55004474e-05 9.99800026e-01 -2.63744224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:-6.61, Z:-2.64 [[ 9.94428283e-01 1.03604032e-01 1.94575314e-02 9.12042191e+01] [-1.03586396e-01 9.94618616e-01 -1.91474834e-03 -6.61357106e+00] [-1.95511986e-02 -1.11455663e-04 9.99808851e-01 -2.63776295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29587156000001 meters Centerline goodness [0,1] 0.9998933901918976 Centerline is valid? [True, True] Translation: X:91.23, Y:-6.61, Z:-2.64 [[ 9.94230615e-01 1.05569845e-01 1.89866088e-02 9.12335837e+01] [-1.05553419e-01 9.94411880e-01 -1.86797718e-03 -6.61351695e+00] [-1.90777114e-02 -1.46901383e-04 9.99817993e-01 -2.64014086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32587156000001 meters Centerline goodness [0,1] 0.9999788717515318 Centerline is valid? [True, True] Translation: X:91.26, Y:-6.61, Z:-2.64 [[ 9.93922377e-01 1.08486591e-01 1.86807066e-02 9.12629776e+01] [-1.08471211e-01 9.94097892e-01 -1.83758187e-03 -6.61078908e+00] [-1.87698041e-02 -1.99905136e-04 9.99823812e-01 -2.64130475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-6.61, Z:-2.64 [[ 9.93785953e-01 1.09707246e-01 1.88095629e-02 9.12913830e+01] [-1.09691882e-01 9.93963918e-01 -1.84974709e-03 -6.61348850e+00] [-1.88989575e-02 -2.25003678e-04 9.99821373e-01 -2.63994288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-6.61, Z:-2.64 [[ 9.93687413e-01 1.10501542e-01 1.93580755e-02 9.13187621e+01] [-1.10485436e-01 9.93875922e-01 -1.90281197e-03 -6.61405708e+00] [-1.94497888e-02 -2.47985104e-04 9.99810804e-01 -2.64173580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41587156 meters Centerline goodness [0,1] 0.9999785531987904 Centerline is valid? [True, True] Translation: X:91.35, Y:-6.62, Z:-2.64 [[ 9.93625738e-01 1.11016769e-01 1.95747495e-02 9.13473957e+01] [-1.11000427e-01 9.93818499e-01 -1.92273511e-03 -6.61654258e+00] [-1.96672040e-02 -2.62326455e-04 9.99806547e-01 -2.64284540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:-6.62, Z:-2.64 [[ 9.93583098e-01 1.11315445e-01 2.00374311e-02 9.13764381e+01] [-1.11298402e-01 9.93785085e-01 -1.96720904e-03 -6.61996566e+00] [-2.01318809e-02 -2.75548414e-04 9.99797295e-01 -2.64102479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-6.62, Z:-2.64 [[ 9.93590235e-01 1.11164137e-01 2.05177911e-02 9.14048091e+01] [-1.11146256e-01 9.93802021e-01 -2.01330789e-03 -6.62079806e+00] [-2.06144299e-02 -2.80072608e-04 9.99787461e-01 -2.64204580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:-6.62, Z:-2.64 [[ 9.93643361e-01 1.10598001e-01 2.09988740e-02 9.14331680e+01] [-1.10579169e-01 9.93865185e-01 -2.05943976e-03 -6.62426458e+00] [-2.10978197e-02 -2.75689388e-04 9.99777378e-01 -2.64162506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:-6.63, Z:-2.64 [[ 9.93892681e-01 1.08290200e-01 2.12266466e-02 9.14615749e+01] [-1.08270455e-01 9.94119299e-01 -2.08062117e-03 -6.62817271e+00] [-2.13271299e-02 -2.30304523e-04 9.99772524e-01 -2.64333054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:-6.63, Z:-2.65 [[ 9.94056256e-01 1.06840064e-01 2.09131781e-02 9.14902912e+01] [-1.06820591e-01 9.94276200e-01 -2.04925471e-03 -6.63325492e+00] [-2.10124178e-02 -1.96883576e-04 9.99779195e-01 -2.64503266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:-6.64, Z:-2.65 [[ 9.94233173e-01 1.05261546e-01 2.05037858e-02 9.15197351e+01] [-1.05242515e-01 9.94444559e-01 -2.00799588e-03 -6.63990811e+00] [-2.06012430e-02 -1.61453878e-04 9.99787759e-01 -2.64551023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62587156000001 meters Centerline goodness [0,1] 0.9998718441625016 Centerline is valid? [True, True] Translation: X:91.55, Y:-6.64, Z:-2.65 [[ 9.94508756e-01 1.02636608e-01 2.04465370e-02 9.15483634e+01] [-1.02617137e-01 9.94718913e-01 -2.00200345e-03 -6.64485540e+00] [-2.05440359e-02 -1.07155119e-04 9.99788943e-01 -2.64956455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:-6.65, Z:-2.65 [[ 9.94651401e-01 1.01207631e-01 2.06302096e-02 9.15772991e+01] [-1.01187520e-01 9.94865322e-01 -2.01909960e-03 -6.65078458e+00] [-2.07286284e-02 -7.92194914e-05 9.99785136e-01 -2.64763175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:-6.66, Z:-2.65 [[ 9.94852715e-01 9.92211535e-02 2.05727330e-02 9.16062269e+01] [-9.92007417e-02 9.95065406e-01 -2.01286285e-03 -6.65695243e+00] [-2.06709335e-02 -3.83282987e-05 9.99786333e-01 -2.64962315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:-6.67, Z:-2.65 [[ 9.95247329e-01 9.51644658e-02 2.06513746e-02 9.16366767e+01] [-9.51430362e-02 9.95461562e-01 -2.01997013e-03 -6.66765075e+00] [-2.07498791e-02 4.55353881e-05 9.99784697e-01 -2.64919657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74587156000001 meters Centerline goodness [0,1] 0.9998709094429743 Centerline is valid? [True, True] Translation: X:91.67, Y:-6.67, Z:-2.65 [[ 9.95416645e-01 9.32336998e-02 2.12880261e-02 9.16668389e+01] [-9.32104732e-02 9.95644248e-01 -2.08288161e-03 -6.67404120e+00] [-2.13894955e-02 8.90680319e-05 9.99771215e-01 -2.65091878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77587156000001 meters Centerline goodness [0,1] 0.999957193613287 Centerline is valid? [True, True] Translation: X:91.70, Y:-6.69, Z:-2.65 [[ 9.95754895e-01 8.94032879e-02 2.18915871e-02 9.16984377e+01] [-8.93778210e-02 9.95995493e-01 -2.14096300e-03 -6.68537081e+00] [-2.19953312e-02 1.75252034e-04 9.99758058e-01 -2.65065805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:-6.69, Z:-2.65 [[ 9.95909074e-01 8.76063249e-02 2.21415340e-02 9.17291946e+01] [-8.75797440e-02 9.96155150e-01 -2.16922340e-03 -6.69359191e+00] [-2.22464409e-02 2.21199382e-04 9.99752493e-01 -2.65032714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.76, Y:-6.70, Z:-2.65 [[ 9.96003564e-01 8.64853935e-02 2.22974741e-02 9.17610855e+01] [-8.64580816e-02 9.96253087e-01 -2.18782055e-03 -6.70044060e+00] [-2.24031419e-02 2.51280228e-04 9.99748987e-01 -2.65072467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86587156 meters Centerline goodness [0,1] 0.9999569336778639 Centerline is valid? [True, True] Translation: X:91.79, Y:-6.71, Z:-2.65 [[ 9.96062959e-01 8.58165589e-02 2.22283770e-02 9.17924403e+01] [-8.57891684e-02 9.96310918e-01 -2.18467317e-03 -6.70555415e+00] [-2.23338558e-02 2.69118046e-04 9.99750532e-01 -2.65205499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:-6.71, Z:-2.65 [[ 9.96121335e-01 8.52298448e-02 2.18668396e-02 9.18238613e+01] [-8.52030969e-02 9.96361277e-01 -2.15368877e-03 -6.71371493e+00] [-2.19708308e-02 2.82212880e-04 9.99758572e-01 -2.65238108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.86, Y:-6.72, Z:-2.66 [[ 9.96061163e-01 8.59885194e-02 2.16363879e-02 9.18557487e+01] [-8.59625052e-02 9.96296093e-01 -2.13126919e-03 -6.71993822e+00] [-2.17395134e-02 2.62956361e-04 9.99763634e-01 -2.65514913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:-6.72, Z:-2.66 [[ 9.95982886e-01 8.69822937e-02 2.12643319e-02 9.18883698e+01] [-8.69573098e-02 9.96209829e-01 -2.09851323e-03 -6.72179705e+00] [-2.13662699e-02 2.40994170e-04 9.99771686e-01 -2.65528001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:-6.73, Z:-2.66 [[ 9.95740912e-01 8.98080573e-02 2.08458562e-02 9.19189984e+01] [-8.97845808e-02 9.95959076e-01 -2.06128992e-03 -6.72607879e+00] [-2.09467401e-02 1.80874244e-04 9.99780577e-01 -2.65846385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.95, Y:-6.73, Z:-2.66 [[ 9.95575775e-01 9.16498877e-02 2.07165046e-02 9.19511799e+01] [-9.16270740e-02 9.95791282e-01 -2.04976223e-03 -6.72815323e+00] [-2.08171751e-02 1.42500920e-04 9.99783289e-01 -2.65810415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:-6.73, Z:-2.66 [[ 9.95198361e-01 9.56509704e-02 2.07632777e-02 9.19832996e+01] [-9.56288493e-02 9.95414933e-01 -2.05796490e-03 -6.73078612e+00] [-2.08649230e-02 6.25149480e-05 9.99782302e-01 -2.65911643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:-6.73, Z:-2.66 [[ 9.94985553e-01 9.78533789e-02 2.06994288e-02 9.20143250e+01] [-9.78317830e-02 9.95200842e-01 -2.05582374e-03 -6.73190680e+00] [-2.08012582e-02 2.04528960e-05 9.99783630e-01 -2.66006119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:-6.73, Z:-2.66 [[ 9.94730543e-01 1.00430403e-01 2.06126367e-02 9.20459804e+01] [-1.00409511e-01 9.94944085e-01 -2.04863478e-03 -6.73247107e+00] [-2.07141661e-02 -3.18651846e-05 9.99785438e-01 -2.66166129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:-6.73, Z:-2.66 [[ 9.94185644e-01 1.05559437e-01 2.12628906e-02 9.20756423e+01] [-1.05538273e-01 9.94412986e-01 -2.11822565e-03 -6.72991660e+00] [-2.13676933e-02 -1.38139217e-04 9.99771675e-01 -2.66174237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:-6.73, Z:-2.66 [[ 9.93896564e-01 1.08273436e-01 2.11301539e-02 9.21054391e+01] [-1.08253153e-01 9.94121132e-01 -2.10475343e-03 -6.72911954e+00] [-2.12338214e-02 -1.95498589e-04 9.99774518e-01 -2.66275138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.14, Y:-6.73, Z:-2.66 [[ 9.93599330e-01 1.11035222e-01 2.07738022e-02 9.21351878e+01] [-1.11016224e-01 9.93816440e-01 -2.06913579e-03 -6.72854132e+00] [-2.08750931e-02 -2.50337141e-04 9.99782060e-01 -2.66323539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.16, Y:-6.72, Z:-2.67 [[ 9.93036174e-01 1.16146783e-01 1.97251445e-02 9.21644982e+01] [-1.16130668e-01 9.93232002e-01 -1.96436712e-03 -6.72141939e+00] [-1.98197996e-02 -3.40006598e-04 9.99803511e-01 -2.66723394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25587156 meters Centerline goodness [0,1] 0.9998713660921019 Centerline is valid? [True, True] Translation: X:92.19, Y:-6.72, Z:-2.67 [[ 9.92787337e-01 1.18350410e-01 1.91437842e-02 9.21937872e+01] [-1.18335656e-01 9.92971823e-01 -1.90568086e-03 -6.72308350e+00] [-1.92347764e-02 -3.73456440e-04 9.99814925e-01 -2.66943003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28587156 meters Centerline goodness [0,1] 0.9999786912143876 Centerline is valid? [True, True] Translation: X:92.22, Y:-6.72, Z:-2.67 [[ 9.92638234e-01 1.19655648e-01 1.87579834e-02 9.22229296e+01] [-1.19641721e-01 9.92815377e-01 -1.86697501e-03 -6.72411093e+00] [-1.88466085e-02 -3.91006649e-04 9.99822310e-01 -2.66955961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:-6.72, Z:-2.67 [[ 9.92447804e-01 1.21252509e-01 1.85791394e-02 9.22513973e+01] [-1.21239133e-01 9.92621607e-01 -1.84880577e-03 -6.72422853e+00] [-1.86662276e-02 -4.17675529e-04 9.99825684e-01 -2.66999792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34587156 meters Centerline goodness [0,1] 0.9999355946758265 Centerline is valid? [True, True] Translation: X:92.28, Y:-6.72, Z:-2.67 [[ 9.92424975e-01 1.21446788e-01 1.85295910e-02 9.22789538e+01] [-1.21433538e-01 9.92597854e-01 -1.84272824e-03 -6.72369774e+00] [-1.86162257e-02 -4.21344269e-04 9.99826614e-01 -2.67228997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37587156000001 meters Centerline goodness [0,1] 0.9999787604604732 Centerline is valid? [True, True] Translation: X:92.31, Y:-6.73, Z:-2.67 [[ 9.92371390e-01 1.21797398e-01 1.90897335e-02 9.23066280e+01] [-1.21877721e-01 9.92540288e-01 3.09794410e-03 -6.73118321e+00] [-1.85700081e-02 -5.40092430e-03 9.99812975e-01 -2.67376362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:-6.72, Z:-2.67 [[ 9.92538861e-01 1.20365472e-01 1.94618008e-02 9.23361136e+01] [-1.20251980e-01 9.92719391e-01 -6.90455362e-03 -6.72451391e+00] [-2.01511769e-02 4.51271770e-03 9.99786760e-01 -2.67166507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43587156000001 meters Centerline goodness [0,1] 0.9999788036796812 Centerline is valid? [True, True] Translation: X:92.36, Y:-6.73, Z:-2.67 [[ 9.92646846e-01 1.19332770e-01 2.02960219e-02 9.23644744e+01] [-1.19316496e-01 9.92854225e-01 -2.01523888e-03 -6.73057073e+00] [-2.03914752e-02 -4.21229707e-04 9.99791984e-01 -2.67223453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:-6.74, Z:-2.67 [[ 9.92780309e-01 1.18131561e-01 2.07892181e-02 9.23932982e+01] [-1.18114244e-01 9.92997869e-01 -2.06319762e-03 -6.73507792e+00] [-2.08873781e-02 -4.07200813e-04 9.99781752e-01 -2.67188638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:-6.74, Z:-2.67 [[ 9.93085711e-01 1.15495451e-01 2.10135962e-02 9.24223916e+01] [-1.15477195e-01 9.93307945e-01 -2.08423261e-03 -6.74224343e+00] [-2.11136915e-02 -3.56769511e-04 9.99777018e-01 -2.67176677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52587156000001 meters Centerline goodness [0,1] 0.9999788842434224 Centerline is valid? [True, True] Translation: X:92.45, Y:-6.75, Z:-2.67 [[ 9.93287521e-01 1.13760928e-01 2.09368344e-02 9.24510326e+01] [-1.13742431e-01 9.93508102e-01 -2.07607767e-03 -6.74520218e+00] [-2.10370911e-02 -3.19264390e-04 9.99778645e-01 -2.67463548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:-6.75, Z:-2.67 [[ 9.93515244e-01 1.11781264e-01 2.07944258e-02 9.24800346e+01] [-1.11762592e-01 9.93732798e-01 -2.06155112e-03 -6.75253133e+00] [-2.08945458e-02 -2.75856472e-04 9.99781647e-01 -2.67433920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:-6.76, Z:-2.68 [[ 9.93766258e-01 1.09542138e-01 2.07157970e-02 9.25091763e+01] [-1.09523133e-01 9.93982127e-01 -2.05313734e-03 -6.75757645e+00] [-2.08160370e-02 -2.28520380e-04 9.99783297e-01 -2.67618202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-6.77, Z:-2.68 [[ 9.94306041e-01 1.04618035e-01 2.02623470e-02 9.25390572e+01] [-1.04598841e-01 9.94512469e-01 -2.00772088e-03 -6.76929736e+00] [-2.03612006e-02 -1.23129011e-04 9.99792682e-01 -2.67759787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:-6.78, Z:-2.68 [[ 9.94558767e-01 1.02183881e-01 2.02808553e-02 9.25696384e+01] [-1.02164143e-01 9.94765525e-01 -2.00968145e-03 -6.77699557e+00] [-2.03800527e-02 -7.32298888e-05 9.99792302e-01 -2.67832703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:-6.79, Z:-2.68 [[ 9.94991315e-01 9.77656180e-02 2.08366789e-02 9.25993311e+01] [-9.78597845e-02 9.95193894e-01 3.54612620e-03 -6.79289441e+00] [-2.03898464e-02 -5.56743768e-03 9.99776604e-01 -2.67886571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.63, Y:-6.79, Z:-2.68 [[ 9.95263702e-01 9.52115189e-02 1.96196622e-02 9.26318146e+01] [-9.50798827e-02 9.95441102e-01 -7.53852061e-03 -6.79445555e+00] [-2.02479722e-02 5.63738075e-03 9.99779095e-01 -2.68087689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73587156 meters Centerline goodness [0,1] 0.9999142881631954 Centerline is valid? [True, True] Translation: X:92.66, Y:-6.81, Z:-2.68 [[ 9.95447507e-01 9.32501096e-02 1.97149293e-02 9.26634366e+01] [-9.32296400e-02 9.95642710e-01 -1.95684524e-03 -6.80579161e+00] [-1.98115016e-02 1.09920956e-04 9.99803727e-01 -2.68343319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:-6.82, Z:-2.68 [[ 9.95677919e-01 9.08530759e-02 1.92665486e-02 9.26944344e+01] [-9.08330200e-02 9.95864295e-01 -1.91534340e-03 -6.81583388e+00] [-1.93608827e-02 1.57026340e-04 9.99812548e-01 -2.68313643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.73, Y:-6.82, Z:-2.68 [[ 9.95696594e-01 9.06438634e-02 1.92868324e-02 9.27261314e+01] [-9.06236645e-02 9.95883358e-01 -1.92052893e-03 -6.82174696e+00] [-1.93815196e-02 1.64420687e-04 9.99812147e-01 -2.68441867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82587156000001 meters Centerline goodness [0,1] 0.9998282967032966 Centerline is valid? [True, True] Translation: X:92.76, Y:-6.83, Z:-2.69 [[ 9.95622821e-01 9.13873771e-02 1.95843231e-02 9.27576024e+01] [-9.13666203e-02 9.95815406e-01 -1.95389885e-03 -6.82564033e+00] [-1.96809324e-02 1.55992869e-04 9.99806300e-01 -2.68572732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85587156000001 meters Centerline goodness [0,1] 0.9999143670655735 Centerline is valid? [True, True] Translation: X:92.79, Y:-6.83, Z:-2.68 [[ 9.95406641e-01 9.34694288e-02 2.07143829e-02 9.27884195e+01] [-9.34465766e-02 9.95622142e-01 -2.07054335e-03 -6.82932969e+00] [-2.08172308e-02 1.25344427e-04 9.99783290e-01 -2.68449702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:-6.83, Z:-2.68 [[ 9.95232964e-01 9.52201069e-02 2.10826609e-02 9.28199046e+01] [-9.51967558e-02 9.95456238e-01 -2.11073836e-03 -6.83207165e+00] [-2.11878511e-02 9.36754700e-05 9.99775508e-01 -2.68437136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91587156000001 meters Centerline goodness [0,1] 0.9997854491621789 Centerline is valid? [True, True] Translation: X:92.85, Y:-6.83, Z:-2.69 [[ 9.95011125e-01 9.74839851e-02 2.12069443e-02 9.28519309e+01] [-9.74608036e-02 9.95237092e-01 -2.12637924e-03 -6.83350629e+00] [-2.13132255e-02 4.89251650e-05 9.99772846e-01 -2.68578347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:-6.83, Z:-2.68 [[ 9.94500006e-01 1.02478123e-01 2.16326473e-02 9.28846352e+01] [-1.02455102e-01 9.94735257e-01 -2.17273899e-03 -6.83197681e+00] [-2.17414152e-02 -5.55861608e-05 9.99763626e-01 -2.68483654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97587156 meters Centerline goodness [0,1] 0.9998269334775555 Centerline is valid? [True, True] Translation: X:92.92, Y:-6.83, Z:-2.68 [[ 9.94163361e-01 1.05602751e-01 2.20742256e-02 9.29169450e+01] [-1.05579470e-01 9.94408389e-01 -2.22073910e-03 -6.83224757e+00] [-2.21853113e-02 -1.22807595e-04 9.99753868e-01 -2.68468863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:-6.83, Z:-2.68 [[ 9.93814960e-01 1.08730136e-01 2.25739402e-02 9.29487480e+01] [-1.08706501e-01 9.94071285e-01 -2.27513988e-03 -6.83046170e+00] [-2.26874821e-02 -1.92866013e-04 9.99742587e-01 -2.68482139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:-6.82, Z:-2.68 [[ 9.93109644e-01 1.14866154e-01 2.32164256e-02 9.29796658e+01] [-1.14842713e-01 9.93380920e-01 -2.34491187e-03 -6.82406858e+00] [-2.33321053e-02 -3.37482712e-04 9.99727712e-01 -2.68486153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.01, Y:-6.82, Z:-2.69 [[ 9.92770956e-01 1.17797230e-01 2.30139650e-02 9.30094538e+01] [-1.17774988e-01 9.93037588e-01 -2.32419565e-03 -6.82230458e+00] [-2.31275161e-02 -4.03075515e-04 9.99732442e-01 -2.68628821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:-6.83, Z:-2.69 [[ 9.92770956e-01 1.17797219e-01 2.30140002e-02 9.30392937e+01] [-1.17774986e-01 9.93037589e-01 -2.32384688e-03 -6.82531789e+00] [-2.31275099e-02 -4.03425858e-04 9.99732442e-01 -2.68719326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12587156000001 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:93.07, Y:-6.82, Z:-2.69 [[ 9.92442149e-01 1.20552382e-01 2.29282573e-02 9.30696769e+01] [-1.20531049e-01 9.92706858e-01 -2.31518572e-03 -6.82391096e+00] [-2.30401394e-02 -4.65879003e-04 9.99734432e-01 -2.68778993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15587156000001 meters Centerline goodness [0,1] 0.9999140727374277 Centerline is valid? [True, True] Translation: X:93.10, Y:-6.82, Z:-2.69 [[ 9.91919639e-01 1.24922453e-01 2.21316602e-02 9.31005358e+01] [-1.24903661e-01 9.92166358e-01 -2.23485541e-03 -6.81828816e+00] [-2.22374724e-02 -5.47528406e-04 9.99752567e-01 -2.69010607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:-6.82, Z:-2.69 [[ 9.91685051e-01 1.26824359e-01 2.18252620e-02 9.31301261e+01] [-1.26806547e-01 9.91925019e-01 -2.20375880e-03 -6.81698143e+00] [-2.19285138e-02 -5.82151464e-04 9.99759372e-01 -2.69162238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21587156000001 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:93.16, Y:-6.81, Z:-2.69 [[ 9.91285230e-01 1.29930398e-01 2.17183093e-02 9.31598516e+01] [-1.29913513e-01 9.91522905e-01 -2.19254823e-03 -6.81242059e+00] [-2.18190798e-02 -6.48061186e-04 9.99761725e-01 -2.69260119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24587156000001 meters Centerline goodness [0,1] 0.999935347614327 Centerline is valid? [True, True] Translation: X:93.19, Y:-6.81, Z:-2.69 [[ 9.91139154e-01 1.31106239e-01 2.13150394e-02 9.31880045e+01] [-1.31090256e-01 9.91368103e-01 -2.15143131e-03 -6.81479457e+00] [-2.14131162e-02 -6.61826160e-04 9.99770494e-01 -2.69320146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27587156000001 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:93.22, Y:-6.81, Z:-2.70 [[ 9.91027010e-01 1.32001229e-01 2.10033656e-02 9.32156348e+01] [-1.31985942e-01 9.91249324e-01 -2.11847151e-03 -6.81290181e+00] [-2.10992128e-02 -6.72686510e-04 9.99777161e-01 -2.69516200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30587156 meters Centerline goodness [0,1] 0.9998492029297716 Centerline is valid? [True, True] Translation: X:93.24, Y:-6.81, Z:-2.70 [[ 9.90908485e-01 1.32819576e-01 2.14321077e-02 9.32446851e+01] [-1.32803889e-01 9.91139981e-01 -2.15990221e-03 -6.81315161e+00] [-2.15290961e-02 -7.06001831e-04 9.99767973e-01 -2.69676059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33587156 meters Centerline goodness [0,1] 0.999872670939264 Centerline is valid? [True, True] Translation: X:93.27, Y:-6.81, Z:-2.70 [[ 9.90921056e-01 1.32763604e-01 2.11963528e-02 9.32729895e+01] [-1.32748267e-01 9.91147486e-01 -2.13523099e-03 -6.80801459e+00] [-2.12921928e-02 -6.97933752e-04 9.99773052e-01 -2.69868654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36587156 meters Centerline goodness [0,1] 0.999914210955261 Centerline is valid? [True, True] Translation: X:93.30, Y:-6.81, Z:-2.70 [[ 9.90974540e-01 1.32437285e-01 2.07322479e-02 9.33012512e+01] [-1.32422569e-01 9.91191156e-01 -2.08715427e-03 -6.81422640e+00] [-2.08260378e-02 -6.77100780e-04 9.99782885e-01 -2.69841156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39587156 meters Centerline goodness [0,1] 0.9999356968319972 Centerline is valid? [True, True] Translation: X:93.33, Y:-6.81, Z:-2.70 [[ 9.91081549e-01 1.31597598e-01 2.09627354e-02 9.33298053e+01] [-1.31582385e-01 9.91302994e-01 -2.10943416e-03 -6.81109763e+00] [-2.10580189e-02 -6.67705446e-04 9.99778032e-01 -2.69915203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42587156 meters Centerline goodness [0,1] 0.9999142219934809 Centerline is valid? [True, True] Translation: X:93.36, Y:-6.81, Z:-2.70 [[ 9.91171834e-01 1.30883269e-01 2.11652158e-02 9.33583991e+01] [-1.30867627e-01 9.91397566e-01 -2.12843760e-03 -6.81486737e+00] [-2.12617203e-02 -6.60194161e-04 9.99773726e-01 -2.69934113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45587156 meters Centerline goodness [0,1] 0.9998713495432909 Centerline is valid? [True, True] Translation: X:93.39, Y:-6.81, Z:-2.70 [[ 9.91280396e-01 1.30078319e-01 2.10430120e-02 9.33860469e+01] [-1.30062694e-01 9.91503516e-01 -2.11523619e-03 -6.81362809e+00] [-2.11393667e-02 -6.40118667e-04 9.99776334e-01 -2.70068506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48587156 meters Centerline goodness [0,1] 0.9999147703059746 Centerline is valid? [True, True] Translation: X:93.42, Y:-6.82, Z:-2.70 [[ 9.91410582e-01 1.29041201e-01 2.12938234e-02 9.34150866e+01] [-1.29024994e-01 9.91639035e-01 -2.13902230e-03 -6.81518419e+00] [-2.13918085e-02 -6.26786094e-04 9.99770973e-01 -2.70129526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51587156000001 meters Centerline goodness [0,1] 0.9998311523849726 Centerline is valid? [True, True] Translation: X:93.44, Y:-6.81, Z:-2.70 [[ 9.91720892e-01 1.26595006e-01 2.15261821e-02 9.34437757e+01] [-1.26577890e-01 9.91954317e-01 -2.16132335e-03 -6.81359941e+00] [-2.16266020e-02 -5.81309191e-04 9.99765949e-01 -2.70263160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54587156000001 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:93.47, Y:-6.82, Z:-2.70 [[ 9.91919897e-01 1.25049653e-01 2.13892851e-02 9.34727239e+01] [-1.25032418e-01 9.92150335e-01 -2.14648107e-03 -6.81932581e+00] [-2.14898031e-02 -5.45216754e-04 9.99768919e-01 -2.70287329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57587156000001 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:93.50, Y:-6.82, Z:-2.70 [[ 9.92132001e-01 1.23389363e-01 2.11933448e-02 9.35005780e+01] [-1.23372075e-01 9.92358206e-01 -2.12627663e-03 -6.82149286e+00] [-2.12937496e-02 -5.05119854e-04 9.99773135e-01 -2.70434936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60587156000001 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:93.53, Y:-6.82, Z:-2.70 [[ 9.92472925e-01 1.20569124e-01 2.14611144e-02 9.35280903e+01] [-1.20550766e-01 9.92704831e-01 -2.15183118e-03 -6.82268048e+00] [-2.15639963e-02 -4.51519589e-04 9.99767368e-01 -2.70440267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:-6.82, Z:-2.71 [[ 9.92628592e-01 1.19220288e-01 2.17945394e-02 9.35564690e+01] [-1.19201061e-01 9.92867734e-01 -2.18384807e-03 -6.82291312e+00] [-2.18994540e-02 -4.30182200e-04 9.99760086e-01 -2.70532809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.59, Y:-6.83, Z:-2.70 [[ 9.92996220e-01 1.16032009e-01 2.22504029e-02 9.35851272e+01] [-1.16011193e-01 9.93245406e-01 -2.22844714e-03 -6.82619333e+00] [-2.23586816e-02 -3.68456184e-04 9.99749946e-01 -2.70491790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69587156 meters Centerline goodness [0,1] 0.9999143303848708 Centerline is valid? [True, True] Translation: X:93.61, Y:-6.83, Z:-2.71 [[ 9.93220293e-01 1.14094901e-01 2.22666201e-02 9.36135044e+01] [-1.14073591e-01 9.93469802e-01 -2.22903786e-03 -6.83066984e+00] [-2.23755365e-02 -3.26107680e-04 9.99749583e-01 -2.70609670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72587156 meters Centerline goodness [0,1] 0.9999787011991225 Centerline is valid? [True, True] Translation: X:93.64, Y:-6.83, Z:-2.71 [[ 9.93462637e-01 1.11975078e-01 2.22164750e-02 9.36408127e+01] [-1.11953355e-01 9.93710976e-01 -2.22304847e-03 -6.83332481e+00] [-2.23256811e-02 -2.78693321e-04 9.99750712e-01 -2.70700558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:-6.84, Z:-2.71 [[ 9.93700003e-01 1.09854309e-01 2.21886332e-02 9.36695314e+01] [-1.09832143e-01 9.93947673e-01 -2.21886566e-03 -6.83790580e+00] [-2.22980923e-02 -2.32138332e-04 9.99751340e-01 -2.70647968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:-6.84, Z:-2.71 [[ 9.94177284e-01 1.05431363e-01 2.22655813e-02 9.36979982e+01] [-1.05407963e-01 9.94426573e-01 -2.22523570e-03 -6.84077317e+00] [-2.23760954e-02 -1.34690798e-04 9.99749615e-01 -2.70769531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:-6.84, Z:-2.71 [[ 9.94417666e-01 1.03102121e-01 2.24378798e-02 9.37263499e+01] [-1.03077771e-01 9.94670773e-01 -2.24215251e-03 -6.84490494e+00] [-2.25494739e-02 -8.32105844e-05 9.99745725e-01 -2.70851158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-6.85, Z:-2.71 [[ 9.94847516e-01 9.88659903e-02 2.24485139e-02 9.37542252e+01] [-9.88405575e-02 9.95100757e-01 -2.24240328e-03 -6.84955892e+00] [-2.25602306e-02 1.20257027e-05 9.99745486e-01 -2.70927990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:-6.85, Z:-2.71 [[ 9.95015104e-01 9.72015290e-02 2.22891240e-02 9.37840061e+01] [-9.71760583e-02 9.95264719e-01 -2.22559610e-03 -6.85216111e+00] [-2.23999101e-02 4.85325281e-05 9.99749089e-01 -2.71091325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:-6.86, Z:-2.71 [[ 9.95154157e-01 9.58540981e-02 2.19133461e-02 9.38135078e+01] [-9.58291636e-02 9.95395392e-01 -2.18756821e-03 -6.85535602e+00] [-2.20221311e-02 7.70299723e-05 9.99757480e-01 -2.71191779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:-6.86, Z:-2.71 [[ 9.95251202e-01 9.48533042e-02 2.18608213e-02 9.38426182e+01] [-9.48282612e-02 9.95491256e-01 -2.18171018e-03 -6.85856861e+00] [-2.19691989e-02 9.83260056e-05 9.99758643e-01 -2.71327257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96587156000001 meters Centerline goodness [0,1] 0.9999783019072623 Centerline is valid? [True, True] Translation: X:93.87, Y:-6.86, Z:-2.71 [[ 9.95306829e-01 9.42343125e-02 2.20047650e-02 9.38715267e+01] [-9.42087932e-02 9.95550040e-01 -2.19581344e-03 -6.86128876e+00] [-2.21137657e-02 1.12465758e-04 9.99755454e-01 -2.71412199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-6.86, Z:-2.71 [[ 9.95361051e-01 9.36807774e-02 2.19155141e-02 9.39018739e+01] [-9.36553339e-02 9.95602278e-01 -2.18675065e-03 -6.86066589e+00] [-2.20239923e-02 1.24101640e-04 9.99757435e-01 -2.71459044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:-6.86, Z:-2.72 [[ 9.95398595e-01 9.33753785e-02 2.15099134e-02 9.39316570e+01] [-9.33508099e-02 9.95630967e-01 -2.14567920e-03 -6.86250931e+00] [-2.16162894e-02 1.27838231e-04 9.99766333e-01 -2.71643284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05587156 meters Centerline goodness [0,1] 0.9998474513478763 Centerline is valid? [True, True] Translation: X:93.96, Y:-6.86, Z:-2.72 [[ 9.95476234e-01 9.26260184e-02 2.11539124e-02 9.39615053e+01] [-9.26020903e-02 9.95700959e-01 -2.11002474e-03 -6.86387326e+00] [-2.12584140e-02 1.41582983e-04 9.99774004e-01 -2.71809783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:-6.87, Z:-2.72 [[ 9.95513642e-01 9.21604824e-02 2.14250794e-02 9.39908973e+01] [-9.21358400e-02 9.95744155e-01 -2.13656309e-03 -6.86602055e+00] [-2.15308043e-02 1.52960008e-04 9.99768174e-01 -2.71826403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:-6.87, Z:-2.72 [[ 9.95578372e-01 9.13906453e-02 2.17130159e-02 9.40194954e+01] [-9.13651620e-02 9.95815104e-01 -2.16486048e-03 -6.86878164e+00] [-2.18199971e-02 1.71475057e-04 9.99761901e-01 -2.71926569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:-6.87, Z:-2.72 [[ 9.95624293e-01 9.08026549e-02 2.20713717e-02 9.40477415e+01] [-9.07761962e-02 9.95868888e-01 -2.19981199e-03 -6.87192138e+00] [-2.21799412e-02 1.86631090e-04 9.99753977e-01 -2.71955535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.08, Y:-6.87, Z:-2.72 [[ 9.95677784e-01 9.00170083e-02 2.28623871e-02 9.40774614e+01] [-8.99884324e-02 9.95940206e-01 -2.27775172e-03 -6.87497388e+00] [-2.29746069e-02 2.10556406e-04 9.99736027e-01 -2.71801732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:-6.88, Z:-2.72 [[ 9.95702745e-01 8.96352656e-02 2.32715169e-02 9.41069915e+01] [-8.96055679e-02 9.95974633e-01 -2.31789223e-03 -6.87812521e+00] [-2.33856054e-02 2.22674165e-04 9.99726495e-01 -2.71876641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.14, Y:-6.88, Z:-2.72 [[ 9.95708984e-01 8.95204629e-02 2.34458183e-02 9.41368064e+01] [-8.94902931e-02 9.95984957e-01 -2.33498520e-03 -6.88068537e+00] [-2.35607113e-02 2.26792594e-04 9.99722382e-01 -2.71912268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:-6.88, Z:-2.72 [[ 9.95702535e-01 8.94808954e-02 2.38669342e-02 9.41671888e+01] [-8.94496288e-02 9.95988512e-01 -2.37658175e-03 -6.88373219e+00] [-2.39838510e-02 2.31480070e-04 9.99712319e-01 -2.71970885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.20, Y:-6.89, Z:-2.72 [[ 9.95724051e-01 8.95171505e-02 2.28099466e-02 9.41979478e+01] [-8.94886018e-02 9.95985257e-01 -2.27133081e-03 -6.88522768e+00] [-2.29216936e-02 2.20388479e-04 9.99737239e-01 -2.72130949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.23, Y:-6.89, Z:-2.72 [[ 9.95721728e-01 8.96929443e-02 2.22129622e-02 9.42268541e+01] [-8.96659166e-02 9.95969443e-01 -2.21178695e-03 -6.88845049e+00] [-2.23218133e-02 2.10578702e-04 9.99750815e-01 -2.72345193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:-6.89, Z:-2.73 [[ 9.95718246e-01 8.98078242e-02 2.19027171e-02 9.42576581e+01] [-8.97815659e-02 9.95959092e-01 -2.18126837e-03 -6.89098738e+00] [-2.20101052e-02 2.05468473e-04 9.99757727e-01 -2.72519203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.29, Y:-6.90, Z:-2.73 [[ 9.95766927e-01 8.93786487e-02 2.14402676e-02 9.42878978e+01] [-8.93533882e-02 9.95997697e-01 -2.13521352e-03 -6.89565080e+00] [-2.15452997e-02 2.10414443e-04 9.99767851e-01 -2.72688135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:-6.90, Z:-2.73 [[ 9.95805928e-01 8.88851943e-02 2.16789234e-02 9.43174144e+01] [-8.88592536e-02 9.96041853e-01 -2.15887668e-03 -6.90090219e+00] [-2.17850072e-02 2.23449247e-04 9.99762654e-01 -2.72797396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.35, Y:-6.91, Z:-2.73 [[ 9.95867399e-01 8.82077995e-02 2.16219144e-02 9.43471453e+01] [-8.81818273e-02 9.96102067e-01 -2.15357414e-03 -6.90591010e+00] [-2.17275957e-02 2.38014358e-04 9.99763900e-01 -2.72819876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:-6.92, Z:-2.73 [[ 9.95989111e-01 8.68904532e-02 2.13480643e-02 9.43765699e+01] [-8.68648415e-02 9.96217838e-01 -2.12586599e-03 -6.91605441e+00] [-2.14520399e-02 2.62943157e-04 9.99769844e-01 -2.73147986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:-6.92, Z:-2.73 [[ 9.96053701e-01 8.62438760e-02 2.09527780e-02 9.44065698e+01] [-8.62190301e-02 9.96274018e-01 -2.08797252e-03 -6.91852407e+00] [-2.10547832e-02 2.73204559e-04 9.99778286e-01 -2.73105949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:-6.92, Z:-2.73 [[ 9.96075367e-01 8.60257463e-02 2.08190818e-02 9.44356248e+01] [-8.60011667e-02 9.96292876e-01 -2.07475480e-03 -6.92304476e+00] [-2.09203852e-02 2.76146829e-04 9.99781107e-01 -2.73230696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56587156 meters Centerline goodness [0,1] 0.9997435130167144 Centerline is valid? [True, True] Translation: X:94.47, Y:-6.93, Z:-2.73 [[ 9.96099137e-01 8.57756014e-02 2.07136706e-02 9.44656099e+01] [-8.57512232e-02 9.96314442e-01 -2.06390792e-03 -6.92647346e+00] [-2.08143622e-02 2.79634299e-04 9.99783319e-01 -2.73345076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:-6.93, Z:-2.73 [[ 9.96084428e-01 8.58570317e-02 2.10803844e-02 9.44959613e+01] [-8.58318008e-02 9.96307428e-01 -2.10044724e-03 -6.93251672e+00] [-2.11828817e-02 2.82855429e-04 9.99775578e-01 -2.73335352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:-6.94, Z:-2.73 [[ 9.96057517e-01 8.61795608e-02 2.10358069e-02 9.45272124e+01] [-8.61545129e-02 9.96279583e-01 -2.09578838e-03 -6.93611976e+00] [-2.11381591e-02 2.75196068e-04 9.99776526e-01 -2.73303057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65587156000001 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:94.56, Y:-6.94, Z:-2.73 [[ 9.96017345e-01 8.65044520e-02 2.15969343e-02 9.45580807e+01] [-8.64781144e-02 9.96251426e-01 -2.15223428e-03 -6.93984010e+00] [-2.17021544e-02 2.76000522e-04 9.99764442e-01 -2.73408538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:-6.95, Z:-2.73 [[ 9.95942002e-01 8.72809587e-02 2.19445342e-02 9.45878698e+01] [-8.72539498e-02 9.96183700e-01 -2.18710070e-03 -6.94575438e+00] [-2.20516795e-02 2.63478171e-04 9.99756797e-01 -2.73405623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:-6.95, Z:-2.73 [[ 9.95912115e-01 8.76590785e-02 2.17932169e-02 9.46186271e+01] [-8.76324941e-02 9.96150501e-01 -2.17372217e-03 -6.94913891e+00] [-2.18998704e-02 2.55042294e-04 9.99760137e-01 -2.73444682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74587156000001 meters Centerline goodness [0,1] 0.9999143780636599 Centerline is valid? [True, True] Translation: X:94.65, Y:-6.95, Z:-2.74 [[ 9.95882989e-01 8.80062515e-02 2.17249170e-02 9.46484954e+01] [-8.79799025e-02 9.96119892e-01 -2.16752848e-03 -6.95326648e+00] [-2.18313780e-02 2.47248668e-04 9.99761636e-01 -2.73664519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:-6.96, Z:-2.74 [[ 9.95809888e-01 8.88843531e-02 2.14997585e-02 9.46783443e+01] [-8.88587559e-02 9.96041927e-01 -2.14489118e-03 -6.95858578e+00] [-2.16053081e-02 2.25462059e-04 9.99766553e-01 -2.73794182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:-6.96, Z:-2.74 [[ 9.95818237e-01 8.88830690e-02 2.11149041e-02 9.47092060e+01] [-8.88583457e-02 9.96042042e-01 -2.10810326e-03 -6.96232590e+00] [-2.12187069e-02 2.23052224e-04 9.99774833e-01 -2.73858030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83587156 meters Centerline goodness [0,1] 0.9997851403033818 Centerline is valid? [True, True] Translation: X:94.74, Y:-6.97, Z:-2.74 [[ 9.95837175e-01 8.87680450e-02 2.07015809e-02 9.47394529e+01] [-8.87442430e-02 9.96052300e-01 -2.06743291e-03 -6.96848119e+00] [-2.08033793e-02 2.21680422e-04 9.99783562e-01 -2.74143082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:-6.98, Z:-2.74 [[ 9.95934196e-01 8.77465663e-02 2.03866774e-02 9.47702204e+01] [-8.77232668e-02 9.96142802e-01 -2.03609849e-03 -6.97810549e+00] [-2.04867027e-02 2.39434167e-04 9.99790097e-01 -2.74130048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:-6.99, Z:-2.74 [[ 9.95947418e-01 8.76021934e-02 2.03616152e-02 9.48005666e+01] [-8.75789373e-02 9.96155509e-01 -2.03279435e-03 -6.98576867e+00] [-2.04614124e-02 2.41307659e-04 9.99790614e-01 -2.74346577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92587156 meters Centerline goodness [0,1] 0.9998702534382838 Centerline is valid? [True, True] Translation: X:94.83, Y:-6.99, Z:-2.75 [[ 9.95949572e-01 8.76012972e-02 2.02598950e-02 9.48315133e+01] [-8.75781805e-02 9.96155587e-01 -2.02717332e-03 -6.99133476e+00] [-2.03595906e-02 2.44637661e-04 9.99792692e-01 -2.74535059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:-7.00, Z:-2.75 [[ 9.95888656e-01 8.83349686e-02 2.00678383e-02 9.48632827e+01] [-8.83124570e-02 9.96090800e-01 -2.00696640e-03 -6.99876344e+00] [-2.01666744e-02 2.26474964e-04 9.99796606e-01 -2.74505585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:-7.00, Z:-2.75 [[ 9.95886530e-01 8.83590458e-02 2.00673550e-02 9.48939515e+01] [-8.83364419e-02 9.96088664e-01 -2.01178676e-03 -7.00187861e+00] [-2.01666243e-02 2.30832601e-04 9.99796606e-01 -2.74598571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-7.01, Z:-2.75 [[ 9.95809570e-01 8.92648898e-02 1.98766234e-02 9.49250845e+01] [-8.92428992e-02 9.96007899e-01 -1.99240527e-03 -7.00751579e+00] [-1.99751258e-02 2.10208736e-04 9.99800455e-01 -2.74790186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04587156000001 meters Centerline goodness [0,1] 0.9998501102760112 Centerline is valid? [True, True] Translation: X:94.96, Y:-7.01, Z:-2.75 [[ 9.95704400e-01 9.05293293e-02 1.94213355e-02 9.49566384e+01] [-9.05085246e-02 9.95893773e-01 -1.94935857e-03 -7.01063560e+00] [-1.95180612e-02 1.83188488e-04 9.99809488e-01 -2.75055359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07587156000001 meters Centerline goodness [0,1] 0.9999571752815726 Centerline is valid? [True, True] Translation: X:94.99, Y:-7.01, Z:-2.75 [[ 9.95587419e-01 9.19226979e-02 1.88655313e-02 9.49862513e+01] [-9.19033171e-02 9.95766135e-01 -1.89357790e-03 -7.01416311e+00] [-1.89597200e-02 1.51417433e-04 9.99820237e-01 -2.75264631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10587156000001 meters Centerline goodness [0,1] 0.9999785375485588 Centerline is valid? [True, True] Translation: X:95.02, Y:-7.02, Z:-2.75 [[ 9.95286825e-01 9.51838299e-02 1.85519583e-02 9.50164409e+01] [-9.51656205e-02 9.95459708e-01 -1.86391739e-03 -7.01656183e+00] [-1.86451418e-02 8.96238023e-05 9.99826160e-01 -2.75357018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:-7.02, Z:-2.75 [[ 9.95080860e-01 9.72734909e-02 1.87603278e-02 9.50468328e+01] [-9.72552413e-02 9.95257688e-01 -1.88485230e-03 -7.01818192e+00] [-1.88547066e-02 5.10402423e-05 9.99822233e-01 -2.75306330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16587156000001 meters Centerline goodness [0,1] 0.9998272660534612 Centerline is valid? [True, True] Translation: X:95.08, Y:-7.02, Z:-2.75 [[ 9.94824372e-01 9.97349874e-02 1.94268338e-02 9.50777221e+01] [-9.97158897e-02 9.95014036e-01 -1.95168543e-03 -7.01914984e+00] [-1.95246236e-02 4.42021240e-06 9.99809376e-01 -2.75279885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:-7.02, Z:-2.75 [[ 9.94329442e-01 1.04426028e-01 2.01038438e-02 9.51076898e+01] [-1.04406524e-01 9.94532652e-01 -2.02020653e-03 -7.01680674e+00] [-2.02048912e-02 -9.02216229e-05 9.99795856e-01 -2.75273512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:-7.02, Z:-2.75 [[ 9.94080279e-01 1.06753762e-01 2.01998513e-02 9.51374197e+01] [-1.06734554e-01 9.94285480e-01 -2.02971224e-03 -7.01656276e+00] [-2.03010983e-02 -1.38325208e-04 9.99793902e-01 -2.75317225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25587156 meters Centerline goodness [0,1] 0.9999355462455688 Centerline is valid? [True, True] Translation: X:95.17, Y:-7.02, Z:-2.76 [[ 9.93851087e-01 1.08904975e-01 1.99930992e-02 9.51673304e+01] [-1.08886603e-01 9.94052148e-01 -2.00847694e-03 -7.01664541e+00] [-2.00929163e-02 -1.80853666e-04 9.99798101e-01 -2.75516415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28587156 meters Centerline goodness [0,1] 0.9999357560442855 Centerline is valid? [True, True] Translation: X:95.20, Y:-7.01, Z:-2.76 [[ 9.93390653e-01 1.13129346e-01 1.94103695e-02 9.51961391e+01] [-1.13112846e-01 9.93580235e-01 -1.94936341e-03 -7.01240007e+00] [-1.95062897e-02 -2.59082751e-04 9.99809701e-01 -2.75803687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.22, Y:-7.01, Z:-2.76 [[ 9.93203069e-01 1.14808351e-01 1.91495603e-02 9.52249864e+01] [-1.14792600e-01 9.93387618e-01 -1.92336301e-03 -7.01423803e+00] [-1.92437542e-02 -2.87937768e-04 9.99814780e-01 -2.75716259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:-7.01, Z:-2.76 [[ 9.93021363e-01 1.16365089e-01 1.91765374e-02 9.52528356e+01] [-1.16349600e-01 9.93206456e-01 -1.92526062e-03 -7.01151180e+00] [-1.92702939e-02 -3.19357529e-04 9.99814260e-01 -2.75980467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:-7.01, Z:-2.76 [[ 9.92911848e-01 1.17320223e-01 1.90270104e-02 9.52814282e+01] [-1.17305174e-01 9.93094080e-01 -1.90895821e-03 -7.01324548e+00] [-1.91195708e-02 -3.36539543e-04 9.99817148e-01 -2.76044897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.31, Y:-7.02, Z:-2.76 [[ 9.92870386e-01 1.17684220e-01 1.89425693e-02 9.53099908e+01] [-1.17669387e-01 9.93051009e-01 -1.89959556e-03 -7.01501035e+00] [-1.90344900e-02 -3.42908353e-04 9.99818769e-01 -2.76068220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:-7.01, Z:-2.76 [[ 9.92836117e-01 1.17926344e-01 1.92307864e-02 9.53385240e+01] [-1.17911116e-01 9.93022282e-01 -1.92775654e-03 -7.01225836e+00] [-1.93239327e-02 -3.53577167e-04 9.99813213e-01 -2.76314284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:-7.02, Z:-2.76 [[ 9.92840663e-01 1.17949243e-01 1.88518714e-02 9.53668793e+01] [-1.17934641e-01 9.93019564e-01 -1.88832070e-03 -7.01695869e+00] [-1.89430032e-02 -3.48487118e-04 9.99820504e-01 -2.76234348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:-7.02, Z:-2.76 [[ 9.92855263e-01 1.17770125e-01 1.91995959e-02 9.53960001e+01] [-1.17754967e-01 9.93040822e-01 -1.92208220e-03 -7.02069188e+00] [-1.92923464e-02 -3.52498346e-04 9.99813823e-01 -2.76208551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:-7.02, Z:-2.76 [[ 9.92842438e-01 1.17652627e-01 2.05366002e-02 9.54239192e+01] [-1.17635271e-01 9.93054741e-01 -2.05531867e-03 -7.01683226e+00] [-2.06357819e-02 -3.75220939e-04 9.99786989e-01 -2.76245323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.45, Y:-7.02, Z:-2.76 [[ 9.92888552e-01 1.17189283e-01 2.09521968e-02 9.54521857e+01] [-1.17171145e-01 9.93109527e-01 -2.09546644e-03 -7.02227380e+00] [-2.10533925e-02 -3.74428253e-04 9.99778283e-01 -2.76070604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58587156 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:95.48, Y:-7.02, Z:-2.76 [[ 9.92956025e-01 1.16569194e-01 2.12121750e-02 9.54800848e+01] [-1.16550482e-01 9.93182505e-01 -2.12049681e-03 -7.02252137e+00] [-2.13147457e-02 -3.66729143e-04 9.99772748e-01 -2.76229049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:-7.02, Z:-2.76 [[ 9.93084373e-01 1.15393978e-01 2.16254240e-02 9.55075319e+01] [-1.15374282e-01 9.93319741e-01 -2.16041397e-03 -7.02268358e+00] [-2.17302593e-02 -3.49544409e-04 9.99763809e-01 -2.76434499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:-7.03, Z:-2.76 [[ 9.93395829e-01 1.12740704e-01 2.13133857e-02 9.55362989e+01] [-1.12720991e-01 9.93624401e-01 -2.12789297e-03 -7.02855747e+00] [-2.14174003e-02 -2.88625953e-04 9.99770580e-01 -2.76445796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:-7.03, Z:-2.77 [[ 9.93575622e-01 1.11293682e-01 2.05231737e-02 9.55646346e+01] [-1.11275114e-01 9.93787530e-01 -2.04808001e-03 -7.03206304e+00] [-2.06236124e-02 -2.48796116e-04 9.99787280e-01 -2.76693449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70587156 meters Centerline goodness [0,1] 0.9998714487723358 Centerline is valid? [True, True] Translation: X:95.59, Y:-7.04, Z:-2.77 [[ 9.93780050e-01 1.09561920e-01 1.99348548e-02 9.55935976e+01] [-1.09544065e-01 9.93979951e-01 -1.98874102e-03 -7.03601495e+00] [-2.00327363e-02 -2.07373885e-04 9.99799303e-01 -2.76975391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:-7.04, Z:-2.77 [[ 9.94158129e-01 1.06217214e-01 1.91707720e-02 9.56225798e+01] [-1.06200111e-01 9.94342941e-01 -1.91088346e-03 -7.03978763e+00] [-1.92652905e-02 -1.36217787e-04 9.99814398e-01 -2.77110500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:-7.04, Z:-2.77 [[ 9.94337196e-01 1.04661907e-01 1.84235224e-02 9.56500901e+01] [-1.04645857e-01 9.94507856e-01 -1.83572444e-03 -7.04232373e+00] [-1.85144682e-02 -1.02616195e-04 9.99828587e-01 -2.77299498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79587156000001 meters Centerline goodness [0,1] 0.9999354324946732 Centerline is valid? [True, True] Translation: X:95.68, Y:-7.05, Z:-2.77 [[ 9.94468792e-01 1.03439627e-01 1.82226680e-02 9.56783568e+01] [-1.03423741e-01 9.94635731e-01 -1.81453585e-03 -7.04636019e+00] [-1.83126116e-02 -8.01572257e-05 9.99832307e-01 -2.77397849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82587156000001 meters Centerline goodness [0,1] 0.9997627111331622 Centerline is valid? [True, True] Translation: X:95.71, Y:-7.05, Z:-2.77 [[ 9.94651122e-01 1.01554355e-01 1.88642308e-02 9.57069447e+01] [-1.01537010e-01 9.94829991e-01 -1.87746103e-03 -7.05126830e+00] [-1.89573669e-02 -4.79988710e-05 9.99820292e-01 -2.77369769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:-7.05, Z:-2.77 [[ 9.94739405e-01 1.00651840e-01 1.90452735e-02 9.57355645e+01] [-1.00634016e-01 9.94921708e-01 -1.89441545e-03 -7.05423583e+00] [-1.91392325e-02 -3.21526594e-05 9.99816828e-01 -2.77415060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:-7.06, Z:-2.77 [[ 9.94799320e-01 1.00058442e-01 1.90426269e-02 9.57649617e+01] [-1.00040530e-01 9.94981561e-01 -1.89333509e-03 -7.05645513e+00] [-1.91365068e-02 -2.15460274e-05 9.99816880e-01 -2.77424752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:-7.06, Z:-2.77 [[ 9.94849976e-01 9.94665006e-02 1.94920773e-02 9.57937545e+01] [-9.94476232e-02 9.95040911e-01 -1.93780822e-03 -7.05837740e+00] [-1.95881613e-02 -1.06122926e-05 9.99808134e-01 -2.77384342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-7.06, Z:-2.77 [[ 9.94926632e-01 9.85930074e-02 2.00104027e-02 9.58225956e+01] [-9.85729607e-02 9.95127840e-01 -1.98810483e-03 -7.06018946e+00] [-2.01089220e-02 5.53380969e-06 9.99797795e-01 -2.77455897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-7.06, Z:-2.78 [[ 9.94994164e-01 9.79498103e-02 1.98103040e-02 9.58517467e+01] [-9.79300453e-02 9.95191356e-01 -1.96771341e-03 -7.06335650e+00] [-1.99077805e-02 1.78393867e-05 9.99801820e-01 -2.77545644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-7.07, Z:-2.78 [[ 9.95026002e-01 9.76150647e-02 1.98633723e-02 9.58814015e+01] [-9.75951363e-02 9.95224245e-01 -1.97251108e-03 -7.06644190e+00] [-1.99610565e-02 2.41312900e-05 9.99800758e-01 -2.77634902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03587156 meters Centerline goodness [0,1] 0.9998928487238283 Centerline is valid? [True, True] Translation: X:95.91, Y:-7.07, Z:-2.78 [[ 9.95117105e-01 9.67613961e-02 1.94725591e-02 9.59099989e+01] [-9.67420872e-02 9.95307606e-01 -1.93337466e-03 -7.06912839e+00] [-1.95682622e-02 4.01181875e-05 9.99808522e-01 -2.77987175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:-7.07, Z:-2.78 [[ 9.95155258e-01 9.64195958e-02 1.92165261e-02 9.59396581e+01] [-9.64007430e-02 9.95340776e-01 -1.90716060e-03 -7.07190242e+00] [-1.93108797e-02 4.54335036e-05 9.99813527e-01 -2.77934359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:-7.07, Z:-2.78 [[ 9.95201077e-01 9.60701513e-02 1.85833927e-02 9.59678282e+01] [-9.60524675e-02 9.95374564e-01 -1.84389964e-03 -7.07453755e+00] [-1.86745802e-02 5.00701857e-05 9.99825614e-01 -2.78239228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:-7.08, Z:-2.78 [[ 9.95199425e-01 9.61561481e-02 1.82236210e-02 9.59964064e+01] [-9.61391594e-02 9.95366261e-01 -1.80806144e-03 -7.07614735e+00] [-1.83130337e-02 4.73781051e-05 9.99832301e-01 -2.78320469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:-7.08, Z:-2.79 [[ 9.95193260e-01 9.63271178e-02 1.76482657e-02 9.60245319e+01] [-9.63112234e-02 9.95349730e-01 -1.75032871e-03 -7.07694511e+00] [-1.77348006e-02 4.21892832e-05 9.99842725e-01 -2.78666445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18587156000001 meters Centerline goodness [0,1] 0.9999358741423167 Centerline is valid? [True, True] Translation: X:96.05, Y:-7.08, Z:-2.79 [[ 9.95169000e-01 9.66749393e-02 1.71060734e-02 9.60527892e+01] [-9.66600743e-02 9.95316008e-01 -1.69560755e-03 -7.07873922e+00] [-1.71898715e-02 3.39417360e-05 9.99852243e-01 -2.78782958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21587156000001 meters Centerline goodness [0,1] 0.9998926900459286 Centerline is valid? [True, True] Translation: X:96.08, Y:-7.08, Z:-2.79 [[ 9.95138320e-01 9.70096156e-02 1.69958534e-02 9.60820193e+01] [-9.69950097e-02 9.95283444e-01 -1.68354761e-03 -7.08045110e+00] [-1.70790119e-02 2.68497658e-05 9.99854143e-01 -2.78878469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24587156000001 meters Centerline goodness [0,1] 0.9998927107696929 Centerline is valid? [True, True] Translation: X:96.11, Y:-7.08, Z:-2.79 [[ 9.95040486e-01 9.78849463e-02 1.76909252e-02 9.61107694e+01] [-9.78692755e-02 9.95197738e-01 -1.75150364e-03 -7.07956254e+00] [-1.77774145e-02 1.14190026e-05 9.99841969e-01 -2.78803812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.14, Y:-7.08, Z:-2.79 [[ 9.95001819e-01 9.81250881e-02 1.85161318e-02 9.61389755e+01] [-9.81079778e-02 9.95174089e-01 -1.83238637e-03 -7.08123770e+00] [-1.86065776e-02 6.64752327e-06 9.99826883e-01 -2.78791844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:-7.08, Z:-2.79 [[ 9.94968283e-01 9.83484687e-02 1.91231202e-02 9.61677708e+01] [-9.83302847e-02 9.95152038e-01 -1.89113535e-03 -7.08286814e+00] [-1.92164023e-02 1.23783895e-06 9.99815348e-01 -2.78625982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:-7.08, Z:-2.79 [[ 9.94947260e-01 9.84560962e-02 1.96557179e-02 9.61964120e+01] [-9.84369254e-02 9.95141396e-01 -1.94283163e-03 -7.08470601e+00] [-1.97515021e-02 -1.83342596e-06 9.99804920e-01 -2.78523206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.22, Y:-7.09, Z:-2.79 [[ 9.94878910e-01 9.90069835e-02 2.03364430e-02 9.62246393e+01] [-9.89865959e-02 9.95086738e-01 -2.00917991e-03 -7.08506759e+00] [-2.04354476e-02 -1.41445445e-05 9.99791174e-01 -2.78697050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:-7.09, Z:-2.79 [[ 9.94888682e-01 9.89339898e-02 2.02132806e-02 9.62529671e+01] [-9.89138609e-02 9.95093998e-01 -1.99566226e-03 -7.08792158e+00] [-2.03115530e-02 -1.39118275e-05 9.99793699e-01 -2.78638339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:-7.09, Z:-2.79 [[ 9.94901613e-01 9.88189133e-02 2.01395798e-02 9.62806158e+01] [-9.87989247e-02 9.95105433e-01 -1.98752386e-03 -7.09008300e+00] [-2.02374102e-02 -1.23781291e-05 9.99795203e-01 -2.78886451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:-7.09, Z:-2.79 [[ 9.94944328e-01 9.83687682e-02 2.02328711e-02 9.63090057e+01] [-9.83485286e-02 9.95150032e-01 -1.99536590e-03 -7.09226221e+00] [-2.03310240e-02 -4.59512228e-06 9.99793303e-01 -2.78795385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:-7.10, Z:-2.79 [[ 9.95040928e-01 9.73548984e-02 2.03856585e-02 9.63365009e+01] [-9.73341574e-02 9.95249729e-01 -2.00954800e-03 -7.09540708e+00] [-2.04844604e-02 1.53616121e-05 9.99790171e-01 -2.78921120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:-7.10, Z:-2.79 [[ 9.95108076e-01 9.66840374e-02 2.03005919e-02 9.63648840e+01] [-9.66633594e-02 9.95315124e-01 -1.99970229e-03 -7.09932195e+00] [-2.03988255e-02 2.75964879e-05 9.99791922e-01 -2.79083615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54587156000001 meters Centerline goodness [0,1] 0.9998072640054823 Centerline is valid? [True, True] Translation: X:96.39, Y:-7.10, Z:-2.79 [[ 9.95187466e-01 9.59135652e-02 2.00623152e-02 9.63937135e+01] [-9.58932251e-02 9.95389666e-01 -1.97563788e-03 -7.10263238e+00] [-2.01593117e-02 4.22899450e-05 9.99796780e-01 -2.79260843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:-7.11, Z:-2.79 [[ 9.95411381e-01 9.35942432e-02 1.99073098e-02 9.64217007e+01] [-9.35737733e-02 9.95610421e-01 -1.95932713e-03 -7.10892980e+00] [-2.00033068e-02 8.75344286e-05 9.99799910e-01 -2.79366962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:-7.11, Z:-2.80 [[ 9.95531956e-01 9.23385281e-02 1.97413349e-02 9.64499548e+01] [-9.23181651e-02 9.95727666e-01 -1.94230032e-03 -7.11436222e+00] [-1.98363425e-02 1.11138223e-04 9.99803234e-01 -2.79638431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:-7.12, Z:-2.80 [[ 9.95668968e-01 9.08354344e-02 1.98047824e-02 9.64796720e+01] [-9.08146591e-02 9.95865907e-01 -1.94772955e-03 -7.11904909e+00] [-1.98998305e-02 1.40729309e-04 9.99801969e-01 -2.79632427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:-7.12, Z:-2.80 [[ 9.95802187e-01 8.93781264e-02 1.97371605e-02 9.65086760e+01] [-8.93572154e-02 9.95997752e-01 -1.94062603e-03 -7.12371562e+00] [-1.98316170e-02 1.68821948e-04 9.99803320e-01 -2.79709948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:-7.13, Z:-2.80 [[ 9.96083235e-01 8.62460916e-02 1.94884665e-02 9.65387158e+01] [-8.62251282e-02 9.96273838e-01 -1.91497865e-03 -7.13346869e+00] [-1.95810088e-02 2.27082603e-04 9.99808248e-01 -2.79900914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:-7.14, Z:-2.80 [[ 9.96251662e-01 8.43193744e-02 1.93098063e-02 9.65689346e+01] [-8.42984044e-02 9.96438745e-01 -1.89883688e-03 -7.14050802e+00] [-1.94011479e-02 2.63933535e-04 9.99811745e-01 -2.80016139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:-7.15, Z:-2.80 [[ 9.96405302e-01 8.24624265e-02 1.94016020e-02 9.65995626e+01] [-8.24409095e-02 9.96594129e-01 -1.90761048e-03 -7.14709963e+00] [-1.94928288e-02 3.01267490e-04 9.99809951e-01 -2.80032101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:-7.16, Z:-2.80 [[ 9.96567185e-01 8.04370488e-02 1.95889693e-02 9.66292611e+01] [-8.04147187e-02 9.96759631e-01 -1.92624933e-03 -7.15595821e+00] [-1.96804356e-02 3.44395418e-04 9.99806262e-01 -2.80187716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.66, Y:-7.17, Z:-2.80 [[ 9.96864672e-01 7.65823980e-02 1.98987940e-02 9.66602980e+01] [-7.65585678e-02 9.97063164e-01 -1.95773077e-03 -7.16916626e+00] [-1.99902822e-02 4.28169468e-04 9.99800083e-01 -2.80183961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:-7.18, Z:-2.80 [[ 9.96972695e-01 7.51151455e-02 2.00788770e-02 9.66914166e+01] [-7.50905865e-02 9.97174760e-01 -1.97534845e-03 -7.17701849e+00] [-2.01705279e-02 4.61633817e-04 9.99796448e-01 -2.80208064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87587156000001 meters Centerline goodness [0,1] 0.9999575073830922 Centerline is valid? [True, True] Translation: X:96.72, Y:-7.19, Z:-2.80 [[ 9.97044037e-01 7.41406258e-02 2.01582579e-02 9.67213092e+01] [-7.41155975e-02 9.97247678e-01 -1.98689138e-03 -7.18638345e+00] [-2.02500853e-02 4.86976867e-04 9.99794827e-01 -2.80367831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90587156000001 meters Centerline goodness [0,1] 0.9999575073830922 Centerline is valid? [True, True] Translation: X:96.75, Y:-7.19, Z:-2.80 [[ 9.97030871e-01 7.43174846e-02 2.01581946e-02 9.67536594e+01] [-7.42924795e-02 9.97234515e-01 -1.98753477e-03 -7.18976667e+00] [-2.02501560e-02 4.84031264e-04 9.99794827e-01 -2.80465966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-7.19, Z:-2.80 [[ 9.97145904e-01 7.28509703e-02 1.98187538e-02 9.67854002e+01] [-7.28264404e-02 9.97342708e-01 -1.95760612e-03 -7.19385080e+00] [-1.99087030e-02 5.08689637e-04 9.99801673e-01 -2.80285342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96587156000001 meters Centerline goodness [0,1] 0.9998701720220707 Centerline is valid? [True, True] Translation: X:96.82, Y:-7.20, Z:-2.81 [[ 9.97133567e-01 7.30627033e-02 1.96593858e-02 9.68163864e+01] [-7.30385316e-02 9.97327222e-01 -1.94570785e-03 -7.20292021e+00] [-1.97489993e-02 5.04237944e-04 9.99804842e-01 -2.80592440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99587156000001 meters Centerline goodness [0,1] 0.9998267760864388 Centerline is valid? [True, True] Translation: X:96.85, Y:-7.21, Z:-2.81 [[ 9.97105082e-01 7.35042176e-02 1.94572653e-02 9.68490535e+01] [-7.34805940e-02 9.97294785e-01 -1.92726001e-03 -7.20718853e+00] [-1.95462910e-02 4.91949338e-04 9.99808832e-01 -2.80561091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-7.22, Z:-2.81 [[ 9.97047889e-01 7.41665079e-02 1.98704887e-02 9.68790648e+01] [-7.41419017e-02 9.97245750e-01 -1.97318870e-03 -7.21915970e+00] [-1.99621049e-02 4.94127806e-04 9.99800615e-01 -2.80885363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:-7.23, Z:-2.81 [[ 9.96880460e-01 7.65046250e-02 1.94007694e-02 9.69101399e+01] [-7.64815877e-02 9.97069130e-01 -1.92773867e-03 -7.22615406e+00] [-1.94913892e-02 4.37923366e-04 9.99809929e-01 -2.81097701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:-7.23, Z:-2.81 [[ 9.96760224e-01 7.82112590e-02 1.87631293e-02 9.69423446e+01] [-7.81899607e-02 9.96936730e-01 -1.86717215e-03 -7.23012917e+00] [-1.88516867e-02 3.94034585e-04 9.99822214e-01 -2.81338982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:-7.23, Z:-2.82 [[ 9.96596887e-01 8.03753712e-02 1.82878007e-02 9.69748067e+01] [-8.03554310e-02 9.96764605e-01 -1.82377256e-03 -7.23314103e+00] [-1.83752189e-02 3.48041947e-04 9.99831101e-01 -2.81553787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:-7.23, Z:-2.82 [[ 9.96157291e-01 8.57557805e-02 1.77931967e-02 9.70064084e+01] [-8.57377437e-02 9.96316158e-01 -1.77546606e-03 -7.23182148e+00] [-1.78799059e-02 2.43094923e-04 9.99840112e-01 -2.81621437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:-7.23, Z:-2.82 [[ 9.95851124e-01 8.92978086e-02 1.75054325e-02 9.70383555e+01] [-8.92808819e-02 9.96004955e-01 -1.74764091e-03 -7.23198087e+00] [-1.75915580e-02 1.77489712e-04 9.99845241e-01 -2.81762539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:-7.23, Z:-2.82 [[ 9.95521764e-01 9.28767197e-02 1.76162752e-02 9.70697422e+01] [-9.28601190e-02 9.95677609e-01 -1.75978442e-03 -7.23046241e+00] [-1.77035738e-02 1.16054279e-04 9.99843273e-01 -2.81607592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.10, Y:-7.23, Z:-2.82 [[ 9.95170928e-01 9.65734662e-02 1.75610542e-02 9.70997129e+01] [-9.65575344e-02 9.95325858e-01 -1.75485103e-03 -7.23053443e+00] [-1.76484434e-02 5.07246298e-05 9.99844253e-01 -2.81844328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.13, Y:-7.23, Z:-2.82 [[ 9.94458210e-01 1.03574825e-01 1.80311978e-02 9.71302857e+01] [-1.03559167e-01 9.94621662e-01 -1.80249003e-03 -7.22611056e+00] [-1.81209125e-02 -7.47948079e-05 9.99835800e-01 -2.81859638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:-7.23, Z:-2.82 [[ 9.94155736e-01 1.06439339e-01 1.80288678e-02 9.71597309e+01] [-1.06424164e-01 9.94319190e-01 -1.80183733e-03 -7.22583414e+00] [-1.81182356e-02 -1.27400257e-04 9.99835843e-01 -2.81881537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32587156000001 meters Centerline goodness [0,1] 0.9999786584715197 Centerline is valid? [True, True] Translation: X:97.19, Y:-7.23, Z:-2.82 [[ 9.93861389e-01 1.09110642e-01 1.82867849e-02 9.71898427e+01] [-1.09095489e-01 9.94029595e-01 -1.82716683e-03 -7.22573204e+00] [-1.83769688e-02 -1.79055185e-04 9.99831113e-01 -2.81968737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.22, Y:-7.22, Z:-2.82 [[ 9.93362209e-01 1.13498161e-01 1.86999748e-02 9.72200359e+01] [-1.13483101e-01 9.93538171e-01 -1.86799542e-03 -7.22437833e+00] [-1.87911528e-02 -2.66535075e-04 9.99823395e-01 -2.81880185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.25, Y:-7.22, Z:-2.82 [[ 9.93159745e-01 1.15176766e-01 1.91841942e-02 9.72489116e+01] [-1.15161235e-01 9.93344965e-01 -1.91600697e-03 -7.22364158e+00] [-1.92772022e-02 -3.06374516e-04 9.99814131e-01 -2.82012574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41587156000001 meters Centerline goodness [0,1] 0.9999786311088318 Centerline is valid? [True, True] Translation: X:97.28, Y:-7.22, Z:-2.82 [[ 9.92988205e-01 1.16573235e-01 1.96240850e-02 9.72785574e+01] [-1.16557274e-01 9.93182040e-01 -1.95905654e-03 -7.22465463e+00] [-1.97186624e-02 -3.42009822e-04 9.99805510e-01 -2.82004872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:-7.23, Z:-2.82 [[ 9.92854902e-01 1.17666019e-01 1.98456886e-02 9.73072202e+01] [-1.17649919e-01 9.93053157e-01 -1.98093755e-03 -7.22588006e+00] [-1.99409127e-02 -3.68060096e-04 9.99801092e-01 -2.82084968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47587156 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:97.34, Y:-7.23, Z:-2.82 [[ 9.92761779e-01 1.18524930e-01 1.93878994e-02 9.73353093e+01] [-1.18509742e-01 9.92951005e-01 -1.93447111e-03 -7.22657432e+00] [-1.94805172e-02 -3.77185980e-04 9.99810166e-01 -2.82307912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50587156 meters Centerline goodness [0,1] 0.9999787910922587 Centerline is valid? [True, True] Translation: X:97.36, Y:-7.23, Z:-2.82 [[ 9.92754178e-01 1.18577400e-01 1.94561847e-02 9.73643707e+01] [-1.18562141e-01 9.92944739e-01 -1.94000114e-03 -7.22962541e+00] [-1.95489565e-02 -3.80822675e-04 9.99808828e-01 -2.82351021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:-7.23, Z:-2.82 [[ 9.92812350e-01 1.18077220e-01 1.95296400e-02 9.73933976e+01] [-1.18061767e-01 9.93004346e-01 -1.94639739e-03 -7.23347055e+00] [-1.96228425e-02 -3.73296435e-04 9.99807384e-01 -2.82401349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56587156 meters Centerline goodness [0,1] 0.9999358796246821 Centerline is valid? [True, True] Translation: X:97.42, Y:-7.24, Z:-2.82 [[ 9.92908293e-01 1.17259869e-01 1.95766636e-02 9.74221321e+01] [-1.17244200e-01 9.93101200e-01 -1.95015550e-03 -7.23819783e+00] [-1.96702831e-02 -3.58924705e-04 9.99806457e-01 -2.82469358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59587156 meters Centerline goodness [0,1] 0.9999788605855617 Centerline is valid? [True, True] Translation: X:97.45, Y:-7.24, Z:-2.83 [[ 9.93232009e-01 1.14415539e-01 1.99815331e-02 9.74505926e+01] [-1.14398663e-01 9.93432931e-01 -1.98935874e-03 -7.24172332e+00] [-2.00779265e-02 -3.09965895e-04 9.99798370e-01 -2.82626777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:-7.25, Z:-2.83 [[ 9.93470397e-01 1.12341847e-01 1.98967341e-02 9.74794152e+01] [-1.12324715e-01 9.93669582e-01 -1.98007540e-03 -7.24917223e+00] [-1.99932248e-02 -2.67748695e-04 9.99800080e-01 -2.82537979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:-7.25, Z:-2.83 [[ 9.93784844e-01 1.09496123e-01 2.00569752e-02 9.75077356e+01] [-1.09478141e-01 9.93987200e-01 -1.99564901e-03 -7.25438401e+00] [-2.01548924e-02 -2.12554620e-04 9.99796847e-01 -2.82731049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.54, Y:-7.27, Z:-2.83 [[ 9.94496025e-01 1.02848959e-01 1.99936971e-02 9.75375282e+01] [-1.02829771e-01 9.94696982e-01 -1.98819673e-03 -7.26847475e+00] [-2.00921541e-02 -7.86935424e-05 9.99798129e-01 -2.82725910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.57, Y:-7.28, Z:-2.83 [[ 9.94867100e-01 9.92489540e-02 1.97256028e-02 9.75685155e+01] [-9.92295692e-02 9.95062634e-01 -1.96150243e-03 -7.27810597e+00] [-1.98228874e-02 -5.92883664e-06 9.99803507e-01 -2.82872115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:-7.29, Z:-2.83 [[ 9.95188098e-01 9.59447464e-02 1.98810445e-02 9.75993262e+01] [-9.59243996e-02 9.95386660e-01 -1.97675119e-03 -7.28775642e+00] [-1.99789854e-02 6.01620046e-05 9.99800398e-01 -2.83007594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:-7.30, Z:-2.83 [[ 9.95484986e-01 9.27572917e-02 2.01426740e-02 9.76310573e+01] [-9.27357313e-02 9.95688741e-01 -2.00384731e-03 -7.29633026e+00] [-2.02417052e-02 1.26854303e-04 9.99795108e-01 -2.82912447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:-7.31, Z:-2.83 [[ 9.95932869e-01 8.77913967e-02 2.02581344e-02 9.76608448e+01] [-8.77684871e-02 9.96138854e-01 -2.01894968e-03 -7.30894094e+00] [-2.03571612e-02 2.32712533e-04 9.99792744e-01 -2.83079492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83587156 meters Centerline goodness [0,1] 0.9999784352626585 Centerline is valid? [True, True] Translation: X:97.69, Y:-7.31, Z:-2.83 [[ 9.96091668e-01 8.60316121e-02 1.99987556e-02 9.76929425e+01] [-8.60088713e-02 9.96292372e-01 -1.99606175e-03 -7.31445532e+00] [-2.00963321e-02 2.68190084e-04 9.99798012e-01 -2.83105678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:-7.32, Z:-2.83 [[ 9.96219565e-01 8.45868564e-02 1.97899557e-02 9.77234035e+01] [-8.45642352e-02 9.96416065e-01 -1.97863204e-03 -7.32209879e+00] [-1.98863960e-02 2.97629487e-04 9.99802202e-01 -2.83295815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89587156 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:97.75, Y:-7.33, Z:-2.83 [[ 9.96407822e-01 8.24586604e-02 1.92878412e-02 9.77532827e+01] [-8.24367030e-02 9.96594430e-01 -1.93209434e-03 -7.33125877e+00] [-1.93814730e-02 3.35127877e-04 9.99812105e-01 -2.83483421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92587156 meters Centerline goodness [0,1] 0.9999354783207157 Centerline is valid? [True, True] Translation: X:97.79, Y:-7.33, Z:-2.83 [[ 9.96456348e-01 8.19472610e-02 1.89576762e-02 9.77857347e+01] [-8.19259466e-02 9.96636609e-01 -1.89953654e-03 -7.33251402e+00] [-1.90495760e-02 3.39679673e-04 9.99818483e-01 -2.83427872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95587156 meters Centerline goodness [0,1] 0.9999355683941497 Centerline is valid? [True, True] Translation: X:97.82, Y:-7.34, Z:-2.84 [[ 9.96476645e-01 8.17403741e-02 1.87831894e-02 9.78167180e+01] [-8.17193516e-02 9.96653597e-01 -1.88533246e-03 -7.33833507e+00] [-1.88744410e-02 3.43739712e-04 9.99821803e-01 -2.83649513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98587156 meters Centerline goodness [0,1] 0.9996795351122695 Centerline is valid? [True, True] Translation: X:97.85, Y:-7.34, Z:-2.84 [[ 9.96467391e-01 8.18130229e-02 1.89569827e-02 9.78495755e+01] [-8.17915721e-02 9.96647635e-01 -1.90543492e-03 -7.34278851e+00] [-1.90493214e-02 3.48182339e-04 9.99818485e-01 -2.83697432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01587156000001 meters Centerline goodness [0,1] 0.9998708872199866 Centerline is valid? [True, True] Translation: X:97.88, Y:-7.35, Z:-2.84 [[ 9.96453265e-01 8.19227537e-02 1.92237547e-02 9.78811041e+01] [-8.19006399e-02 9.96638619e-01 -1.93615170e-03 -7.34848400e+00] [-1.93177513e-02 3.54846868e-04 9.99813332e-01 -2.83784260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04587156000001 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:97.91, Y:-7.35, Z:-2.84 [[ 9.96438916e-01 8.21192638e-02 1.91288759e-02 9.79134883e+01] [-8.20973418e-02 9.96622447e-01 -1.92982775e-03 -7.35316805e+00] [-1.92227431e-02 3.52525612e-04 9.99815164e-01 -2.83850050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07587156000001 meters Centerline goodness [0,1] 0.9999354769330036 Centerline is valid? [True, True] Translation: X:97.95, Y:-7.36, Z:-2.84 [[ 9.96405238e-01 8.25347279e-02 1.90950411e-02 9.79458142e+01] [-8.25128901e-02 9.96588129e-01 -1.93003280e-03 -7.35730097e+00] [-1.91891861e-02 3.47507756e-04 9.99815810e-01 -2.83983587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10587156000001 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:97.98, Y:-7.36, Z:-2.84 [[ 9.96367282e-01 8.30191153e-02 1.89754070e-02 9.79787565e+01] [-8.29975694e-02 9.96547897e-01 -1.92154740e-03 -7.36193619e+00] [-1.90694271e-02 3.39654309e-04 9.99818104e-01 -2.84091767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13587156000001 meters Centerline goodness [0,1] 0.9999147357875215 Centerline is valid? [True, True] Translation: X:98.01, Y:-7.36, Z:-2.84 [[ 9.96161273e-01 8.56058760e-02 1.82852795e-02 9.80102851e+01] [-8.55862393e-02 9.96329039e-01 -1.85520979e-03 -7.36447583e+00] [-1.83769718e-02 2.83119846e-04 9.99831089e-01 -2.84374559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16587156000001 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:98.04, Y:-7.37, Z:-2.84 [[ 9.95998555e-01 8.75061839e-02 1.81534116e-02 9.80422078e+01] [-8.74870907e-02 9.96163945e-01 -1.84480753e-03 -7.36611017e+00] [-1.82452062e-02 2.49236470e-04 9.99833511e-01 -2.84460075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:-7.37, Z:-2.85 [[ 9.95801992e-01 8.97845877e-02 1.78078608e-02 9.80748823e+01] [-8.97665113e-02 9.95961186e-01 -1.81345078e-03 -7.36709462e+00] [-1.78987581e-02 2.07288364e-04 9.99839783e-01 -2.84616051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22587156 meters Centerline goodness [0,1] 0.9998500556935995 Centerline is valid? [True, True] Translation: X:98.11, Y:-7.37, Z:-2.85 [[ 9.95536255e-01 9.27907065e-02 1.72467284e-02 9.81062409e+01] [-9.27741910e-02 9.95685624e-01 -1.75696816e-03 -7.36631321e+00] [-1.73353498e-02 1.49074231e-04 9.99849720e-01 -2.84793107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:-7.36, Z:-2.85 [[ 9.94974730e-01 9.86463522e-02 1.71517889e-02 9.81383137e+01] [-9.86308170e-02 9.95122553e-01 -1.75137869e-03 -7.35972710e+00] [-1.72408990e-02 5.08825908e-05 9.99851363e-01 -2.84802164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:-7.36, Z:-2.85 [[ 9.94686462e-01 1.01526482e-01 1.70650360e-02 9.81699602e+01] [-1.01511515e-01 9.94832837e-01 -1.74327905e-03 -7.35844058e+00] [-1.71538472e-02 1.71842435e-06 9.99852862e-01 -2.84833887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.20, Y:-7.36, Z:-2.85 [[ 9.94448340e-01 1.03821647e-01 1.71337429e-02 9.82001026e+01] [-1.03806884e-01 9.94595930e-01 -1.75118257e-03 -7.35777749e+00] [-1.72229616e-02 -3.71398572e-05 9.99851673e-01 -2.85027679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34587156 meters Centerline goodness [0,1] 0.9999568435362406 Centerline is valid? [True, True] Translation: X:98.23, Y:-7.36, Z:-2.85 [[ 9.94230026e-01 1.05873917e-01 1.72443778e-02 9.82305478e+01] [-1.05859277e-01 9.94379559e-01 -1.76212708e-03 -7.35803258e+00] [-1.73340201e-02 -7.35177168e-05 9.99849752e-01 -2.84994180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.26, Y:-7.36, Z:-2.85 [[ 9.93997478e-01 1.07787255e-01 1.87329224e-02 9.82615680e+01] [-1.07770318e-01 9.94173976e-01 -1.91423490e-03 -7.35776211e+00] [-1.88301140e-02 -1.16108337e-04 9.99822691e-01 -2.84845140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40587156000001 meters Centerline goodness [0,1] 0.9999138580811887 Centerline is valid? [True, True] Translation: X:98.29, Y:-7.36, Z:-2.85 [[ 9.93958556e-01 1.08145136e-01 1.87354916e-02 9.82932228e+01] [-1.08128263e-01 9.94135109e-01 -1.91421841e-03 -7.35983465e+00] [-1.88326234e-02 -1.23182404e-04 9.99822643e-01 -2.84913646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.32, Y:-7.36, Z:-2.85 [[ 9.93973820e-01 1.07971853e-01 1.89241729e-02 9.83230824e+01] [-1.07954596e-01 9.94153944e-01 -1.93410994e-03 -7.36185935e+00] [-1.90223706e-02 -1.20496795e-04 9.99819051e-01 -2.85088312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:-7.36, Z:-2.85 [[ 9.94017125e-01 1.07620502e-01 1.86489395e-02 9.83531707e+01] [-1.07603677e-01 9.94192041e-01 -1.90620903e-03 -7.36463437e+00] [-1.87457744e-02 -1.11890038e-04 9.99824276e-01 -2.85259109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.38, Y:-7.37, Z:-2.85 [[ 9.94216210e-01 1.05730835e-01 1.88445836e-02 9.83829234e+01] [-1.05713309e-01 9.94394783e-01 -1.92656933e-03 -7.36901714e+00] [-1.89426534e-02 -7.66968341e-05 9.99820569e-01 -2.85349414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.41, Y:-7.37, Z:-2.85 [[ 9.94350773e-01 1.04442795e-01 1.89273238e-02 9.84132565e+01] [-1.04424894e-01 9.94530894e-01 -1.93437644e-03 -7.37374303e+00] [-1.90258399e-02 -5.30350628e-05 9.99818991e-01 -2.85433901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.44, Y:-7.38, Z:-2.86 [[ 9.94527311e-01 1.02771746e-01 1.87988371e-02 9.84438644e+01] [-1.02753760e-01 9.94704965e-01 -1.92273638e-03 -7.37924037e+00] [-1.88968996e-02 -1.94373543e-05 9.99821437e-01 -2.85569742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:-7.39, Z:-2.86 [[ 9.94715646e-01 1.00969475e-01 1.85996705e-02 9.84747102e+01] [-1.00951546e-01 9.94889524e-01 -1.90279337e-03 -7.38530811e+00] [-1.86967413e-02 1.50728581e-05 9.99825201e-01 -2.85727486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61587156 meters Centerline goodness [0,1] 0.9998289428669176 Centerline is valid? [True, True] Translation: X:98.51, Y:-7.39, Z:-2.86 [[ 9.95030383e-01 9.78358529e-02 1.85116705e-02 9.85056216e+01] [-9.78175694e-02 9.95202563e-01 -1.89274661e-03 -7.39390588e+00] [-1.86080404e-02 7.25737706e-05 9.99826853e-01 -2.85837909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.54, Y:-7.40, Z:-2.86 [[ 9.95222949e-01 9.57710983e-02 1.89520248e-02 9.85372849e+01] [-9.57515074e-02 9.95403377e-01 -1.94053646e-03 -7.39875600e+00] [-1.90507568e-02 1.16581476e-04 9.99818511e-01 -2.85643805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:-7.40, Z:-2.86 [[ 9.95373579e-01 9.41485021e-02 1.91702200e-02 9.85694097e+01] [-9.41280919e-02 9.95558153e-01 -1.96623551e-03 -7.40475316e+00] [-1.92701870e-02 1.52682641e-04 9.99814301e-01 -2.85745315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70587156 meters Centerline goodness [0,1] 0.999957263130903 Centerline is valid? [True, True] Translation: X:98.60, Y:-7.41, Z:-2.86 [[ 9.95520123e-01 9.25957431e-02 1.91236289e-02 9.86003617e+01] [-9.25750804e-02 9.95703768e-01 -1.96484310e-03 -7.41228556e+00] [-1.92234054e-02 1.85669368e-04 9.99815196e-01 -2.85923382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73587156 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:98.63, Y:-7.42, Z:-2.86 [[ 9.95823374e-01 8.90865576e-02 1.99848010e-02 9.86314076e+01] [-8.90632188e-02 9.96023852e-01 -2.05662161e-03 -7.42426308e+00] [-2.00885559e-02 2.68121166e-04 9.99798169e-01 -2.85875192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76587156000001 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:98.66, Y:-7.43, Z:-2.86 [[ 9.95981626e-01 8.72821592e-02 2.00605603e-02 9.86621938e+01] [-8.72582074e-02 9.96183582e-01 -2.06787524e-03 -7.43194866e+00] [-2.01644894e-02 3.09117212e-04 9.99796628e-01 -2.85955462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79587156000001 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:98.69, Y:-7.44, Z:-2.86 [[ 9.95965393e-01 8.74672532e-02 2.00602816e-02 9.86945151e+01] [-8.74432845e-02 9.96167348e-01 -2.07057474e-03 -7.43547492e+00] [-2.01645050e-02 3.08083876e-04 9.99796628e-01 -2.86053563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82587156000001 meters Centerline goodness [0,1] 0.9998279125795905 Centerline is valid? [True, True] Translation: X:98.73, Y:-7.44, Z:-2.86 [[ 9.96090587e-01 8.60508322e-02 1.99699192e-02 9.87256112e+01] [-8.60267128e-02 9.96290690e-01 -2.06531271e-03 -7.44236509e+00] [-2.00735665e-02 3.39292043e-04 9.99798448e-01 -2.86130290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85587156000001 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:98.76, Y:-7.45, Z:-2.86 [[ 9.96225903e-01 8.43485617e-02 2.04760873e-02 9.87576458e+01] [-8.43227804e-02 9.96436235e-01 -2.12077796e-03 -7.44845174e+00] [-2.05819999e-02 3.86173325e-04 9.99788094e-01 -2.86057655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88587156000001 meters Centerline goodness [0,1] 0.9999784054591 Centerline is valid? [True, True] Translation: X:98.79, Y:-7.46, Z:-2.86 [[ 9.96428262e-01 8.17717280e-02 2.10737592e-02 9.87893022e+01] [-8.17437641e-02 9.96650980e-01 -2.18641831e-03 -7.45864267e+00] [-2.11819699e-02 4.55960596e-04 9.99775533e-01 -2.86036085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91587156000001 meters Centerline goodness [0,1] 0.9998709122203098 Centerline is valid? [True, True] Translation: X:98.82, Y:-7.47, Z:-2.86 [[ 9.96494749e-01 8.09366688e-02 2.11535130e-02 9.88193664e+01] [-8.09082216e-02 9.96719131e-01 -2.19860653e-03 -7.46610900e+00] [-2.12620590e-02 4.79406743e-04 9.99773822e-01 -2.86154558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94587156 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:98.85, Y:-7.47, Z:-2.86 [[ 9.96561462e-01 8.01044920e-02 2.11783548e-02 9.88500228e+01] [-8.00757330e-02 9.96786346e-01 -2.20386960e-03 -7.47387329e+00] [-2.12868348e-02 5.00419222e-04 9.99773284e-01 -2.86286203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97587156 meters Centerline goodness [0,1] 0.9999572850369485 Centerline is valid? [True, True] Translation: X:98.88, Y:-7.48, Z:-2.86 [[ 9.96590843e-01 7.98430578e-02 2.07792738e-02 9.88803801e+01] [-7.98152498e-02 9.96807322e-01 -2.16550040e-03 -7.48170765e+00] [-2.08858324e-02 4.99614937e-04 9.99781742e-01 -2.86475941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00587156 meters Centerline goodness [0,1] 0.9998491541859713 Centerline is valid? [True, True] Translation: X:98.91, Y:-7.49, Z:-2.87 [[ 9.96576850e-01 8.00539755e-02 2.06383670e-02 9.89130813e+01] [-8.00265311e-02 9.96790407e-01 -2.15359098e-03 -7.48746181e+00] [-2.07445297e-02 4.94602003e-04 9.99784687e-01 -2.86519174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03587156 meters Centerline goodness [0,1] 0.9999569577755778 Centerline is valid? [True, True] Translation: X:98.94, Y:-7.49, Z:-2.87 [[ 9.96533814e-01 8.05045872e-02 2.09611342e-02 9.89447250e+01] [-8.04762832e-02 9.96754114e-01 -2.19172600e-03 -7.49315179e+00] [-2.10695408e-02 4.97254901e-04 9.99777889e-01 -2.86566356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06587156 meters Centerline goodness [0,1] 0.9999349522983522 Centerline is valid? [True, True] Translation: X:98.98, Y:-7.50, Z:-2.87 [[ 9.96458245e-01 8.14106890e-02 2.10538888e-02 9.89763348e+01] [-8.13822590e-02 9.96680523e-01 -2.20506555e-03 -7.49838801e+00] [-2.11635169e-02 4.83842710e-04 9.99775911e-01 -2.86616535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09587156 meters Centerline goodness [0,1] 0.9999570668040529 Centerline is valid? [True, True] Translation: X:99.01, Y:-7.51, Z:-2.87 [[ 9.96360127e-01 8.26135236e-02 2.10119716e-02 9.90071603e+01] [-8.25853954e-02 9.96581554e-01 -2.20439241e-03 -7.50558972e+00] [-2.11222560e-02 4.61086718e-04 9.99776794e-01 -2.86804433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12587156000001 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:99.04, Y:-7.51, Z:-2.87 [[ 9.96149237e-01 8.51238800e-02 2.09910030e-02 9.90386835e+01] [-8.50962959e-02 9.96370291e-01 -2.20546090e-03 -7.51096831e+00] [-2.11025492e-02 4.10711587e-04 9.99777232e-01 -2.86912813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15587156000001 meters Centerline goodness [0,1] 0.9999359890754689 Centerline is valid? [True, True] Translation: X:99.07, Y:-7.52, Z:-2.87 [[ 9.96020850e-01 8.65934567e-02 2.10722287e-02 9.90697214e+01] [-8.65659003e-02 9.96243657e-01 -2.21810395e-03 -7.51512417e+00] [-2.11851475e-02 3.85141338e-04 9.99775495e-01 -2.87010912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18587156000001 meters Centerline goodness [0,1] 0.9998501391564976 Centerline is valid? [True, True] Translation: X:99.10, Y:-7.52, Z:-2.87 [[ 9.95902260e-01 8.80195548e-02 2.07664922e-02 9.91015697e+01] [-8.79930758e-02 9.96118685e-01 -2.18718292e-03 -7.51933693e+00] [-2.08784058e-02 3.50912893e-04 9.99781961e-01 -2.87168151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21587156000001 meters Centerline goodness [0,1] 0.9999572091829093 Centerline is valid? [True, True] Translation: X:99.13, Y:-7.52, Z:-2.87 [[ 9.95755407e-01 8.96631703e-02 2.07770282e-02 9.91334529e+01] [-8.96369510e-02 9.95972095e-01 -2.19169523e-03 -7.52381360e+00] [-2.08898546e-02 3.20002920e-04 9.99781732e-01 -2.87225185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24587156000001 meters Centerline goodness [0,1] 0.9996354043794368 Centerline is valid? [True, True] Translation: X:99.16, Y:-7.53, Z:-2.87 [[ 9.95540065e-01 9.20496869e-02 2.06599432e-02 9.91641820e+01] [-9.20241923e-02 9.95754378e-01 -2.18337081e-03 -7.52814145e+00] [-2.07732075e-02 2.72418531e-04 9.99784177e-01 -2.87363821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27587156000001 meters Centerline goodness [0,1] 0.9999358727715788 Centerline is valid? [True, True] Translation: X:99.20, Y:-7.53, Z:-2.87 [[ 9.95425309e-01 9.32396723e-02 2.08522992e-02 9.91963417e+01] [-9.32139341e-02 9.95643661e-01 -2.20501244e-03 -7.53158599e+00] [-2.09670542e-02 2.51200337e-04 9.99780136e-01 -2.87350595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:-7.54, Z:-2.87 [[ 9.95216291e-01 9.53917515e-02 2.10937644e-02 9.92274696e+01] [-9.53658070e-02 9.95439787e-01 -2.23478017e-03 -7.53700958e+00] [-2.12107519e-02 2.12465770e-04 9.99775004e-01 -2.87356699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33587156 meters Centerline goodness [0,1] 0.999935521310207 Centerline is valid? [True, True] Translation: X:99.26, Y:-7.54, Z:-2.87 [[ 9.95066743e-01 9.68506124e-02 2.14973643e-02 9.92592291e+01] [-9.68239730e-02 9.95298912e-01 -2.27906128e-03 -7.54036975e+00] [-2.16170318e-02 1.86357858e-04 9.99766307e-01 -2.87410240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:-7.54, Z:-2.87 [[ 9.94913969e-01 9.83251350e-02 2.18715011e-02 9.92916505e+01] [-9.82978352e-02 9.95154331e-01 -2.32240716e-03 -7.54280534e+00] [-2.19938701e-02 1.60674109e-04 9.99758093e-01 -2.87353646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:-7.55, Z:-2.87 [[ 9.94782141e-01 9.96067357e-02 2.20678484e-02 9.93222871e+01] [-9.95791615e-02 9.95026874e-01 -2.34763873e-03 -7.54615099e+00] [-2.21919428e-02 1.37891242e-04 9.99753719e-01 -2.87455888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42587156 meters Centerline goodness [0,1] 0.9998485766202302 Centerline is valid? [True, True] Translation: X:99.35, Y:-7.55, Z:-2.88 [[ 9.94624535e-01 1.01220323e-01 2.18284380e-02 9.93538935e+01] [-1.01193701e-01 9.94864029e-01 -2.32363519e-03 -7.54916705e+00] [-2.19515269e-02 1.02244146e-04 9.99759031e-01 -2.87613177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:-7.55, Z:-2.88 [[ 9.94403091e-01 1.03502112e-01 2.12086009e-02 9.93860636e+01] [-1.03477427e-01 9.94629232e-01 -2.26100806e-03 -7.55327694e+00] [-2.13287136e-02 5.37419414e-05 9.99772516e-01 -2.87903986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48587156 meters Centerline goodness [0,1] 0.9999350649350649 Centerline is valid? [True, True] Translation: X:99.42, Y:-7.56, Z:-2.88 [[ 9.94333648e-01 1.04286915e-01 2.06115422e-02 9.94190598e+01] [-1.04263696e-01 9.94547253e-01 -2.20087400e-03 -7.55691048e+00] [-2.07286750e-02 3.93675106e-05 9.99785137e-01 -2.88183620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:-7.56, Z:-2.88 [[ 9.94271269e-01 1.05032843e-01 1.98178206e-02 9.94517854e+01] [-1.05011456e-01 9.94468753e-01 -2.11962331e-03 -7.56069079e+00] [-1.99308334e-02 2.63823632e-05 9.99801361e-01 -2.88355354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:-7.57, Z:-2.89 [[ 9.94218318e-01 1.05632056e-01 1.92822232e-02 9.94841222e+01] [-1.05611854e-01 9.94405284e-01 -2.06591009e-03 -7.56555411e+00] [-1.93925710e-02 1.75343135e-05 9.99811946e-01 -2.88559079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.52, Y:-7.57, Z:-2.89 [[ 9.94212305e-01 1.05655669e-01 1.94620724e-02 9.95159598e+01] [-1.05635015e-01 9.94402775e-01 -2.08913684e-03 -7.57044153e+00] [-1.95738680e-02 2.11692365e-05 9.99808413e-01 -2.88744429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:-7.58, Z:-2.89 [[ 9.94229103e-01 1.05461759e-01 1.96547049e-02 9.95474576e+01] [-1.05440584e-01 9.94423359e-01 -2.11348652e-03 -7.57531536e+00] [-1.97679897e-02 2.88862496e-05 9.99804594e-01 -2.88812704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.58, Y:-7.58, Z:-2.89 [[ 9.94312370e-01 1.04672952e-01 1.96591709e-02 9.95789640e+01] [-1.04651545e-01 9.94506697e-01 -2.11740730e-03 -7.58242178e+00] [-1.97728124e-02 4.80016676e-05 9.99804498e-01 -2.88902331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.61, Y:-7.59, Z:-2.89 [[ 9.94303399e-01 1.04737286e-01 1.97699554e-02 9.96113235e+01] [-1.04715585e-01 9.94499924e-01 -2.13254338e-03 -7.58642293e+00] [-1.98845760e-02 5.01726769e-05 9.99802281e-01 -2.88794641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:-7.59, Z:-2.89 [[ 9.94273150e-01 1.05012001e-01 1.98338839e-02 9.96439447e+01] [-1.04990138e-01 9.94470953e-01 -2.14327056e-03 -7.59051544e+00] [-1.99492906e-02 4.86341660e-05 9.99800992e-01 -2.88837212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:-7.59, Z:-2.89 [[ 9.94244665e-01 1.05268546e-01 1.99017408e-02 9.96770799e+01] [-1.05246507e-01 9.94443830e-01 -2.15450451e-03 -7.59419748e+00] [-2.00179649e-02 4.75159200e-05 9.99799619e-01 -2.88862665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:-7.60, Z:-2.89 [[ 9.94199391e-01 1.05674746e-01 2.00104641e-02 9.97088814e+01] [-1.05652463e-01 9.94400747e-01 -2.17049498e-03 -7.59874094e+00] [-2.01277870e-02 4.37499731e-05 9.99797415e-01 -2.89305527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.74, Y:-7.60, Z:-2.89 [[ 9.94147079e-01 1.06169490e-01 1.99906305e-02 9.97418403e+01] [-1.06147274e-01 9.94348047e-01 -2.17213226e-03 -7.60192708e+00] [-2.01082586e-02 3.74680034e-05 9.99797808e-01 -2.89314887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:-7.61, Z:-2.89 [[ 9.94099185e-01 1.06625076e-01 1.99475080e-02 9.97749288e+01] [-1.06602976e-01 9.94299297e-01 -2.17102691e-03 -7.60510644e+00] [-2.00652791e-02 3.17523759e-05 9.99798672e-01 -2.89254926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:-7.61, Z:-2.89 [[ 9.94065235e-01 1.06915335e-01 2.00853272e-02 9.98070876e+01] [-1.06892905e-01 9.94268128e-01 -2.19016643e-03 -7.60885588e+00] [-2.02043631e-02 3.01893415e-05 9.99795871e-01 -2.89449782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:-7.61, Z:-2.89 [[ 9.93991576e-01 1.07535541e-01 2.04169981e-02 9.98395525e+01] [-1.07512417e-01 9.94201241e-01 -2.23007663e-03 -7.61212924e+00] [-2.05384174e-02 2.15965678e-05 9.99789064e-01 -2.89421472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:-7.62, Z:-2.90 [[ 9.93962340e-01 1.07812400e-01 2.03802004e-02 9.98723377e+01] [-1.07789336e-01 9.94171256e-01 -2.23004619e-03 -7.61582802e+00] [-2.05018361e-02 1.98136651e-05 9.99789815e-01 -2.89571753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:-7.62, Z:-2.90 [[ 9.93943082e-01 1.08052116e-01 2.00471752e-02 9.99044627e+01] [-1.08029768e-01 9.94145231e-01 -2.19755082e-03 -7.62001782e+00] [-2.01672537e-02 1.85487330e-05 9.99796620e-01 -2.89815431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:-7.63, Z:-2.90 [[ 9.93960707e-01 1.07858880e-01 2.02132360e-02 9.99372436e+01] [-1.07836047e-01 9.94166214e-01 -2.21940166e-03 -7.62504655e+00] [-2.03346985e-02 2.62825686e-05 9.99793228e-01 -2.89918775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:-7.63, Z:-2.90 [[ 9.94098732e-01 1.06452618e-01 2.08698488e-02 9.99698128e+01] [-1.06427881e-01 9.94317774e-01 -2.29557852e-03 -7.63255464e+00] [-2.09956319e-02 6.08979110e-05 9.99779566e-01 -2.89877571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:-7.64, Z:-2.90 [[ 9.94207066e-01 1.05464276e-01 2.07267252e-02 1.00002727e+02] [-1.05439579e-01 9.94423089e-01 -2.28385825e-03 -7.63846212e+00] [-2.08519995e-02 8.52108414e-05 9.99782570e-01 -2.89978891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:-7.64, Z:-2.90 [[ 9.94313018e-01 1.04506952e-01 2.04919182e-02 1.00034302e+02] [-1.04482525e-01 9.94524150e-01 -2.26203662e-03 -7.64453720e+00] [-2.06161061e-02 1.08125109e-04 9.99787460e-01 -2.90161310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:-7.65, Z:-2.90 [[ 9.94431647e-01 1.03442716e-01 2.01321837e-02 1.00066205e+02] [-1.03418847e-01 9.94635404e-01 -2.22594317e-03 -7.65034386e+00] [-2.02544403e-02 1.31501095e-04 9.99794849e-01 -2.90207402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:-7.66, Z:-2.90 [[ 9.94548260e-01 1.02300522e-01 2.02079398e-02 1.00097887e+02] [-1.02276166e-01 9.94753526e-01 -2.23783673e-03 -7.65708367e+00] [-2.03308513e-02 1.58846014e-04 9.99793294e-01 -2.90365386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14587156 meters Centerline goodness [0,1] 0.9999569929468433 Centerline is valid? [True, True] Translation: X:100.13, Y:-7.67, Z:-2.90 [[ 9.94682776e-01 1.00992699e-01 2.01655739e-02 1.00129395e+02] [-1.00968105e-01 9.94887149e-01 -2.23662922e-03 -7.66630062e+00] [-2.02883536e-02 1.88656769e-04 9.99794152e-01 -2.90438669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17587156 meters Centerline goodness [0,1] 0.9998486388306268 Centerline is valid? [True, True] Translation: X:100.16, Y:-7.67, Z:-2.91 [[ 9.94682872e-01 1.00948812e-01 2.03794556e-02 1.00161261e+02] [-1.00923613e-01 9.94891602e-01 -2.26381469e-03 -7.67248087e+00] [-2.05038786e-02 1.95009403e-04 9.99789754e-01 -2.90608402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:-7.68, Z:-2.91 [[ 9.94642874e-01 1.01394230e-01 2.01187193e-02 1.00194127e+02] [-1.01369693e-01 9.94846307e-01 -2.23834023e-03 -7.67584157e+00] [-2.02419883e-02 1.86920769e-04 9.99795092e-01 -2.90598288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23587156 meters Centerline goodness [0,1] 0.999913845093478 Centerline is valid? [True, True] Translation: X:100.23, Y:-7.68, Z:-2.91 [[ 9.94563522e-01 1.02227243e-01 1.98240098e-02 1.00225470e+02] [-1.02203505e-01 9.94761057e-01 -2.20955164e-03 -7.68069000e+00] [-1.99460293e-02 1.71456181e-04 9.99801043e-01 -2.90857505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26587156000001 meters Centerline goodness [0,1] 0.9999351547639633 Centerline is valid? [True, True] Translation: X:100.26, Y:-7.68, Z:-2.91 [[ 9.94395229e-01 1.03979775e-01 1.91398620e-02 1.00258734e+02] [-1.03957910e-01 9.94579403e-01 -2.13655896e-03 -7.68328660e+00] [-1.92582714e-02 1.34843994e-04 9.99814533e-01 -2.91037730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-7.69, Z:-2.91 [[ 9.94304918e-01 1.04903118e-01 1.87900296e-02 1.00290279e+02] [-1.04882140e-01 9.94482439e-01 -2.10119607e-03 -7.68715388e+00] [-1.89067765e-02 1.18491073e-04 9.99821244e-01 -2.91313672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:-7.69, Z:-2.91 [[ 9.94191277e-01 1.05966907e-01 1.88339986e-02 1.00322661e+02] [-1.05945954e-01 9.94369652e-01 -2.10966226e-03 -7.68944221e+00] [-1.89515110e-02 1.02021870e-04 9.99820399e-01 -2.91258862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35587156000001 meters Centerline goodness [0,1] 0.99980508089143 Centerline is valid? [True, True] Translation: X:100.35, Y:-7.69, Z:-2.91 [[ 9.93962505e-01 1.08057158e-01 1.90312820e-02 1.00354715e+02] [-1.08036083e-01 9.94144681e-01 -2.13506479e-03 -7.69162525e+00] [-1.91505568e-02 6.61091707e-05 9.99816609e-01 -2.91316211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:-7.70, Z:-2.91 [[ 9.93850077e-01 1.09047131e-01 1.92547877e-02 1.00386270e+02] [-1.09025680e-01 9.94036579e-01 -2.16345316e-03 -7.69516779e+00] [-1.93758816e-02 5.08817699e-05 9.99812269e-01 -2.91462433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41587156000001 meters Centerline goodness [0,1] 0.9998506539224681 Centerline is valid? [True, True] Translation: X:100.42, Y:-7.70, Z:-2.92 [[ 9.93718262e-01 1.10194057e-01 1.95265330e-02 1.00418304e+02] [-1.10172143e-01 9.93910091e-01 -2.19778419e-03 -7.69868058e+00] [-1.96498009e-02 3.26982957e-05 9.99806923e-01 -2.91617072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:-7.70, Z:-2.92 [[ 9.93553328e-01 1.11723197e-01 1.92278805e-02 1.00449672e+02] [-1.11702168e-01 9.93739366e-01 -2.16759794e-03 -7.70200679e+00] [-1.93496728e-02 5.82819952e-06 9.99812778e-01 -2.91726258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:-7.71, Z:-2.92 [[ 9.93502130e-01 1.12300028e-01 1.84992448e-02 1.00480409e+02] [-1.12280586e-01 9.93674345e-01 -2.08953667e-03 -7.70526902e+00] [-1.86168800e-02 -1.14691867e-06 9.99826691e-01 -2.92058761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50587156 meters Centerline goodness [0,1] 0.9999787518857701 Centerline is valid? [True, True] Translation: X:100.51, Y:-7.71, Z:-2.92 [[ 9.93449193e-01 1.12816546e-01 1.81969049e-02 1.00512994e+02] [-1.12797814e-01 9.93615835e-01 -2.05578429e-03 -7.70931963e+00] [-1.83126593e-02 -1.02538473e-05 9.99832309e-01 -2.92161014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.55, Y:-7.71, Z:-2.92 [[ 9.93382150e-01 1.13438470e-01 1.79893565e-02 1.00545860e+02] [-1.13420204e-01 9.93545023e-01 -2.03574164e-03 -7.71309350e+00] [-1.81041670e-02 -1.80870639e-05 9.99836106e-01 -2.92201995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56587156 meters Centerline goodness [0,1] 0.9999145043389048 Centerline is valid? [True, True] Translation: X:100.58, Y:-7.72, Z:-2.92 [[ 9.93326566e-01 1.13817046e-01 1.86551241e-02 1.00578118e+02] [-1.13797392e-01 9.93501726e-01 -2.11516864e-03 -7.71751190e+00] [-1.87746403e-02 -2.18512787e-05 9.99823741e-01 -2.92200993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59587156 meters Centerline goodness [0,1] 0.9998929702885521 Centerline is valid? [True, True] Translation: X:100.61, Y:-7.72, Z:-2.92 [[ 9.93279591e-01 1.14179461e-01 1.89394950e-02 1.00609396e+02] [-1.14159197e-01 9.93460140e-01 -2.15119834e-03 -7.72138312e+00] [-1.90612560e-02 -2.53761347e-05 9.99818317e-01 -2.92303542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62587156000001 meters Centerline goodness [0,1] 0.9997414238924324 Centerline is valid? [True, True] Translation: X:100.64, Y:-7.73, Z:-2.92 [[ 9.93235563e-01 1.14566649e-01 1.89102708e-02 1.00641878e+02] [-1.14546491e-01 9.93415564e-01 -2.14932565e-03 -7.72540982e+00] [-1.90319983e-02 -3.13184852e-05 9.99818875e-01 -2.92358910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:-7.73, Z:-2.93 [[ 9.93195722e-01 1.14891780e-01 1.90298950e-02 1.00674097e+02] [-1.14871352e-01 9.93378013e-01 -2.16674831e-03 -7.72885264e+00] [-1.91528209e-02 -3.39846222e-05 9.99816567e-01 -2.92541576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:-7.73, Z:-2.93 [[ 9.93011139e-01 1.16526676e-01 1.87193078e-02 1.00707048e+02] [-1.16507139e-01 9.93187560e-01 -2.13455553e-03 -7.73086231e+00] [-1.88405163e-02 -6.12955874e-05 9.99822500e-01 -2.92623160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:-7.73, Z:-2.93 [[ 9.92989652e-01 1.16709693e-01 1.87189128e-02 1.00739312e+02] [-1.16690124e-01 9.93166071e-01 -2.13801247e-03 -7.73475373e+00] [-1.88405158e-02 -6.12880004e-05 9.99822500e-01 -2.92721249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:-7.74, Z:-2.93 [[ 9.92898632e-01 1.17443686e-01 1.89548596e-02 1.00771694e+02] [-1.17423686e-01 9.93079541e-01 -2.16850471e-03 -7.73820807e+00] [-1.90783604e-02 -7.26441298e-05 9.99817989e-01 -2.92664445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77587156000001 meters Centerline goodness [0,1] 0.9999786721266023 Centerline is valid? [True, True] Translation: X:100.80, Y:-7.74, Z:-2.93 [[ 9.92810478e-01 1.18168773e-01 1.90655589e-02 1.00803512e+02] [-1.18148587e-01 9.92993522e-01 -2.18566896e-03 -7.74118970e+00] [-1.91902543e-02 -8.26137970e-05 9.99815847e-01 -2.92816329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.84, Y:-7.74, Z:-2.93 [[ 9.92749998e-01 1.18644140e-01 1.92616064e-02 1.00836335e+02] [-1.18623595e-01 9.92936836e-01 -2.20974307e-03 -7.74386673e+00] [-1.93877316e-02 -9.11585756e-05 9.99812036e-01 -2.92865749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.87, Y:-7.75, Z:-2.93 [[ 9.92747893e-01 1.18718893e-01 1.89062419e-02 1.00868489e+02] [-1.18699043e-01 9.92927901e-01 -2.17260509e-03 -7.74657914e+00] [-1.90304644e-02 -8.73037027e-05 9.99818901e-01 -2.93059528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:-7.75, Z:-2.93 [[ 9.92800192e-01 1.18319296e-01 1.86634099e-02 1.00900649e+02] [-1.18299825e-01 9.92975598e-01 -2.14776914e-03 -7.75225280e+00] [-1.87864331e-02 -7.55724990e-05 9.99823517e-01 -2.93132784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:-7.76, Z:-2.93 [[ 9.92896396e-01 1.17477509e-01 1.88621862e-02 1.00933655e+02] [-1.17457400e-01 9.93075542e-01 -2.17424481e-03 -7.75846260e+00] [-1.89870006e-02 -5.67035188e-05 9.99819729e-01 -2.93134726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.97, Y:-7.76, Z:-2.93 [[ 9.93019022e-01 1.16448387e-01 1.87881646e-02 1.00965097e+02] [-1.16428179e-01 9.93196744e-01 -2.16957275e-03 -7.76367041e+00] [-1.89129871e-02 -3.30447844e-05 9.99821133e-01 -2.93459228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.00, Y:-7.77, Z:-2.94 [[ 9.93291539e-01 1.14163164e-01 1.84035562e-02 1.00997070e+02] [-1.14143322e-01 9.93462013e-01 -2.12842992e-03 -7.77166775e+00] [-1.85262222e-02 1.35083989e-05 9.99828375e-01 -2.93535084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.03, Y:-7.78, Z:-2.94 [[ 9.93438471e-01 1.12870986e-01 1.84430329e-02 1.01028182e+02] [-1.12850769e-01 9.93609651e-01 -2.13659479e-03 -7.77866363e+00] [-1.85663350e-02 4.12650126e-05 9.99827630e-01 -2.93668836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.06, Y:-7.79, Z:-2.94 [[ 9.93553613e-01 1.11829325e-01 1.85855113e-02 1.01060288e+02] [-1.11808553e-01 9.93727426e-01 -2.15626239e-03 -7.78549248e+00] [-1.87100657e-02 6.43431592e-05 9.99824949e-01 -2.93677503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04587156000001 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:101.09, Y:-7.79, Z:-2.94 [[ 9.93619126e-01 1.11251748e-01 1.85494109e-02 1.01091632e+02] [-1.11230890e-01 9.93792253e-01 -2.15564048e-03 -7.79121096e+00] [-1.86740796e-02 7.86181349e-05 9.99825621e-01 -2.93758225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.12, Y:-7.80, Z:-2.94 [[ 9.93695806e-01 1.10546725e-01 1.86565576e-02 1.01122802e+02] [-1.10525439e-01 9.93870923e-01 -2.17138410e-03 -7.79701950e+00] [-1.87822495e-02 9.56710518e-05 9.99823593e-01 -2.93834116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10587156000001 meters Centerline goodness [0,1] 0.9998271466228772 Centerline is valid? [True, True] Translation: X:101.16, Y:-7.80, Z:-2.94 [[ 9.93656295e-01 1.10821510e-01 1.91248849e-02 1.01156292e+02] [-1.10799134e-01 9.93840321e-01 -2.22896128e-03 -7.79981697e+00] [-1.92540986e-02 9.58007264e-05 9.99814618e-01 -2.93531157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:-7.80, Z:-2.94 [[ 9.93581080e-01 1.11356376e-01 1.99096515e-02 1.01187544e+02] [-1.11332140e-01 9.93780534e-01 -2.32506017e-03 -7.80391887e+00] [-2.00447344e-02 9.35516891e-05 9.99799080e-01 -2.93613010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.22, Y:-7.81, Z:-2.94 [[ 9.93395331e-01 1.13008701e-01 1.98683071e-02 1.01220395e+02] [-1.12984837e-01 9.93593996e-01 -2.32317243e-03 -7.80659928e+00] [-2.00035693e-02 6.30112033e-05 9.99799907e-01 -2.93687558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19587156 meters Centerline goodness [0,1] 0.9998717702122203 Centerline is valid? [True, True] Translation: X:101.25, Y:-7.81, Z:-2.94 [[ 9.93304313e-01 1.13863705e-01 1.95345310e-02 1.01253614e+02] [-1.13840732e-01 9.93496379e-01 -2.28769201e-03 -7.80967108e+00] [-1.96679709e-02 4.85490379e-05 9.99806566e-01 -2.93704640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:-7.81, Z:-2.94 [[ 9.93136723e-01 1.15341638e-01 1.93844194e-02 1.01286376e+02] [-1.15319224e-01 9.93325881e-01 -2.27386085e-03 -7.81142025e+00] [-1.95173164e-02 2.28585009e-05 9.99809519e-01 -2.93717381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:-7.81, Z:-2.94 [[ 9.92976881e-01 1.16705985e-01 1.94069020e-02 1.01318527e+02] [-1.16683688e-01 9.93166508e-01 -2.28118331e-03 -7.81354251e+00] [-1.95405128e-02 6.93388943e-07 9.99809066e-01 -2.93848228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.35, Y:-7.81, Z:-2.94 [[ 9.92699790e-01 1.19061916e-01 1.92714271e-02 1.01350833e+02] [-1.19040326e-01 9.92886831e-01 -2.26766410e-03 -7.81399900e+00] [-1.94043386e-02 -4.29672959e-05 9.99811717e-01 -2.93994666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31587156 meters Centerline goodness [0,1] 0.9998927176758358 Centerline is valid? [True, True] Translation: X:101.38, Y:-7.82, Z:-2.94 [[ 9.92553079e-01 1.20274857e-01 1.92962413e-02 1.01383341e+02] [-1.20253410e-01 9.92740628e-01 -2.27216601e-03 -7.81652027e+00] [-1.94294471e-02 -6.51934546e-05 9.99811228e-01 -2.94014159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34587156 meters Centerline goodness [0,1] 0.9998711644585686 Centerline is valid? [True, True] Translation: X:101.41, Y:-7.82, Z:-2.94 [[ 9.92408157e-01 1.21449031e-01 1.93954265e-02 1.01414915e+02] [-1.21427498e-01 9.92597666e-01 -2.28843906e-03 -7.81803487e+00] [-1.95297838e-02 -8.40725333e-05 9.99809272e-01 -2.94259170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37587156000001 meters Centerline goodness [0,1] 0.9999352974162101 Centerline is valid? [True, True] Translation: X:101.45, Y:-7.82, Z:-2.94 [[ 9.92282747e-01 1.22428883e-01 1.96498985e-02 1.01447817e+02] [-1.22406940e-01 9.92477283e-01 -2.32016976e-03 -7.82118236e+00] [-1.97861337e-02 -1.03019517e-04 9.99804230e-01 -2.94154180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40587156000001 meters Centerline goodness [0,1] 0.9999356444139351 Centerline is valid? [True, True] Translation: X:101.48, Y:-7.82, Z:-2.94 [[ 9.92167173e-01 1.23351976e-01 1.97127278e-02 1.01481187e+02] [-1.23330000e-01 9.92362976e-01 -2.33132539e-03 -7.82425064e+00] [-1.98497548e-02 -1.18106197e-04 9.99802967e-01 -2.94150845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.51, Y:-7.83, Z:-2.94 [[ 9.92142826e-01 1.23629556e-01 1.91923317e-02 1.01511674e+02] [-1.23608686e-01 9.92328433e-01 -2.27449574e-03 -7.82788919e+00] [-1.93262913e-02 -1.15714276e-04 9.99813223e-01 -2.94317239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.54, Y:-7.83, Z:-2.95 [[ 9.92115948e-01 1.23922032e-01 1.86889027e-02 1.01544140e+02] [-1.23902283e-01 9.92291951e-01 -2.21539429e-03 -7.83203602e+00] [-1.88193839e-02 -1.17669713e-04 9.99822893e-01 -2.94538134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.58, Y:-7.84, Z:-2.95 [[ 9.92110373e-01 1.24033286e-01 1.82414962e-02 1.01575940e+02] [-1.24014425e-01 9.92278051e-01 -2.16593027e-03 -7.83568595e+00] [-1.83692837e-02 -1.13366766e-04 9.99831264e-01 -2.94738080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.61, Y:-7.84, Z:-2.95 [[ 9.92091713e-01 1.24224285e-01 1.79543754e-02 1.01609053e+02] [-1.24205990e-01 9.92254158e-01 -2.13485145e-03 -7.84035181e+00] [-1.80805041e-02 -1.12072541e-04 9.99836528e-01 -2.94841777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.64, Y:-7.84, Z:-2.95 [[ 9.92111161e-01 1.24061820e-01 1.80030409e-02 1.01640707e+02] [-1.24043318e-01 9.92274485e-01 -2.14507832e-03 -7.84355581e+00] [-1.81300805e-02 -1.05000794e-04 9.99835631e-01 -2.95297413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:-7.85, Z:-2.95 [[ 9.92120741e-01 1.24046045e-01 1.75787743e-02 1.01673589e+02] [-1.24028382e-01 9.92276458e-01 -2.09574064e-03 -7.84989193e+00] [-1.77029723e-02 -1.01039181e-04 9.99843285e-01 -2.95148521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:-7.86, Z:-2.95 [[ 9.92132423e-01 1.23985510e-01 1.73449966e-02 1.01706036e+02] [-1.23968247e-01 9.92284024e-01 -2.07110618e-03 -7.85518342e+00] [-1.74679502e-02 -9.54172339e-05 9.99847419e-01 -2.95328895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64587156 meters Centerline goodness [0,1] 0.9998929404963278 Centerline is valid? [True, True] Translation: X:101.74, Y:-7.86, Z:-2.95 [[ 9.92079906e-01 1.24449363e-01 1.70240041e-02 1.01738772e+02] [-1.24432748e-01 9.92225955e-01 -2.03592486e-03 -7.85976609e+00] [-1.71450283e-02 -9.85434663e-05 9.99853008e-01 -2.95446573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.77, Y:-7.86, Z:-2.95 [[ 9.92006802e-01 1.25085924e-01 1.66137324e-02 1.01771904e+02] [-1.25070140e-01 9.92145907e-01 -1.98983807e-03 -7.86394466e+00] [-1.67321474e-02 -1.03948932e-04 9.99860002e-01 -2.95469007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70587156 meters Centerline goodness [0,1] 0.9999355822292844 Centerline is valid? [True, True] Translation: X:101.80, Y:-7.87, Z:-2.96 [[ 9.91920052e-01 1.25757706e-01 1.67215197e-02 1.01803537e+02] [-1.25741739e-01 9.92060979e-01 -2.00703871e-03 -7.86742824e+00] [-1.68411678e-02 -1.11771021e-04 9.99858171e-01 -2.95623811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.84, Y:-7.87, Z:-2.96 [[ 9.91708244e-01 1.27299100e-01 1.75982168e-02 1.01835939e+02] [-1.27281629e-01 9.91864365e-01 -2.11389778e-03 -7.86808725e+00] [-1.77241415e-02 -1.43559846e-04 9.99842905e-01 -2.95768139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.87, Y:-7.87, Z:-2.95 [[ 9.91570943e-01 1.28260256e-01 1.83404575e-02 1.01868514e+02] [-1.28241381e-01 9.91740530e-01 -2.20643384e-03 -7.87263223e+00] [-1.84719728e-02 -1.64169926e-04 9.99829365e-01 -2.95493571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79587156000001 meters Centerline goodness [0,1] 0.9998714652956299 Centerline is valid? [True, True] Translation: X:101.90, Y:-7.88, Z:-2.96 [[ 9.91430251e-01 1.29251212e-01 1.89784479e-02 1.01900584e+02] [-1.29231107e-01 9.91611865e-01 -2.28717596e-03 -7.87553611e+00] [-1.91148744e-02 -1.85030394e-04 9.99817277e-01 -2.95562927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.93, Y:-7.88, Z:-2.96 [[ 9.91208924e-01 1.30907698e-01 1.91844627e-02 1.01932896e+02] [-1.30887393e-01 9.91394537e-01 -2.31563459e-03 -7.87841146e+00] [-1.93225059e-02 -2.15726642e-04 9.99813280e-01 -2.95548845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:-7.88, Z:-2.96 [[ 9.91082834e-01 1.31876769e-01 1.90613053e-02 1.01964974e+02] [-1.31856844e-01 9.91266092e-01 -2.30385306e-03 -7.88170197e+00] [-1.91986503e-02 -2.30054352e-04 9.99815662e-01 -2.95631371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:-7.89, Z:-2.96 [[ 9.90915138e-01 1.33183342e-01 1.86918873e-02 1.01997294e+02] [-1.33164359e-01 9.91091386e-01 -2.26212798e-03 -7.88569787e+00] [-1.88266463e-02 -2.47516327e-04 9.99822732e-01 -2.95655674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:-7.89, Z:-2.96 [[ 9.90752812e-01 1.34501512e-01 1.78384328e-02 1.02028502e+02] [-1.34484382e-01 9.90913355e-01 -2.16189163e-03 -7.88563785e+00] [-1.79671189e-02 -2.57090391e-04 9.99838545e-01 -2.96045681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:-7.89, Z:-2.96 [[ 9.90521843e-01 1.36328351e-01 1.67648373e-02 1.02060955e+02] [-1.36313444e-01 9.90663670e-01 -2.03407567e-03 -7.88766364e+00] [-1.68856174e-02 -2.70476326e-04 9.99857391e-01 -2.96299868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97587156 meters Centerline goodness [0,1] 0.9998288623625551 Centerline is valid? [True, True] Translation: X:102.09, Y:-7.89, Z:-2.97 [[ 9.90423595e-01 1.37025154e-01 1.68881516e-02 1.02092769e+02] [-1.37010080e-01 9.90567528e-01 -2.05184037e-03 -7.88901721e+00] [-1.70100083e-02 -2.81655876e-04 9.99855280e-01 -2.96604287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.12, Y:-7.89, Z:-2.97 [[ 9.90341372e-01 1.37636767e-01 1.67357873e-02 1.02124538e+02] [-1.37621996e-01 9.90482730e-01 -2.03657118e-03 -7.89269708e+00] [-1.68568153e-02 -2.86311758e-04 9.99857873e-01 -2.96573773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03587156 meters Centerline goodness [0,1] 0.9998507621788721 Centerline is valid? [True, True] Translation: X:102.16, Y:-7.89, Z:-2.97 [[ 9.90288178e-01 1.38006816e-01 1.68357934e-02 1.02156803e+02] [-1.37991863e-01 9.90431236e-01 -2.05222712e-03 -7.89426768e+00] [-1.69579170e-02 -2.90906249e-04 9.99856162e-01 -2.96826665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:-7.90, Z:-2.97 [[ 9.90248472e-01 1.38207619e-01 1.75104974e-02 1.02188433e+02] [-1.38191447e-01 9.90403232e-01 -2.13607449e-03 -7.89930043e+00] [-1.76376750e-02 -3.04556468e-04 9.99844398e-01 -2.96514903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:-7.90, Z:-2.97 [[ 9.90252073e-01 1.38165844e-01 1.76360873e-02 1.02219869e+02] [-1.38149381e-01 9.90409061e-01 -2.15431381e-03 -7.90190713e+00] [-1.77645932e-02 -3.03100818e-04 9.99842151e-01 -2.96655636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12587156000001 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:102.25, Y:-7.91, Z:-2.97 [[ 9.90303003e-01 1.37834945e-01 1.73634720e-02 1.02252383e+02] [-1.37818884e-01 9.90455170e-01 -2.12394468e-03 -7.90720407e+00] [-1.74904944e-02 -2.89665541e-04 9.99846988e-01 -2.96721494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15587156000001 meters Centerline goodness [0,1] 0.9998281602405756 Centerline is valid? [True, True] Translation: X:102.28, Y:-7.91, Z:-2.97 [[ 9.90434266e-01 1.36888189e-01 1.73663262e-02 1.02282969e+02] [-1.36871910e-01 9.90586468e-01 -2.12815528e-03 -7.91170020e+00] [-1.74941671e-02 -2.69164332e-04 9.99846929e-01 -2.96911836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.31, Y:-7.92, Z:-2.97 [[ 9.90855963e-01 1.33741724e-01 1.78216852e-02 1.02313447e+02] [-1.33724018e-01 9.91016198e-01 -2.18690228e-03 -7.91857190e+00] [-1.79540588e-02 -2.16282202e-04 9.99838790e-01 -2.96954517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:-7.93, Z:-2.97 [[ 9.91113404e-01 1.31812910e-01 1.78766963e-02 1.02345068e+02] [-1.31794733e-01 9.91274596e-01 -2.19631312e-03 -7.92601315e+00] [-1.80102173e-02 -1.79259041e-04 9.99837787e-01 -2.96995615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24587156000001 meters Centerline goodness [0,1] 0.9999138933138159 Centerline is valid? [True, True] Translation: X:102.38, Y:-7.94, Z:-2.97 [[ 9.91684984e-01 1.27456574e-01 1.77683251e-02 1.02375363e+02] [-1.27437861e-01 9.91844147e-01 -2.18613827e-03 -7.93684187e+00] [-1.79020469e-02 -9.63968494e-05 9.99839741e-01 -2.97180736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.41, Y:-7.94, Z:-2.97 [[ 9.91924692e-01 1.25588000e-01 1.76935060e-02 1.02406941e+02] [-1.25569101e-01 9.92082482e-01 -2.17948068e-03 -7.94451882e+00] [-1.78271339e-02 -5.98769330e-05 9.99841082e-01 -2.97164174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30587156000001 meters Centerline goodness [0,1] 0.9998711948821433 Centerline is valid? [True, True] Translation: X:102.44, Y:-7.95, Z:-2.97 [[ 9.92163096e-01 1.23647001e-01 1.79947139e-02 1.02437430e+02] [-1.23627073e-01 9.92326266e-01 -2.21993312e-03 -7.95186563e+00] [-1.81311154e-02 -2.20981073e-05 9.99835618e-01 -2.97365761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:-7.96, Z:-2.97 [[ 9.92319409e-01 1.22362593e-01 1.81545242e-02 1.02469583e+02] [-1.22342048e-01 9.92485464e-01 -2.24220181e-03 -7.95914283e+00] [-1.82924630e-02 3.91869957e-06 9.99832679e-01 -2.97298481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36587156 meters Centerline goodness [0,1] 0.9998929588319668 Centerline is valid? [True, True] Translation: X:102.50, Y:-7.97, Z:-2.97 [[ 9.92575940e-01 1.20213071e-01 1.84883838e-02 1.02501596e+02] [-1.20191323e-01 9.92748113e-01 -2.28706683e-03 -7.96723327e+00] [-1.86292434e-02 4.79442027e-05 9.99826459e-01 -2.97306675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39587156 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:102.53, Y:-7.97, Z:-2.97 [[ 9.92586220e-01 1.20126654e-01 1.84981945e-02 1.02534068e+02] [-1.20104801e-01 9.92758573e-01 -2.29185267e-03 -7.97208504e+00] [-1.86395538e-02 5.31394102e-05 9.99826267e-01 -2.97400184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:-7.98, Z:-2.97 [[ 9.92584652e-01 1.20164539e-01 1.83355571e-02 1.02566479e+02] [-1.20143011e-01 9.92753988e-01 -2.27516902e-03 -7.97673226e+00] [-1.84760921e-02 5.54088215e-05 9.99829301e-01 -2.97474676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:-7.98, Z:-2.98 [[ 9.92522936e-01 1.20672072e-01 1.83431775e-02 1.02598603e+02] [-1.20650544e-01 9.92692424e-01 -2.27981333e-03 -7.98105401e+00] [-1.84842431e-02 4.96526789e-05 9.99829151e-01 -2.97643584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:-7.98, Z:-2.98 [[ 9.92380558e-01 1.21869086e-01 1.81315788e-02 1.02631377e+02] [-1.21848197e-01 9.92546183e-01 -2.25651600e-03 -7.98346972e+00] [-1.82714289e-02 3.00224227e-05 9.99833063e-01 -2.97624201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.66, Y:-7.99, Z:-2.98 [[ 9.92311872e-01 1.22463836e-01 1.78817728e-02 1.02663210e+02] [-1.22443550e-01 9.92472976e-01 -2.22904426e-03 -7.98789469e+00] [-1.80201536e-02 2.23993448e-05 9.99837624e-01 -2.97950836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:-7.99, Z:-2.98 [[ 9.92276481e-01 1.22796211e-01 1.75634770e-02 1.02696198e+02] [-1.22776639e-01 9.92431907e-01 -2.19238176e-03 -7.99292770e+00] [-1.76997711e-02 1.90641750e-05 9.99843347e-01 -2.98035853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:-8.00, Z:-2.98 [[ 9.92263393e-01 1.22976784e-01 1.70314429e-02 1.02728317e+02] [-1.22958355e-01 9.92409548e-01 -2.12900253e-03 -7.99852640e+00] [-1.71639844e-02 1.83730741e-05 9.99852688e-01 -2.98014660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:-8.00, Z:-2.98 [[ 9.92238833e-01 1.23174845e-01 1.70310179e-02 1.02760536e+02] [-1.23156387e-01 9.92384984e-01 -2.13239479e-03 -8.00275066e+00] [-1.71639838e-02 1.83662984e-05 9.99852688e-01 -2.98112750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:-8.01, Z:-2.98 [[ 9.92214420e-01 1.23356153e-01 1.71407039e-02 1.02792482e+02] [-1.23337420e-01 9.92362464e-01 -2.14981672e-03 -8.00768186e+00] [-1.72749843e-02 1.89889466e-05 9.99850776e-01 -2.98431203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:-8.01, Z:-2.98 [[ 9.92196798e-01 1.23509390e-01 1.70571087e-02 1.02825449e+02] [-1.23490808e-01 9.92343403e-01 -2.14241340e-03 -8.01243511e+00] [-1.71911174e-02 1.92995787e-05 9.99852222e-01 -2.98421014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:-8.02, Z:-2.99 [[ 9.92183332e-01 1.23631172e-01 1.69578763e-02 1.02857393e+02] [-1.23612764e-01 9.92328239e-01 -2.13344757e-03 -8.01779477e+00] [-1.70915401e-02 2.05611618e-05 9.99853929e-01 -2.98661168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.89, Y:-8.03, Z:-2.99 [[ 9.92211595e-01 1.23382558e-01 1.71141655e-02 1.02888501e+02] [-1.23363715e-01 9.92359181e-01 -2.15643373e-03 -8.02507336e+00] [-1.72494655e-02 2.83715155e-05 9.99851216e-01 -2.98837997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:-8.03, Z:-2.98 [[ 9.92199723e-01 1.23427638e-01 1.74736034e-02 1.02921329e+02] [-1.23407951e-01 9.92353575e-01 -2.20462868e-03 -8.02978207e+00] [-1.76121049e-02 3.10503680e-05 9.99844894e-01 -2.98486149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78587156 meters Centerline goodness [0,1] 0.9999787739853965 Centerline is valid? [True, True] Translation: X:102.95, Y:-8.04, Z:-2.99 [[ 9.92191641e-01 1.23443323e-01 1.78183749e-02 1.02952852e+02] [-1.23422786e-01 9.92351624e-01 -2.25194335e-03 -8.03563299e+00] [-1.79600806e-02 3.51659002e-05 9.99838704e-01 -2.98915593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.99, Y:-8.04, Z:-2.99 [[ 9.92155340e-01 1.23738638e-01 1.77913058e-02 1.02985989e+02] [-1.23718153e-01 9.92314843e-01 -2.25174647e-03 -8.04076150e+00] [-1.79332048e-02 3.29748040e-05 9.99839187e-01 -2.98767541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:-8.05, Z:-2.99 [[ 9.92112889e-01 1.24018155e-01 1.82075155e-02 1.03017814e+02] [-1.23996677e-01 9.92279949e-01 -2.30821062e-03 -8.04733479e+00] [-1.83532126e-02 3.23340786e-05 9.99831565e-01 -2.98877296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87587156000001 meters Centerline goodness [0,1] 0.9999351785830038 Centerline is valid? [True, True] Translation: X:103.05, Y:-8.05, Z:-2.99 [[ 9.92151988e-01 1.23685911e-01 1.83365198e-02 1.03050891e+02] [-1.23664014e-01 9.92321417e-01 -2.32763810e-03 -8.05255065e+00] [-1.84836174e-02 4.18031267e-05 9.99829162e-01 -2.98833410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:-8.06, Z:-2.99 [[ 9.92103496e-01 1.24088611e-01 1.82392340e-02 1.03082143e+02] [-1.24066944e-01 9.92271140e-01 -2.31907041e-03 -8.05785576e+00] [-1.83860358e-02 3.78718293e-05 9.99830962e-01 -2.98915362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:-8.07, Z:-2.99 [[ 9.92232509e-01 1.23145464e-01 1.76023348e-02 1.03112838e+02] [-1.23125075e-01 9.92388629e-01 -2.24151847e-03 -8.06687995e+00] [-1.77443897e-02 5.68187025e-05 9.99842554e-01 -2.99132654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:-8.07, Z:-2.99 [[ 9.92324614e-01 1.22447048e-01 1.72795135e-02 1.03143759e+02] [-1.22427252e-01 9.92475045e-01 -2.20280018e-03 -8.07395622e+00] [-1.74192123e-02 7.04094796e-05 9.99848272e-01 -2.99343055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99587156000001 meters Centerline goodness [0,1] 0.9999573151211183 Centerline is valid? [True, True] Translation: X:103.17, Y:-8.08, Z:-3.00 [[ 9.92459185e-01 1.21414687e-01 1.68297140e-02 1.03174239e+02] [-1.21395704e-01 9.92601867e-01 -2.14875788e-03 -8.08186311e+00] [-1.69660963e-02 8.94995082e-05 9.99856061e-01 -2.99676779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.21, Y:-8.09, Z:-3.00 [[ 9.92618594e-01 1.20109951e-01 1.67906755e-02 1.03205241e+02] [-1.20090828e-01 9.92760589e-01 -2.14625986e-03 -8.09398218e+00] [-1.69269081e-02 1.14011320e-04 9.99856723e-01 -2.99715645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.24, Y:-8.10, Z:-3.00 [[ 9.92640713e-01 1.19840038e-01 1.74005551e-02 1.03237629e+02] [-1.19819409e-01 9.92793206e-01 -2.22704283e-03 -8.10140166e+00] [-1.75420418e-02 1.25729164e-04 9.99846119e-01 -2.99648106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.27, Y:-8.11, Z:-3.00 [[ 9.92656241e-01 1.19612644e-01 1.80665896e-02 1.03268991e+02] [-1.19590297e-01 9.92820626e-01 -2.31617612e-03 -8.10857379e+00] [-1.82139268e-02 1.38577858e-04 9.99834103e-01 -2.99643727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11587156 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:103.30, Y:-8.11, Z:-3.00 [[ 9.92678568e-01 1.19393331e-01 1.82891809e-02 1.03301165e+02] [-1.19370335e-01 9.92847023e-01 -2.34785833e-03 -8.11471128e+00] [-1.84386774e-02 1.47483006e-04 9.99829982e-01 -2.99620784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.33, Y:-8.12, Z:-3.00 [[ 9.92543481e-01 1.20381614e-01 1.91234066e-02 1.03331971e+02] [-1.20356571e-01 9.92727680e-01 -2.45929850e-03 -8.12357318e+00] [-1.92803894e-02 1.39333048e-04 9.99814106e-01 -2.99660701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17587156 meters Centerline goodness [0,1] 0.9999572018574394 Centerline is valid? [True, True] Translation: X:103.36, Y:-8.13, Z:-3.00 [[ 9.92471356e-01 1.21009603e-01 1.89019338e-02 1.03363208e+02] [-1.20985191e-01 9.92651328e-01 -2.43396668e-03 -8.12866532e+00] [-1.90575631e-02 1.28788130e-04 9.99818380e-01 -2.99822100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:-8.13, Z:-3.00 [[ 9.92316572e-01 1.22337306e-01 1.84771470e-02 1.03396074e+02] [-1.22314153e-01 9.92488576e-01 -2.38225583e-03 -8.13291546e+00] [-1.86297961e-02 1.03935352e-04 9.99826445e-01 -2.99851406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:-8.14, Z:-3.00 [[ 9.92141162e-01 1.23750365e-01 1.84867904e-02 1.03426778e+02] [-1.23727357e-01 9.92313378e-01 -2.38758958e-03 -8.13724840e+00] [-1.86401545e-02 8.15041991e-05 9.99826254e-01 -3.00029126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26587156000001 meters Centerline goodness [0,1] 0.9998278940687993 Centerline is valid? [True, True] Translation: X:103.46, Y:-8.14, Z:-3.00 [[ 9.91872782e-01 1.25813819e-01 1.89543651e-02 1.03457531e+02] [-1.25789948e-01 9.92053870e-01 -2.45113787e-03 -8.14277379e+00] [-1.91121382e-02 4.69483360e-05 9.99817345e-01 -3.00102873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29587156000001 meters Centerline goodness [0,1] 0.9999573014517507 Centerline is valid? [True, True] Translation: X:103.49, Y:-8.15, Z:-3.00 [[ 9.91694194e-01 1.27186259e-01 1.91384800e-02 1.03490063e+02] [-1.27162127e-01 9.91878851e-01 -2.47759344e-03 -8.14764506e+00] [-1.92981694e-02 2.33252114e-05 9.99813773e-01 -3.00111916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:-8.15, Z:-3.00 [[ 9.91515965e-01 1.28525899e-01 1.94212226e-02 1.03522888e+02] [-1.28501230e-01 9.91706153e-01 -2.51808270e-03 -8.15252747e+00] [-1.95837848e-02 1.06820858e-06 9.99808219e-01 -3.00154536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35587156000001 meters Centerline goodness [0,1] 0.9998934288211097 Centerline is valid? [True, True] Translation: X:103.55, Y:-8.16, Z:-3.00 [[ 9.91282029e-01 1.30274372e-01 1.97110917e-02 1.03554082e+02] [-1.30249225e-01 9.91477981e-01 -2.55975064e-03 -8.15806139e+00] [-1.98765833e-02 -2.99196224e-05 9.99802441e-01 -3.00287333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.59, Y:-8.16, Z:-3.00 [[ 9.91142542e-01 1.31292337e-01 1.99695458e-02 1.03587193e+02] [-1.31266660e-01 9.91343694e-01 -2.59692411e-03 -8.16316449e+00] [-2.01376395e-02 -4.74136219e-05 9.99797216e-01 -3.00254358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41587156000001 meters Centerline goodness [0,1] 0.9998293952060053 Centerline is valid? [True, True] Translation: X:103.62, Y:-8.17, Z:-3.01 [[ 9.91077732e-01 1.31808758e-01 1.97833565e-02 1.03618366e+02] [-1.31783582e-01 9.91275163e-01 -2.57659963e-03 -8.16751976e+00] [-1.99503684e-02 -5.35110823e-05 9.99800970e-01 -3.00516727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:-8.17, Z:-3.01 [[ 9.90968946e-01 1.32629966e-01 1.97443668e-02 1.03650618e+02] [-1.32604985e-01 9.91165621e-01 -2.57492307e-03 -8.17366671e+00] [-1.99114495e-02 -6.65326516e-05 9.99801745e-01 -3.00606418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:-8.18, Z:-3.01 [[ 9.90922332e-01 1.32905532e-01 2.02250240e-02 1.03683490e+02] [-1.32879296e-01 9.91128707e-01 -2.64154735e-03 -8.18017468e+00] [-2.03966782e-02 -6.99187081e-05 9.99791964e-01 -3.00525098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50587156 meters Centerline goodness [0,1] 0.9997643025498179 Centerline is valid? [True, True] Translation: X:103.71, Y:-8.19, Z:-3.01 [[ 9.90956875e-01 1.32546142e-01 2.08804249e-02 1.03714031e+02] [-1.32518001e-01 9.91176834e-01 -2.73179050e-03 -8.18601054e+00] [-2.10582818e-02 -5.99455938e-05 9.99778248e-01 -3.00626674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:-8.19, Z:-3.01 [[ 9.90882271e-01 1.33073047e-01 2.10686957e-02 1.03745441e+02] [-1.33044437e-01 9.91106230e-01 -2.76014220e-03 -8.19179687e+00] [-2.12486161e-02 -6.80967843e-05 9.99774220e-01 -3.00676616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56587156 meters Centerline goodness [0,1] 0.999978581678768 Centerline is valid? [True, True] Translation: X:103.78, Y:-8.20, Z:-3.01 [[ 9.90837032e-01 1.33373725e-01 2.12937967e-02 1.03777583e+02] [-1.33344526e-01 9.91065812e-01 -2.79163096e-03 -8.19807184e+00] [-2.14758842e-02 -7.33599113e-05 9.99769364e-01 -3.00749076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.81, Y:-8.20, Z:-3.01 [[ 9.90769577e-01 1.33881413e-01 2.12464540e-02 1.03809831e+02] [-1.33852373e-01 9.90997357e-01 -2.78952276e-03 -8.20288117e+00] [-2.14286450e-02 -8.01139944e-05 9.99770377e-01 -3.00859801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:-8.21, Z:-3.01 [[ 9.90672688e-01 1.34688298e-01 2.06564131e-02 1.03840239e+02] [-1.34660938e-01 9.90888013e-01 -2.71619242e-03 -8.20672616e+00] [-2.08340314e-02 -9.07543173e-05 9.99782944e-01 -3.01048956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:-8.21, Z:-3.01 [[ 9.90470745e-01 1.36327753e-01 1.95562710e-02 1.03871994e+02] [-1.36303475e-01 9.90663783e-01 -2.57531956e-03 -8.20840772e+00] [-1.97247770e-02 -1.14809009e-04 9.99805441e-01 -3.01380047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:-8.21, Z:-3.02 [[ 9.90319254e-01 1.37477281e-01 1.91773781e-02 1.03902707e+02] [-1.37454148e-01 9.90504911e-01 -2.52551079e-03 -8.21031635e+00] [-1.93424876e-02 -1.34948219e-04 9.99812907e-01 -3.01689477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:-8.21, Z:-3.02 [[ 9.90151942e-01 1.38696964e-01 1.90337785e-02 1.03934796e+02] [-1.38674348e-01 9.90334857e-01 -2.50938890e-03 -8.21391618e+00] [-1.91978589e-02 -1.54820527e-04 9.99815692e-01 -3.01761123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.97, Y:-8.21, Z:-3.02 [[ 9.89760216e-01 1.41350906e-01 1.98654297e-02 1.03967287e+02] [-1.41326735e-01 9.89959533e-01 -2.62251419e-03 -8.21462102e+00] [-2.00366663e-02 -2.11856111e-04 9.99799223e-01 -3.01632497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77587156000001 meters Centerline goodness [0,1] 0.9998933424347789 Centerline is valid? [True, True] Translation: X:104.00, Y:-8.22, Z:-3.02 [[ 9.89548386e-01 1.42775170e-01 2.02297415e-02 1.03999105e+02] [-1.42750333e-01 9.89755117e-01 -2.67395805e-03 -8.21731185e+00] [-2.04042650e-02 -2.41791472e-04 9.99791782e-01 -3.01640132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80587156000001 meters Centerline goodness [0,1] 0.9999574033055035 Centerline is valid? [True, True] Translation: X:104.03, Y:-8.22, Z:-3.02 [[ 9.89330149e-01 1.44219763e-01 2.06522863e-02 1.04030554e+02] [-1.44194114e-01 9.89545646e-01 -2.73355496e-03 -8.21758294e+00] [-2.08306126e-02 -2.73549784e-04 9.99782982e-01 -3.01696538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.06, Y:-8.22, Z:-3.02 [[ 9.89060969e-01 1.45962664e-01 2.12908376e-02 1.04062665e+02] [-1.45935735e-01 9.89290049e-01 -2.82146206e-03 -8.21814335e+00] [-2.14746419e-02 -3.16496036e-04 9.99769343e-01 -3.01619838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:-8.22, Z:-3.02 [[ 9.89058048e-01 1.45894687e-01 2.18842008e-02 1.04094067e+02] [-1.45866132e-01 9.89300075e-01 -2.90404221e-03 -8.22035022e+00] [-2.20737258e-02 -3.19897404e-04 9.99756294e-01 -3.01727146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.13, Y:-8.23, Z:-3.02 [[ 9.89149299e-01 1.45179104e-01 2.25098303e-02 1.04125412e+02] [-1.45148627e-01 9.89405343e-01 -2.99063232e-03 -8.22618639e+00] [-2.27055236e-02 -3.09089102e-04 9.99742149e-01 -3.01700469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.16, Y:-8.23, Z:-3.02 [[ 9.89303926e-01 1.44024627e-01 2.31224898e-02 1.04157543e+02] [-1.43992044e-01 9.89574063e-01 -3.07667688e-03 -8.23252292e+00] [-2.33245334e-02 -2.85686072e-04 9.99727905e-01 -3.01688488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:-8.24, Z:-3.02 [[ 9.89779471e-01 1.40738933e-01 2.30033008e-02 1.04187923e+02] [-1.40705785e-01 9.90046721e-01 -3.06140706e-03 -8.24480550e+00] [-2.32052017e-02 -2.06579622e-04 9.99730702e-01 -3.01825176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.22, Y:-8.25, Z:-3.02 [[ 9.90046161e-01 1.38899735e-01 2.27038131e-02 1.04218730e+02] [-1.38866871e-01 9.90306437e-01 -3.02545919e-03 -8.25215973e+00] [-2.29039678e-02 -1.57463221e-04 9.99737657e-01 -3.01941698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:-8.26, Z:-3.02 [[ 9.90492543e-01 1.35821531e-01 2.18410872e-02 1.04249808e+02] [-1.35790298e-01 9.90733317e-01 -2.91368384e-03 -8.25996866e+00] [-2.20344338e-02 -7.98256253e-05 9.99757209e-01 -3.02223155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:-8.27, Z:-3.03 [[ 9.90677274e-01 1.34603010e-01 2.09897352e-02 1.04280965e+02] [-1.34573822e-01 9.90899605e-01 -2.80336952e-03 -8.26633521e+00] [-2.11760623e-02 -4.74344253e-05 9.99775761e-01 -3.02624064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:-8.27, Z:-3.03 [[ 9.90786860e-01 1.33832428e-01 2.07431872e-02 1.04313349e+02] [-1.33803677e-01 9.91003976e-01 -2.77407376e-03 -8.27336142e+00] [-2.09278420e-02 -2.69988897e-05 9.99780988e-01 -3.02754498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:-8.28, Z:-3.03 [[ 9.90802515e-01 1.33634767e-01 2.12632392e-02 1.04345506e+02] [-1.33604423e-01 9.91030650e-01 -2.84770210e-03 -8.27911493e+00] [-2.14530738e-02 -1.93524136e-05 9.99769856e-01 -3.02618867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.38, Y:-8.28, Z:-3.03 [[ 9.90762180e-01 1.33848119e-01 2.17940997e-02 1.04375874e+02] [-1.33816177e-01 9.91001857e-01 -2.92405765e-03 -8.28373682e+00] [-2.19893729e-02 -1.93573739e-05 9.99758204e-01 -3.02674650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.41, Y:-8.29, Z:-3.03 [[ 9.90711909e-01 1.34141590e-01 2.22698914e-02 1.04407082e+02] [-1.34108276e-01 9.90962175e-01 -2.98950024e-03 -8.28865608e+00] [-2.24696363e-02 -2.48432571e-05 9.99747526e-01 -3.02696884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:-8.29, Z:-3.03 [[ 9.90690249e-01 1.34157251e-01 2.31227794e-02 1.04438559e+02] [-1.34121238e-01 9.90960056e-01 -3.10835457e-03 -8.29409239e+00] [-2.33307591e-02 -2.18392444e-05 9.99727801e-01 -3.02684999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.47, Y:-8.30, Z:-3.03 [[ 9.90656917e-01 1.34324009e-01 2.35782559e-02 1.04471074e+02] [-1.34286520e-01 9.90937465e-01 -3.17339779e-03 -8.29886410e+00] [-2.37908406e-02 -2.24934627e-05 9.99716958e-01 -3.02677235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:-8.30, Z:-3.03 [[ 9.90616076e-01 1.34583797e-01 2.38116005e-02 1.04504043e+02] [-1.34545529e-01 9.90902216e-01 -3.20929978e-03 -8.30418953e+00] [-2.40268874e-02 -2.45604293e-05 9.99711312e-01 -3.02745507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.54, Y:-8.31, Z:-3.03 [[ 9.90592045e-01 1.34784047e-01 2.36783032e-02 1.04536223e+02] [-1.34746155e-01 9.90874997e-01 -3.19586639e-03 -8.31020976e+00] [-2.38929905e-02 -2.47604985e-05 9.99714521e-01 -3.02863620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31587156 meters Centerline goodness [0,1] 0.9998286974582985 Centerline is valid? [True, True] Translation: X:104.57, Y:-8.32, Z:-3.03 [[ 9.90611070e-01 1.34547262e-01 2.42227798e-02 1.04568347e+02] [-1.34507420e-01 9.90907177e-01 -3.27412736e-03 -8.31664944e+00] [-2.44430512e-02 -1.47568135e-05 9.99701224e-01 -3.02960903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:-8.32, Z:-3.03 [[ 9.90616142e-01 1.34518862e-01 2.41730231e-02 1.04599118e+02] [-1.34479059e-01 9.90911033e-01 -3.27219033e-03 -8.32434588e+00] [-2.43934866e-02 -9.28082564e-06 9.99702435e-01 -3.03091039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:-8.33, Z:-3.03 [[ 9.90606494e-01 1.34624795e-01 2.39778739e-02 1.04630744e+02] [-1.34585556e-01 9.90896647e-01 -3.25015582e-03 -8.33029935e+00] [-2.41971464e-02 -7.45003250e-06 9.99707206e-01 -3.03268456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:-8.34, Z:-3.03 [[ 9.90613540e-01 1.34620871e-01 2.37072831e-02 1.04663616e+02] [-1.34582418e-01 9.90897180e-01 -3.21737347e-03 -8.33691290e+00] [-2.39246055e-02 -3.40976651e-06 9.99713766e-01 -3.03342463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:-8.34, Z:-3.04 [[ 9.90568157e-01 1.35040466e-01 2.32120342e-02 1.04694562e+02] [-1.35003619e-01 9.90840084e-01 -3.15445381e-03 -8.34286037e+00] [-2.34253928e-02 -9.00711620e-06 9.99725588e-01 -3.03533271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.73, Y:-8.35, Z:-3.04 [[ 9.90460287e-01 1.35993808e-01 2.22284568e-02 1.04727016e+02] [-1.35960178e-01 9.90709687e-01 -3.02431431e-03 -8.34899272e+00] [-2.24332355e-02 -2.67217344e-05 9.99748343e-01 -3.03729080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.76, Y:-8.35, Z:-3.04 [[ 9.90337923e-01 1.36837520e-01 2.25009134e-02 1.04759589e+02] [-1.36803180e-01 9.90593505e-01 -3.06570509e-03 -8.35367620e+00] [-2.27087622e-02 -4.21124956e-05 9.99742122e-01 -3.03786754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:-8.36, Z:-3.04 [[ 9.90311919e-01 1.37025686e-01 2.25003294e-02 1.04791744e+02] [-1.36991297e-01 9.90567494e-01 -3.06998428e-03 -8.35825469e+00] [-2.27087616e-02 -4.21072978e-05 9.99742122e-01 -3.03884839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:-8.36, Z:-3.04 [[ 9.90147503e-01 1.38167001e-01 2.27552546e-02 1.04824196e+02] [-1.38132028e-01 9.90408944e-01 -3.10923017e-03 -8.36297879e+00] [-2.29666007e-02 -6.46329639e-05 9.99736231e-01 -3.03990566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.86, Y:-8.37, Z:-3.04 [[ 9.89959907e-01 1.39439298e-01 2.31530577e-02 1.04857233e+02] [-1.39403332e-01 9.90230616e-01 -3.16817352e-03 -8.36772229e+00] [-2.33686345e-02 -9.12486170e-05 9.99726912e-01 -3.04023065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61587156 meters Centerline goodness [0,1] 0.9998926992574788 Centerline is valid? [True, True] Translation: X:104.89, Y:-8.37, Z:-3.04 [[ 9.89678374e-01 1.41361567e-01 2.35291866e-02 1.04890309e+02] [-1.41324854e-01 9.89958024e-01 -3.22432911e-03 -8.37247832e+00] [-2.37487033e-02 -1.34210082e-04 9.99717951e-01 -3.04150177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:-8.38, Z:-3.04 [[ 9.89541346e-01 1.42280417e-01 2.37530572e-02 1.04922073e+02] [-1.42243150e-01 9.89826378e-01 -3.25985226e-03 -8.37687860e+00] [-2.39752158e-02 -1.52951096e-04 9.99712542e-01 -3.04156782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.95, Y:-8.38, Z:-3.04 [[ 9.89378260e-01 1.43371961e-01 2.39820709e-02 1.04953856e+02] [-1.43334183e-01 9.89668859e-01 -3.29580592e-03 -8.38066948e+00] [-2.42068348e-02 -1.76651816e-04 9.99706956e-01 -3.04299744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.99, Y:-8.39, Z:-3.04 [[ 9.89215581e-01 1.44514254e-01 2.38361896e-02 1.04985433e+02] [-1.44477161e-01 9.89502699e-01 -3.28010687e-03 -8.38600442e+00] [-2.40599961e-02 -1.99052185e-04 9.99710497e-01 -3.04376286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.02, Y:-8.39, Z:-3.05 [[ 9.88915492e-01 1.46593351e-01 2.35911008e-02 1.05016173e+02] [-1.46557514e-01 9.89196811e-01 -3.25034176e-03 -8.38950070e+00] [-2.38127202e-02 -2.43139764e-04 9.99716407e-01 -3.04550445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76587156000001 meters Centerline goodness [0,1] 0.9999570123589469 Centerline is valid? [True, True] Translation: X:105.05, Y:-8.39, Z:-3.05 [[ 9.88778552e-01 1.47528931e-01 2.34987109e-02 1.05048262e+02] [-1.47493554e-01 9.89057706e-01 -3.24114633e-03 -8.39391418e+00] [-2.37197439e-02 -2.61132412e-04 9.99718613e-01 -3.04697060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.08, Y:-8.40, Z:-3.05 [[ 9.88606381e-01 1.48696652e-01 2.33822425e-02 1.05078785e+02] [-1.48661858e-01 9.88882817e-01 -3.22904743e-03 -8.39783085e+00] [-2.36024464e-02 -2.83790731e-04 9.99721383e-01 -3.04813976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:-8.40, Z:-3.05 [[ 9.88453693e-01 1.49820264e-01 2.26535977e-02 1.05109135e+02] [-1.49787811e-01 9.88713204e-01 -3.13229671e-03 -8.40198361e+00] [-2.28671927e-02 -2.97102573e-04 9.99738467e-01 -3.05048531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:-8.41, Z:-3.05 [[ 9.88129049e-01 1.52032590e-01 2.20697451e-02 1.05141256e+02] [-1.52002317e-01 9.88375423e-01 -3.05265145e-03 -8.40700695e+00] [-2.22772962e-02 -3.38238810e-04 9.99751773e-01 -3.05143814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:-8.41, Z:-3.05 [[ 9.87936236e-01 1.53265559e-01 2.21734445e-02 1.05173377e+02] [-1.53235228e-01 9.88184970e-01 -3.07067729e-03 -8.41163872e+00] [-2.23820937e-02 -3.64119466e-04 9.99749423e-01 -3.05167114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:-8.41, Z:-3.05 [[ 9.87739942e-01 1.54457244e-01 2.26443747e-02 1.05205216e+02] [-1.54425832e-01 9.87999394e-01 -3.13991891e-03 -8.41423725e+00] [-2.28576117e-02 -3.95453074e-04 9.99738652e-01 -3.05216565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94587156 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:105.24, Y:-8.42, Z:-3.05 [[ 9.87455442e-01 1.56186219e-01 2.31865313e-02 1.05237440e+02] [-1.56153664e-01 9.87727528e-01 -3.21920319e-03 -8.41759089e+00] [-2.34047704e-02 -4.41842118e-04 9.99725973e-01 -3.05261394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.27, Y:-8.42, Z:-3.05 [[ 9.87386771e-01 1.56559451e-01 2.35903060e-02 1.05270456e+02] [-1.56525764e-01 9.87668432e-01 -3.27926985e-03 -8.42251988e+00] [-2.38128012e-02 -4.54583009e-04 9.99716332e-01 -3.05300545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:-8.43, Z:-3.05 [[ 9.87375055e-01 1.56536833e-01 2.42223204e-02 1.05301683e+02] [-1.56501185e-01 9.87672014e-01 -3.37223477e-03 -8.42571850e+00] [-2.44515869e-02 -4.61161352e-04 9.99700909e-01 -3.05345672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:-8.43, Z:-3.05 [[ 9.87459121e-01 1.55961143e-01 2.45072789e-02 1.05333690e+02] [-1.55924377e-01 9.87763090e-01 -3.41578238e-03 -8.43108146e+00] [-2.47401148e-02 -4.48336734e-04 9.99693816e-01 -3.05410536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06587156 meters Centerline goodness [0,1] 0.9998710703311343 Centerline is valid? [True, True] Translation: X:105.37, Y:-8.44, Z:-3.06 [[ 9.87820489e-01 1.53661683e-01 2.44697324e-02 1.05365057e+02] [-1.53624224e-01 9.88123443e-01 -3.41460828e-03 -8.44059934e+00] [-2.47038106e-02 -3.86123632e-04 9.99694740e-01 -3.05655140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09587156 meters Centerline goodness [0,1] 0.9999574286930609 Centerline is valid? [True, True] Translation: X:105.40, Y:-8.45, Z:-3.06 [[ 9.88049336e-01 1.52217158e-01 2.42579164e-02 1.05395665e+02] [-1.52179802e-01 9.88347014e-01 -3.38943781e-03 -8.44831036e+00] [-2.44911698e-02 -3.42633139e-04 9.99699988e-01 -3.05743623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:-8.46, Z:-3.06 [[ 9.88312229e-01 1.50530001e-01 2.40760557e-02 1.05425857e+02] [-1.50492656e-01 9.88605397e-01 -3.36596482e-03 -8.45551238e+00] [-2.43083973e-02 -2.96645372e-04 9.99704463e-01 -3.05882110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15587156000001 meters Centerline goodness [0,1] 0.9998934129183543 Centerline is valid? [True, True] Translation: X:105.46, Y:-8.47, Z:-3.06 [[ 9.88852793e-01 1.46971332e-01 2.38658947e-02 1.05456551e+02] [-1.46933514e-01 9.89140731e-01 -3.34010842e-03 -8.46785339e+00] [-2.40976287e-02 -2.03824223e-04 9.99709589e-01 -3.06090379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.49, Y:-8.48, Z:-3.06 [[ 9.89096584e-01 1.45265982e-01 2.42020891e-02 1.05487905e+02] [-1.45226481e-01 9.89392626e-01 -3.39124119e-03 -8.47646949e+00] [-2.44380004e-02 -1.60519144e-04 9.99701335e-01 -3.06061829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.52, Y:-8.49, Z:-3.06 [[ 9.89277307e-01 1.44014220e-01 2.42964019e-02 1.05519109e+02] [-1.43973932e-01 9.89575610e-01 -3.40854067e-03 -8.48502475e+00] [-2.45340050e-02 -1.26056591e-04 9.99698988e-01 -3.06122656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24587156000001 meters Centerline goodness [0,1] 0.9999148029818956 Centerline is valid? [True, True] Translation: X:105.55, Y:-8.50, Z:-3.06 [[ 9.89647795e-01 1.41508621e-01 2.39280487e-02 1.05548471e+02] [-1.41468714e-01 9.89937022e-01 -3.36097533e-03 -8.49629087e+00] [-2.41628683e-02 -5.88884555e-05 9.99708034e-01 -3.06322986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.58, Y:-8.50, Z:-3.06 [[ 9.89739389e-01 1.40759391e-01 2.45506882e-02 1.05580749e+02] [-1.40717054e-01 9.90043834e-01 -3.45229105e-03 -8.50460428e+00] [-2.47921998e-02 -3.78320728e-05 9.99692625e-01 -3.06282399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.61, Y:-8.51, Z:-3.06 [[ 9.89761326e-01 1.40501039e-01 2.51391282e-02 1.05613025e+02] [-1.40456442e-01 9.90080531e-01 -3.53987053e-03 -8.51276254e+00] [-2.53871169e-02 -2.73255607e-05 9.99677695e-01 -3.06250769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33587156 meters Centerline goodness [0,1] 0.9998932513503704 Centerline is valid? [True, True] Translation: X:105.64, Y:-8.52, Z:-3.06 [[ 9.89767942e-01 1.40396325e-01 2.54616024e-02 1.05644791e+02] [-1.40350417e-01 9.90095385e-01 -3.59011435e-03 -8.52020448e+00] [-2.57134539e-02 -2.01664413e-05 9.99669354e-01 -3.06331921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.68, Y:-8.53, Z:-3.06 [[ 9.89697721e-01 1.40755012e-01 2.62001319e-02 1.05676566e+02] [-1.40706393e-01 9.90044457e-01 -3.69933492e-03 -8.52887085e+00] [-2.64599953e-02 -2.53027206e-05 9.99649873e-01 -3.06216302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.71, Y:-8.53, Z:-3.06 [[ 9.89600094e-01 1.41416736e-01 2.63241577e-02 1.05707664e+02] [-1.41367754e-01 9.89950153e-01 -3.72194001e-03 -8.53446395e+00] [-2.65859486e-02 -3.81548721e-05 9.99646530e-01 -3.06276212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.74, Y:-8.54, Z:-3.06 [[ 9.89511028e-01 1.42046599e-01 2.62809633e-02 1.05739768e+02] [-1.41997877e-01 9.89859971e-01 -3.72045223e-03 -8.54063300e+00] [-2.65429511e-02 -5.04124685e-05 9.99647673e-01 -3.06460082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:-8.55, Z:-3.07 [[ 9.89333939e-01 1.43624622e-01 2.42966029e-02 1.05771150e+02] [-1.43583350e-01 9.89632235e-01 -3.44388604e-03 -8.54843190e+00] [-2.45393282e-02 -8.14342943e-05 9.99698862e-01 -3.06883408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.80, Y:-8.55, Z:-3.07 [[ 9.89218358e-01 1.44508813e-01 2.37538069e-02 1.05802159e+02] [-1.44469528e-01 9.89503509e-01 -3.37076402e-03 -8.55439150e+00] [-2.39915804e-02 -9.72796164e-05 9.99712156e-01 -3.07125755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:-8.56, Z:-3.07 [[ 9.89082869e-01 1.45518491e-01 2.32260051e-02 1.05834210e+02] [-1.45481117e-01 9.89355525e-01 -3.29984818e-03 -8.56031178e+00] [-2.34589654e-02 -1.15121865e-04 9.99724794e-01 -3.07251082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:-8.57, Z:-3.07 [[ 9.88862681e-01 1.46938200e-01 2.36593310e-02 1.05866305e+02] [-1.46899703e-01 9.89145664e-01 -3.36653864e-03 -8.56504244e+00] [-2.38971978e-02 -1.46504251e-04 9.99714410e-01 -3.07326589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.90, Y:-8.57, Z:-3.07 [[ 9.88313626e-01 1.50454495e-01 2.44871771e-02 1.05897872e+02] [-1.50414263e-01 9.88616907e-01 -3.48720144e-03 -8.56796355e+00] [-2.47331024e-02 -2.36772005e-04 9.99694062e-01 -3.07262021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:-8.57, Z:-3.07 [[ 9.87952188e-01 1.52830796e-01 2.43561591e-02 1.05928953e+02] [-1.52791624e-01 9.88252328e-01 -3.47225977e-03 -8.56997590e+00] [-2.46006991e-02 -2.90990455e-04 9.99697315e-01 -3.07358345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:-8.57, Z:-3.07 [[ 9.87564549e-01 1.55269094e-01 2.46529746e-02 1.05961078e+02] [-1.55229627e-01 9.87872150e-01 -3.51833460e-03 -8.57291982e+00] [-2.49002757e-02 -3.52289526e-04 9.99689878e-01 -3.07437678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:-8.58, Z:-3.07 [[ 9.87143270e-01 1.57857880e-01 2.50809557e-02 1.05993171e+02] [-1.57817759e-01 9.87461753e-01 -3.58360309e-03 -8.57507785e+00] [-2.53321845e-02 -4.20690558e-04 9.99679000e-01 -3.07446945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:-8.57, Z:-3.08 [[ 9.86203397e-01 1.63626608e-01 2.50837168e-02 1.06023950e+02] [-1.63588224e-01 9.86522182e-01 -3.58861650e-03 -8.57288409e+00] [-2.53328361e-02 -5.64294893e-04 9.99678913e-01 -3.07578247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72587156 meters Centerline goodness [0,1] 0.9999140376515087 Centerline is valid? [True, True] Translation: X:106.06, Y:-8.58, Z:-3.08 [[ 9.85738366e-01 1.66418059e-01 2.49980647e-02 1.06055849e+02] [-1.66380801e-01 9.86055084e-01 -3.57766126e-03 -8.57689196e+00] [-2.52448562e-02 -6.32560051e-04 9.99681098e-01 -3.07662643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75587156 meters Centerline goodness [0,1] 0.9999573315128112 Centerline is valid? [True, True] Translation: X:106.09, Y:-8.58, Z:-3.08 [[ 9.85268041e-01 1.69231654e-01 2.46482265e-02 1.06087750e+02] [-1.69196285e-01 9.85576058e-01 -3.52859507e-03 -8.57804801e+00] [-2.48898519e-02 -6.93776406e-04 9.99689959e-01 -3.07816849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78587156 meters Centerline goodness [0,1] 0.9998719398971251 Centerline is valid? [True, True] Translation: X:106.12, Y:-8.57, Z:-3.08 [[ 9.84383599e-01 1.74329918e-01 2.44542280e-02 1.06118998e+02] [-1.74296618e-01 9.84686964e-01 -3.50307085e-03 -8.57386606e+00] [-2.46904496e-02 -8.13923767e-04 9.99694813e-01 -3.07950573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81587156 meters Centerline goodness [0,1] 0.9994476663904999 Centerline is valid? [True, True] Translation: X:106.15, Y:-8.57, Z:-3.08 [[ 9.84023080e-01 1.76427564e-01 2.39142782e-02 1.06150045e+02] [-1.76396333e-01 9.84313262e-01 -3.42589323e-03 -8.56622631e+00] [-2.41435631e-02 -8.47232975e-04 9.99708143e-01 -3.08240570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84587156 meters Centerline goodness [0,1] 0.9988600379987334 Centerline is valid? [True, True] Translation: X:106.18, Y:-8.57, Z:-3.08 [[ 9.83705760e-01 1.78234687e-01 2.35663725e-02 1.06181869e+02] [-1.78204886e-01 9.83987614e-01 -3.37560099e-03 -8.56718403e+00] [-2.37906678e-02 -8.79044589e-04 9.99716576e-01 -3.08379531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87587156000001 meters Centerline goodness [0,1] 0.9995109920483055 Centerline is valid? [True, True] Translation: X:106.21, Y:-8.57, Z:-3.08 [[ 9.83500597e-01 1.79340326e-01 2.37407391e-02 1.06213420e+02] [-1.79310376e-01 9.83786672e-01 -3.40176595e-03 -8.57424668e+00] [-2.39658966e-02 -9.11322029e-04 9.99712361e-01 -3.08419362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90587156000001 meters Centerline goodness [0,1] 0.9994692482432117 Centerline is valid? [True, True] Translation: X:106.25, Y:-8.58, Z:-3.08 [[ 9.83236708e-01 1.80723612e-01 2.41775121e-02 1.06245342e+02] [-1.80692870e-01 9.83533455e-01 -3.46835436e-03 -8.57538784e+00] [-2.44062055e-02 -9.58490720e-04 9.99701665e-01 -3.08437823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93587156000001 meters Centerline goodness [0,1] 0.9992417700457045 Centerline is valid? [True, True] Translation: X:106.28, Y:-8.58, Z:-3.08 [[ 9.83170476e-01 1.81042116e-01 2.44860501e-02 1.06277592e+02] [-1.81010595e-01 9.83474860e-01 -3.51615600e-03 -8.57739690e+00] [-2.47179870e-02 -9.75253729e-04 9.99693988e-01 -3.08486162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96587156000001 meters Centerline goodness [0,1] 0.9996777589207072 Centerline is valid? [True, True] Translation: X:106.31, Y:-8.59, Z:-3.08 [[ 9.83164549e-01 1.80994000e-01 2.50727093e-02 1.06309121e+02] [-1.80960824e-01 9.83483699e-01 -3.60476913e-03 -8.58561004e+00] [-2.53110425e-02 -9.93096918e-04 9.99679131e-01 -3.08445042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99587156000001 meters Centerline goodness [0,1] 0.9969166202732217 Centerline is valid? [True, True] Translation: X:106.34, Y:-8.58, Z:-3.09 [[ 9.83245354e-01 1.80560144e-01 2.50321487e-02 1.06341905e+02] [-1.80526830e-01 9.83563461e-01 -3.60311976e-03 -8.57697272e+00] [-2.52712867e-02 -9.76223697e-04 9.99680153e-01 -3.08713583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02587156000001 meters Centerline goodness [0,1] 0.9998508098891731 Centerline is valid? [True, True] Translation: X:106.37, Y:-8.59, Z:-3.09 [[ 9.83600712e-01 1.78643980e-01 2.48186922e-02 1.06371695e+02] [-1.78610513e-01 9.83913356e-01 -3.57673975e-03 -8.59357587e+00] [-2.50584057e-02 -9.14795571e-04 9.99685570e-01 -3.08716534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05587156000001 meters Centerline goodness [0,1] 0.9999146593842675 Centerline is valid? [True, True] Translation: X:106.40, Y:-8.60, Z:-3.09 [[ 9.83829001e-01 1.77377268e-01 2.48555982e-02 1.06403129e+02] [-1.77343291e-01 9.84142532e-01 -3.58230615e-03 -8.59696484e+00] [-2.50968710e-02 -8.83596906e-04 9.99684633e-01 -3.08871864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08587156 meters Centerline goodness [0,1] 0.9997436554729556 Centerline is valid? [True, True] Translation: X:106.43, Y:-8.60, Z:-3.09 [[ 9.84170068e-01 1.75544213e-01 2.43619692e-02 1.06433683e+02] [-1.75510896e-01 9.84471210e-01 -3.51588280e-03 -8.60223766e+00] [-2.46008501e-02 -8.15564416e-04 9.99697021e-01 -3.09029540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11587156 meters Centerline goodness [0,1] 0.999828642419569 Centerline is valid? [True, True] Translation: X:106.46, Y:-8.61, Z:-3.09 [[ 9.84857469e-01 1.71639457e-01 2.44062020e-02 1.06463562e+02] [-1.71604803e-01 9.85159571e-01 -3.52293579e-03 -8.61272751e+00] [-2.46486783e-02 -7.18631868e-04 9.99695917e-01 -3.09037553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14587156 meters Centerline goodness [0,1] 0.9999787048276155 Centerline is valid? [True, True] Translation: X:106.49, Y:-8.62, Z:-3.09 [[ 9.85215840e-01 1.69537572e-01 2.46325027e-02 1.06493574e+02] [-1.69501612e-01 9.85523495e-01 -3.55574328e-03 -8.61663031e+00] [-2.48787422e-02 -6.72074316e-04 9.99690250e-01 -3.09128771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17587156 meters Centerline goodness [0,1] 0.9999575596816976 Centerline is valid? [True, True] Translation: X:106.52, Y:-8.62, Z:-3.09 [[ 9.85621916e-01 1.67191085e-01 2.44249823e-02 1.06523754e+02] [-1.67155003e-01 9.85924324e-01 -3.52601675e-03 -8.62262634e+00] [-2.46707027e-02 -6.07438597e-04 9.99695447e-01 -3.09235475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:-8.63, Z:-3.09 [[ 9.86488670e-01 1.62020118e-01 2.42813695e-02 1.06552860e+02] [-1.61982876e-01 9.86787341e-01 -3.50598627e-03 -8.63332651e+00] [-2.45285883e-02 -4.74550316e-04 9.99699016e-01 -3.09360838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:-8.64, Z:-3.09 [[ 9.86902503e-01 1.59432485e-01 2.45912888e-02 1.06584597e+02] [-1.59393494e-01 9.87208747e-01 -3.55025299e-03 -8.64165139e+00] [-2.48427611e-02 -4.15937887e-04 9.99691284e-01 -3.09435027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.61, Y:-8.65, Z:-3.10 [[ 9.87286549e-01 1.56970477e-01 2.50107898e-02 1.06614990e+02] [-1.56929303e-01 9.87603231e-01 -3.61284418e-03 -8.64740347e+00] [-2.52678467e-02 -3.58013343e-04 9.99680653e-01 -3.09529915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29587156000001 meters Centerline goodness [0,1] 0.9999141741406686 Centerline is valid? [True, True] Translation: X:106.65, Y:-8.65, Z:-3.10 [[ 9.87650627e-01 1.54668617e-01 2.49771418e-02 1.06645903e+02] [-1.54626720e-01 9.87966362e-01 -3.61185906e-03 -8.65477360e+00] [-2.52352172e-02 -2.94878644e-04 9.99681498e-01 -3.09633903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32587156000001 meters Centerline goodness [0,1] 0.9998298089605582 Centerline is valid? [True, True] Translation: X:106.68, Y:-8.67, Z:-3.10 [[ 9.88295866e-01 1.50515915e-01 2.48241916e-02 1.06676600e+02] [-1.50473120e-01 9.88607569e-01 -3.59369964e-03 -8.66624209e+00] [-2.50822927e-02 -1.83735065e-04 9.99685373e-01 -3.09736708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:-8.67, Z:-3.10 [[ 9.88564794e-01 1.48760729e-01 2.46960169e-02 1.06708052e+02] [-1.48717727e-01 9.88873211e-01 -3.57916331e-03 -8.67371661e+00] [-2.49536685e-02 -1.34500664e-04 9.99688600e-01 -3.09834549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38587156000001 meters Centerline goodness [0,1] 0.999893166958677 Centerline is valid? [True, True] Translation: X:106.74, Y:-8.68, Z:-3.10 [[ 9.88872536e-01 1.46729199e-01 2.45285608e-02 1.06739528e+02] [-1.46686051e-01 9.89176696e-01 -3.55901791e-03 -8.68156077e+00] [-2.47852926e-02 -7.85826480e-05 9.99692794e-01 -3.09914191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41587156000001 meters Centerline goodness [0,1] 0.999893166958677 Centerline is valid? [True, True] Translation: X:106.77, Y:-8.69, Z:-3.10 [[ 9.88844312e-01 1.46919379e-01 2.45279799e-02 1.06771635e+02] [-1.46876190e-01 9.89148467e-01 -3.56301618e-03 -8.68640803e+00] [-2.47852899e-02 -7.93079487e-05 9.99692794e-01 -3.10012262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.80, Y:-8.69, Z:-3.10 [[ 9.88871788e-01 1.46653517e-01 2.50066582e-02 1.06802852e+02] [-1.46608412e-01 9.89187920e-01 -3.63763903e-03 -8.69146533e+00] [-2.52697568e-02 -6.90278307e-05 9.99680666e-01 -3.10033902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:-8.70, Z:-3.10 [[ 9.88806217e-01 1.47083706e-01 2.50728726e-02 1.06835273e+02] [-1.47038385e-01 9.89124046e-01 -3.65182867e-03 -8.69619461e+00] [-2.53373057e-02 -7.57238019e-05 9.99678956e-01 -3.10145589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:-8.70, Z:-3.10 [[ 9.88710883e-01 1.47720819e-01 2.50868431e-02 1.06867041e+02] [-1.47675528e-01 9.89029096e-01 -3.65878209e-03 -8.70029753e+00] [-2.53520960e-02 -8.72351166e-05 9.99678580e-01 -3.10248296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53587156 meters Centerline goodness [0,1] 0.9998932239947039 Centerline is valid? [True, True] Translation: X:106.90, Y:-8.70, Z:-3.10 [[ 9.88371709e-01 1.50105183e-01 2.42857570e-02 1.06899173e+02] [-1.50063352e-01 9.88670023e-01 -3.54622686e-03 -8.70218433e+00] [-2.45429070e-02 -1.39411804e-04 9.99698768e-01 -3.10462106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:-8.70, Z:-3.11 [[ 9.88176904e-01 1.51420004e-01 2.40497283e-02 1.06929819e+02] [-1.51379262e-01 9.88469501e-01 -3.51627849e-03 -8.70430356e+00] [-2.43048578e-02 -1.65924922e-04 9.99704580e-01 -3.10691336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59587156 meters Centerline goodness [0,1] 0.9997862014410023 Centerline is valid? [True, True] Translation: X:106.96, Y:-8.71, Z:-3.11 [[ 9.87918285e-01 1.53205342e-01 2.33577684e-02 1.06961477e+02] [-1.53167376e-01 9.88194354e-01 -3.41654555e-03 -8.70605521e+00] [-2.36054479e-02 -2.02380277e-04 9.99721332e-01 -3.10879375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:-8.71, Z:-3.11 [[ 9.87653882e-01 1.54919823e-01 2.32305247e-02 1.06993329e+02] [-1.54882662e-01 9.87927017e-01 -3.40140273e-03 -8.70886071e+00] [-2.34770077e-02 -2.38596878e-04 9.99724349e-01 -3.10976788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:-8.71, Z:-3.11 [[ 9.87116126e-01 1.58381265e-01 2.27404702e-02 1.07024861e+02] [-1.58346484e-01 9.87377982e-01 -3.33349272e-03 -8.70756762e+00] [-2.29814023e-02 -3.10329086e-04 9.99735845e-01 -3.11186309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:-8.71, Z:-3.11 [[ 9.86815058e-01 1.60186447e-01 2.31591079e-02 1.07057409e+02] [-1.60150786e-01 9.87086711e-01 -3.39851463e-03 -8.70910464e+00] [-2.34044436e-02 -3.55243908e-04 9.99726015e-01 -3.11245674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:-8.71, Z:-3.11 [[ 9.86555486e-01 1.61741524e-01 2.34083708e-02 1.07089990e+02] [-1.61705436e-01 9.86833079e-01 -3.43899150e-03 -8.71147831e+00] [-2.36563823e-02 -3.92504870e-04 9.99720072e-01 -3.11257098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74587156000001 meters Centerline goodness [0,1] 0.9999786575605591 Centerline is valid? [True, True] Translation: X:107.12, Y:-8.71, Z:-3.11 [[ 9.86135646e-01 1.64231641e-01 2.37582906e-02 1.07122533e+02] [-1.64195091e-01 9.86421695e-01 -3.49442971e-03 -8.71293719e+00] [-2.40095893e-02 -4.55013010e-04 9.99711625e-01 -3.11280585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77587156000001 meters Centerline goodness [0,1] 0.9999786762197203 Centerline is valid? [True, True] Translation: X:107.15, Y:-8.71, Z:-3.11 [[ 9.85926270e-01 1.65480266e-01 2.37838740e-02 1.07154349e+02] [-1.65443902e-01 9.86212984e-01 -3.50228870e-03 -8.71339446e+00] [-2.40355250e-02 -4.81898469e-04 9.99710989e-01 -3.11415259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.19, Y:-8.72, Z:-3.11 [[ 9.85691697e-01 1.66816555e-01 2.41684836e-02 1.07186669e+02] [-1.66779314e-01 9.85987813e-01 -3.56270093e-03 -8.71666833e+00] [-2.44241478e-02 -5.19078396e-04 9.99701551e-01 -3.11437268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83587156 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:107.22, Y:-8.72, Z:-3.11 [[ 9.85500450e-01 1.67917416e-01 2.43434757e-02 1.07218913e+02] [-1.67879870e-01 9.85800914e-01 -3.59252529e-03 -8.71986676e+00] [-2.46010682e-02 -5.46344259e-04 9.99697199e-01 -3.11446592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86587156 meters Centerline goodness [0,1] 0.9999569466569079 Centerline is valid? [True, True] Translation: X:107.25, Y:-8.72, Z:-3.12 [[ 9.85130136e-01 1.70025186e-01 2.46992301e-02 1.07251235e+02] [-1.69987088e-01 9.85439532e-01 -3.64934524e-03 -8.71595954e+00] [-2.49600784e-02 -6.03470246e-04 9.99688267e-01 -3.11640494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89587156 meters Centerline goodness [0,1] 0.9999786707618804 Centerline is valid? [True, True] Translation: X:107.28, Y:-8.72, Z:-3.12 [[ 9.84927422e-01 1.71189696e-01 2.47398551e-02 1.07283753e+02] [-1.71151745e-01 9.85237885e-01 -3.65917761e-03 -8.71845404e+00] [-2.50010560e-02 -6.30244986e-04 9.99687226e-01 -3.11749895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92587156 meters Centerline goodness [0,1] 0.9997878209208572 Centerline is valid? [True, True] Translation: X:107.32, Y:-8.72, Z:-3.12 [[ 9.84793492e-01 1.71992344e-01 2.45033226e-02 1.07315387e+02] [-1.71955261e-01 9.85098078e-01 -3.62827545e-03 -8.71876022e+00] [-2.47622116e-02 -6.40373194e-04 9.99693164e-01 -3.11904965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95587156 meters Centerline goodness [0,1] 0.9999572713483026 Centerline is valid? [True, True] Translation: X:107.35, Y:-8.72, Z:-3.12 [[ 9.84635733e-01 1.72887229e-01 2.45454417e-02 1.07347416e+02] [-1.72850206e-01 9.84941404e-01 -3.63819415e-03 -8.72332632e+00] [-2.48048191e-02 -6.60388685e-04 9.99692095e-01 -3.11976356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98587156 meters Centerline goodness [0,1] 0.9999145317407747 Centerline is valid? [True, True] Translation: X:107.38, Y:-8.72, Z:-3.12 [[ 9.84497965e-01 1.73753901e-01 2.39445041e-02 1.07379652e+02] [-1.73718832e-01 9.84788883e-01 -3.55295358e-03 -8.72379828e+00] [-2.41976210e-02 -6.61735725e-04 9.99706976e-01 -3.12125631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01587156000001 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:107.41, Y:-8.73, Z:-3.12 [[ 9.84462346e-01 1.73927480e-01 2.41479009e-02 1.07412418e+02] [-1.73891770e-01 9.84758237e-01 -3.58701361e-03 -8.72879498e+00] [-2.44037245e-02 -6.67841396e-04 9.99701962e-01 -3.12174701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.44, Y:-8.73, Z:-3.12 [[ 9.84467179e-01 1.73822936e-01 2.46973786e-02 1.07444151e+02] [-1.73785422e-01 9.84776691e-01 -3.67371667e-03 -8.73262020e+00] [-2.49599790e-02 -6.75390885e-04 9.99688223e-01 -3.12214499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07587156000001 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:107.48, Y:-8.73, Z:-3.12 [[ 9.84748031e-01 1.72238753e-01 2.45993426e-02 1.07475877e+02] [-1.72200938e-01 9.85055032e-01 -3.66334765e-03 -8.73450523e+00] [-2.48626766e-02 -6.28555476e-04 9.99690678e-01 -3.12382383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10587156000001 meters Centerline goodness [0,1] 0.9998079180450326 Centerline is valid? [True, True] Translation: X:107.51, Y:-8.74, Z:-3.13 [[ 9.85002630e-01 1.70838624e-01 2.41657483e-02 1.07507718e+02] [-1.70801611e-01 9.85298853e-01 -3.60281300e-03 -8.74033071e+00] [-2.44259837e-02 -5.78768443e-04 9.99701474e-01 -3.12511967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:-8.75, Z:-3.13 [[ 9.85263578e-01 1.69322374e-01 2.41994741e-02 1.07538649e+02] [-1.69284699e-01 9.85560574e-01 -3.61199676e-03 -8.74537196e+00] [-2.44616394e-02 -5.37831830e-04 9.99700625e-01 -3.12691802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16587156000001 meters Centerline goodness [0,1] 0.9998929290333634 Centerline is valid? [True, True] Translation: X:107.57, Y:-8.75, Z:-3.13 [[ 9.85608757e-01 1.67366072e-01 2.37481755e-02 1.07569700e+02] [-1.67329136e-01 9.85894706e-01 -3.54816602e-03 -8.75263666e+00] [-2.40070431e-02 -4.76658198e-04 9.99711676e-01 -3.12808268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19587156000001 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:107.60, Y:-8.76, Z:-3.13 [[ 9.86275319e-01 1.63395757e-01 2.37238721e-02 1.07599026e+02] [-1.63357629e-01 9.86560534e-01 -3.54948637e-03 -8.75961494e+00] [-2.39850069e-02 -3.74704677e-04 9.99712248e-01 -3.13054352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:-8.77, Z:-3.13 [[ 9.86590044e-01 1.61473114e-01 2.38016407e-02 1.07630964e+02] [-1.61434176e-01 9.86877057e-01 -3.56112586e-03 -8.76705195e+00] [-2.40643192e-02 -3.29026933e-04 9.99710358e-01 -3.13089934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:-8.77, Z:-3.13 [[ 9.86862511e-01 1.59767867e-01 2.40127655e-02 1.07662362e+02] [-1.59727710e-01 9.87154570e-01 -3.59353400e-03 -8.77297960e+00] [-2.42784425e-02 -2.89180053e-04 9.99705193e-01 -3.13128648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:-8.78, Z:-3.13 [[ 9.87263213e-01 1.57188236e-01 2.45602484e-02 1.07693418e+02] [-1.57145325e-01 9.87568634e-01 -3.67964870e-03 -8.78022767e+00] [-2.48333284e-02 -2.26746416e-04 9.99691580e-01 -3.13117227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:-8.79, Z:-3.13 [[ 9.87387941e-01 1.56360762e-01 2.48267044e-02 1.07724395e+02] [-1.56316538e-01 9.87699990e-01 -3.72417139e-03 -8.78591291e+00] [-2.51036500e-02 -2.03622561e-04 9.99684833e-01 -3.13192280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34587156 meters Centerline goodness [0,1] 0.999828108549451 Centerline is valid? [True, True] Translation: X:107.76, Y:-8.79, Z:-3.13 [[ 9.87492415e-01 1.55721147e-01 2.46911931e-02 1.07756955e+02] [-1.55677158e-01 9.87801038e-01 -3.70568941e-03 -8.79163024e+00] [-2.49670404e-02 -1.84514577e-04 9.99688258e-01 -3.13291689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:-8.80, Z:-3.13 [[ 9.87473063e-01 1.55823356e-01 2.48199628e-02 1.07789110e+02] [-1.55778810e-01 9.87784920e-01 -3.73017108e-03 -8.79591400e+00] [-2.50980328e-02 -1.82980821e-04 9.99684978e-01 -3.13388601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40587156000001 meters Centerline goodness [0,1] 0.9999569011959918 Centerline is valid? [True, True] Translation: X:107.82, Y:-8.80, Z:-3.13 [[ 9.87385176e-01 1.56316325e-01 2.52134968e-02 1.07821658e+02] [-1.56270446e-01 9.87707025e-01 -3.79203039e-03 -8.80010043e+00] [-2.54963042e-02 -1.95929801e-04 9.99674897e-01 -3.13286557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:-8.80, Z:-3.13 [[ 9.87256709e-01 1.57046720e-01 2.57005367e-02 1.07853628e+02] [-1.56999161e-01 9.87591151e-01 -3.87056476e-03 -8.80311483e+00] [-2.59894822e-02 -2.13721685e-04 9.99662194e-01 -3.13350476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.89, Y:-8.81, Z:-3.13 [[ 9.87111072e-01 1.57862600e-01 2.62893559e-02 1.07885356e+02] [-1.57812993e-01 9.87461059e-01 -3.96426655e-03 -8.80600516e+00] [-2.65855247e-02 -2.35630533e-04 9.99646515e-01 -3.13336951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49587156000001 meters Centerline goodness [0,1] 0.9998263285863147 Centerline is valid? [True, True] Translation: X:107.92, Y:-8.81, Z:-3.13 [[ 9.86948007e-01 1.58971174e-01 2.57254102e-02 1.07917850e+02] [-1.58923930e-01 9.87283192e-01 -3.88378718e-03 -8.80710488e+00] [-2.60156753e-02 -2.55287261e-04 9.99661502e-01 -3.13485957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.95, Y:-8.81, Z:-3.14 [[ 9.86846084e-01 1.59580400e-01 2.58631423e-02 1.07949609e+02] [-1.59532743e-01 9.87184898e-01 -3.90899990e-03 -8.81086667e+00] [-2.61555033e-02 -2.68436785e-04 9.99657850e-01 -3.13616942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.98, Y:-8.81, Z:-3.14 [[ 9.86785947e-01 1.59909347e-01 2.61246189e-02 1.07980971e+02] [-1.59860708e-01 9.87131665e-01 -3.95337438e-03 -8.81471076e+00] [-2.64206201e-02 -2.75165791e-04 9.99650877e-01 -3.13680083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.01, Y:-8.82, Z:-3.14 [[ 9.86720937e-01 1.60268225e-01 2.63797187e-02 1.08012780e+02] [-1.60218630e-01 9.87073460e-01 -3.99679846e-03 -8.81713335e+00] [-2.66792801e-02 -2.82797678e-04 9.99644005e-01 -3.13688366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61587156 meters Centerline goodness [0,1] 0.9999576208335982 Centerline is valid? [True, True] Translation: X:108.05, Y:-8.82, Z:-3.14 [[ 9.86641196e-01 1.60787850e-01 2.61995624e-02 1.08045766e+02] [-1.60738992e-01 9.86988948e-01 -3.97409100e-03 -8.82095937e+00] [-2.64976641e-02 -2.90289358e-04 9.99648833e-01 -3.13814811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:-8.82, Z:-3.14 [[ 9.86542838e-01 1.61370834e-01 2.63188792e-02 1.08078945e+02] [-1.61321604e-01 9.86893795e-01 -3.99722941e-03 -8.82478573e+00] [-2.66189748e-02 -3.02365750e-04 9.99645607e-01 -3.13906462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:-8.83, Z:-3.14 [[ 9.86483344e-01 1.61789803e-01 2.59744451e-02 1.08111201e+02] [-1.61741866e-01 9.86825196e-01 -3.94992233e-03 -8.82666101e+00] [-2.62712941e-02 -3.04622648e-04 9.99654804e-01 -3.14127565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70587156 meters Centerline goodness [0,1] 0.9998089983022072 Centerline is valid? [True, True] Translation: X:108.14, Y:-8.83, Z:-3.15 [[ 9.86403432e-01 1.62575246e-01 2.40324379e-02 1.08142973e+02] [-1.62534345e-01 9.86696104e-01 -3.65862475e-03 -8.82851624e+00] [-2.43075146e-02 -2.97216543e-04 9.99704485e-01 -3.14562783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.18, Y:-8.83, Z:-3.15 [[ 9.86393344e-01 1.62723995e-01 2.34322992e-02 1.08175844e+02] [-1.62685068e-01 9.86671585e-01 -3.57087360e-03 -8.83370088e+00] [-2.37010506e-02 -2.89799247e-04 9.99719049e-01 -3.14811410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:-8.84, Z:-3.15 [[ 9.86488430e-01 1.62226249e-01 2.28740470e-02 1.08207740e+02] [-1.62188919e-01 9.86753552e-01 -3.49021592e-03 -8.83870856e+00] [-2.31372517e-02 -2.66859316e-04 9.99732262e-01 -3.15089667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79587156000001 meters Centerline goodness [0,1] 0.9999357986646122 Centerline is valid? [True, True] Translation: X:108.24, Y:-8.85, Z:-3.15 [[ 9.86859549e-01 1.60184564e-01 2.11928150e-02 1.08239183e+02] [-1.60151973e-01 9.87087061e-01 -3.23725276e-03 -8.84750489e+00] [-2.14377114e-02 -1.99357343e-04 9.99770166e-01 -3.15393568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:-8.85, Z:-3.16 [[ 9.87017442e-01 1.59219646e-01 2.11109856e-02 1.08269784e+02] [-1.59187007e-01 9.87243169e-01 -3.22844295e-03 -8.85361859e+00] [-2.13557079e-02 -1.74065105e-04 9.99771926e-01 -3.15632164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:-8.86, Z:-3.16 [[ 9.87174489e-01 1.58250240e-01 2.10568125e-02 1.08301551e+02] [-1.58217479e-01 9.87399027e-01 -3.22335491e-03 -8.86060246e+00] [-2.13015729e-02 -1.49542066e-04 9.99773085e-01 -3.15708482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.33, Y:-8.87, Z:-3.16 [[ 9.87251740e-01 1.57798443e-01 2.08243561e-02 1.08333677e+02] [-1.57766233e-01 9.87471333e-01 -3.19101147e-03 -8.86691725e+00] [-2.10669913e-02 -1.35048594e-04 9.99778057e-01 -3.15881949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91587156000001 meters Centerline goodness [0,1] 0.9997863065219249 Centerline is valid? [True, True] Translation: X:108.37, Y:-8.87, Z:-3.16 [[ 9.87345624e-01 1.57232049e-01 2.06567573e-02 1.08366021e+02] [-1.57200150e-01 9.87561679e-01 -3.16923557e-03 -8.87358112e+00] [-2.08981274e-02 -1.18114474e-04 9.99781603e-01 -3.15908972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.40, Y:-8.88, Z:-3.16 [[ 9.87173762e-01 1.58055759e-01 2.25020339e-02 1.08397531e+02] [-1.58018004e-01 9.87430178e-01 -3.45742883e-03 -8.87873807e+00] [-2.27656539e-02 -1.42643448e-04 9.99740819e-01 -3.15622934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:-8.88, Z:-3.15 [[ 9.86959653e-01 1.59237589e-01 2.35379078e-02 1.08430428e+02] [-1.59196514e-01 9.87240275e-01 -3.62073467e-03 -8.88172066e+00] [-2.38141276e-02 -1.73633848e-04 9.99716388e-01 -3.15495914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.46, Y:-8.88, Z:-3.16 [[ 9.86449148e-01 1.62269676e-01 2.42204776e-02 1.08461893e+02] [-1.62226962e-01 9.86746416e-01 -3.73125442e-03 -8.88120992e+00] [-2.45049389e-02 -2.48521768e-04 9.99699678e-01 -3.15538280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:-8.88, Z:-3.16 [[ 9.86159076e-01 1.64026102e-01 2.42015300e-02 1.08493480e+02] [-1.63983937e-01 9.86455956e-01 -3.73023000e-03 -8.88430518e+00] [-2.44855985e-02 -2.90062013e-04 9.99700141e-01 -3.15677458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06587156 meters Centerline goodness [0,1] 0.9998718113062428 Centerline is valid? [True, True] Translation: X:108.52, Y:-8.89, Z:-3.16 [[ 9.85909195e-01 1.65565482e-01 2.38983282e-02 1.08524611e+02] [-1.65524721e-01 9.86198747e-01 -3.68755651e-03 -8.88713836e+00] [-2.41790334e-02 -3.20168227e-04 9.99707593e-01 -3.15782635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:-8.89, Z:-3.16 [[ 9.85286119e-01 1.69136691e-01 2.45772902e-02 1.08556988e+02] [-1.69094643e-01 9.85592515e-01 -3.79420948e-03 -8.88916986e+00] [-2.48649333e-02 -4.17506193e-04 9.99690733e-01 -3.15831328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:-8.89, Z:-3.16 [[ 9.84942755e-01 1.71104371e-01 2.47196970e-02 1.08588358e+02] [-1.71062346e-01 9.85252799e-01 -3.82048957e-03 -8.89075788e+00] [-2.50088531e-02 -4.65645853e-04 9.99687121e-01 -3.15910109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15587156000001 meters Centerline goodness [0,1] 0.9999787437559783 Centerline is valid? [True, True] Translation: X:108.62, Y:-8.89, Z:-3.16 [[ 9.84578221e-01 1.73178195e-01 2.47999780e-02 1.08619426e+02] [-1.73136457e-01 9.84890373e-01 -3.83678370e-03 -8.89279669e+00] [-2.50897068e-02 -5.16166646e-04 9.99685071e-01 -3.15999159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18587156000001 meters Centerline goodness [0,1] 0.9999579266240323 Centerline is valid? [True, True] Translation: X:108.65, Y:-8.89, Z:-3.16 [[ 9.83790416e-01 1.77607695e-01 2.47371021e-02 1.08650299e+02] [-1.77567460e-01 9.84101173e-01 -3.83135135e-03 -8.89028234e+00] [-2.50242887e-02 -6.23257635e-04 9.99686649e-01 -3.16071362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21587156000001 meters Centerline goodness [0,1] 0.9999573578951857 Centerline is valid? [True, True] Translation: X:108.68, Y:-8.89, Z:-3.16 [[ 9.83346133e-01 1.80121654e-01 2.42192485e-02 1.08681993e+02] [-1.80083828e-01 9.83644112e-01 -3.75189227e-03 -8.89141328e+00] [-2.44989182e-02 -6.72086221e-04 9.99699631e-01 -3.16244168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24587156000001 meters Centerline goodness [0,1] 0.9998935785284039 Centerline is valid? [True, True] Translation: X:108.71, Y:-8.89, Z:-3.16 [[ 9.82959761e-01 1.82291340e-01 2.36638264e-02 1.08713063e+02] [-1.82255755e-01 9.83244308e-01 -3.67013812e-03 -8.89194545e+00] [-2.39363570e-02 -7.05270453e-04 9.99713236e-01 -3.16437623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27587156000001 meters Centerline goodness [0,1] 0.999914256929112 Centerline is valid? [True, True] Translation: X:108.74, Y:-8.90, Z:-3.16 [[ 9.82559626e-01 1.84469213e-01 2.34027736e-02 1.08744578e+02] [-1.84435033e-01 9.82838006e-01 -3.62933750e-03 -8.89630493e+00] [-2.36706364e-02 -7.50250832e-04 9.99719530e-01 -3.16492673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30587156000001 meters Centerline goodness [0,1] 0.9998307057454238 Centerline is valid? [True, True] Translation: X:108.78, Y:-8.89, Z:-3.17 [[ 9.81999821e-01 1.87402709e-01 2.35918605e-02 1.08775076e+02] [-1.87368707e-01 9.82282825e-01 -3.66337378e-03 -8.89285538e+00] [-2.38604055e-02 -8.22943998e-04 9.99714961e-01 -3.16700554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33587156 meters Centerline goodness [0,1] 0.9998307057454238 Centerline is valid? [True, True] Translation: X:108.81, Y:-8.90, Z:-3.17 [[ 9.81965578e-01 1.87582031e-01 2.35920369e-02 1.08807173e+02] [-1.87548108e-01 9.82248591e-01 -3.66223860e-03 -8.89802710e+00] [-2.38602152e-02 -8.28449639e-04 9.99714961e-01 -3.16798655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36587156 meters Centerline goodness [0,1] 0.9998306125473756 Centerline is valid? [True, True] Translation: X:108.84, Y:-8.90, Z:-3.17 [[ 9.81758864e-01 1.88652550e-01 2.36590125e-02 1.08839502e+02] [-1.88618634e-01 9.82043527e-01 -3.67722586e-03 -8.90049590e+00] [-2.39278982e-02 -8.52381552e-04 9.99713323e-01 -3.16894604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39587156 meters Centerline goodness [0,1] 0.9998280087715526 Centerline is valid? [True, True] Translation: X:108.87, Y:-8.91, Z:-3.17 [[ 9.81610398e-01 1.89447546e-01 2.34660226e-02 1.08870963e+02] [-1.89414319e-01 9.81890465e-01 -3.65099473e-03 -8.90569261e+00] [-2.37327358e-02 -8.60946287e-04 9.99717968e-01 -3.16923577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42587156 meters Centerline goodness [0,1] 0.9996382439937863 Centerline is valid? [True, True] Translation: X:108.90, Y:-8.90, Z:-3.17 [[ 9.81460108e-01 1.90214340e-01 2.35491080e-02 1.08902323e+02] [-1.90180982e-01 9.81742193e-01 -3.66877562e-03 -8.90289944e+00] [-2.38170067e-02 -8.77835573e-04 9.99715949e-01 -3.17163551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45587156 meters Centerline goodness [0,1] 0.999828935551469 Centerline is valid? [True, True] Translation: X:108.94, Y:-8.91, Z:-3.17 [[ 9.81415364e-01 1.90460657e-01 2.34226510e-02 1.08935180e+02] [-1.90427738e-01 9.81694435e-01 -3.64858154e-03 -8.90917689e+00] [-2.36887974e-02 -8.79548471e-04 9.99718994e-01 -3.17267457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48587156 meters Centerline goodness [0,1] 0.9998714515265131 Centerline is valid? [True, True] Translation: X:108.97, Y:-8.92, Z:-3.17 [[ 9.81386412e-01 1.90635545e-01 2.32120747e-02 1.08967121e+02] [-1.90603163e-01 9.81660496e-01 -3.62006660e-03 -8.91638777e+00] [-2.34764902e-02 -8.71610690e-04 9.99724009e-01 -3.17317793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51587156000001 meters Centerline goodness [0,1] 0.9997008802666438 Centerline is valid? [True, True] Translation: X:109.00, Y:-8.92, Z:-3.17 [[ 9.81540701e-01 1.89833638e-01 2.32602955e-02 1.08998591e+02] [-1.89800786e-01 9.81815903e-01 -3.63227629e-03 -8.91797339e+00] [-2.35268563e-02 -8.49595359e-04 9.99722844e-01 -3.17445510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54587156000001 meters Centerline goodness [0,1] 0.9997610565644278 Centerline is valid? [True, True] Translation: X:109.03, Y:-8.92, Z:-3.18 [[ 9.81644398e-01 1.89296872e-01 2.32587765e-02 1.09030603e+02] [-1.89263782e-01 9.81919549e-01 -3.63594727e-03 -8.92283022e+00] [-2.35265208e-02 -8.32836732e-04 9.99722866e-01 -3.17514687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57587156000001 meters Centerline goodness [0,1] 0.9998716467719163 Centerline is valid? [True, True] Translation: X:109.06, Y:-8.93, Z:-3.18 [[ 9.81823559e-01 1.88382842e-01 2.31171772e-02 1.09061454e+02] [-1.88349809e-01 9.82095342e-01 -3.61772300e-03 -8.92593363e+00] [-2.33847890e-02 -8.02150240e-04 9.99726217e-01 -3.17670188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60587156000001 meters Centerline goodness [0,1] 0.9996808646440577 Centerline is valid? [True, True] Translation: X:109.09, Y:-8.93, Z:-3.18 [[ 9.81981760e-01 1.87602061e-01 2.27439924e-02 1.09092630e+02] [-1.87569798e-01 9.82244815e-01 -3.56276791e-03 -8.92675674e+00] [-2.30085513e-02 -7.67512970e-04 9.99734974e-01 -3.17863300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63587156000001 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:109.12, Y:-8.94, Z:-3.18 [[ 9.82506969e-01 1.84812887e-01 2.28965771e-02 1.09123062e+02] [-1.84779333e-01 9.82773475e-01 -3.59097268e-03 -8.93699227e+00] [-2.31658067e-02 -7.02658554e-04 9.99731390e-01 -3.17824313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66587156000001 meters Centerline goodness [0,1] 0.9998299717328005 Centerline is valid? [True, True] Translation: X:109.15, Y:-8.94, Z:-3.18 [[ 9.82741977e-01 1.83545877e-01 2.30025761e-02 1.09154290e+02] [-1.83511664e-01 9.83010913e-01 -3.60761968e-03 -8.93967749e+00] [-2.32739471e-02 -6.75881733e-04 9.99728897e-01 -3.17959686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69587156000001 meters Centerline goodness [0,1] 0.9999567286888793 Centerline is valid? [True, True] Translation: X:109.19, Y:-8.95, Z:-3.18 [[ 9.83010692e-01 1.82107126e-01 2.29559035e-02 1.09185709e+02] [-1.82072564e-01 9.83278490e-01 -3.60444672e-03 -8.94975999e+00] [-2.32284416e-02 -6.36430536e-04 9.99729981e-01 -3.17974630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72587156 meters Centerline goodness [0,1] 0.9999570538973588 Centerline is valid? [True, True] Translation: X:109.22, Y:-8.95, Z:-3.18 [[ 9.83236513e-01 1.80884968e-01 2.29475153e-02 1.09217056e+02] [-1.80850082e-01 9.83504072e-01 -3.60379073e-03 -8.95346884e+00] [-2.32208464e-02 -6.06681408e-04 9.99730176e-01 -3.18128932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75587156 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:109.25, Y:-8.96, Z:-3.18 [[ 9.83797136e-01 1.77795524e-01 2.30639898e-02 1.09247207e+02] [-1.77759316e-01 9.84067309e-01 -3.62713445e-03 -8.95741531e+00] [-2.33414067e-02 -5.31474579e-04 9.99727411e-01 -3.18231241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78587156 meters Centerline goodness [0,1] 0.9999573515300139 Centerline is valid? [True, True] Translation: X:109.28, Y:-8.96, Z:-3.18 [[ 9.84026986e-01 1.76461828e-01 2.34970913e-02 1.09278826e+02] [-1.76423885e-01 9.84307352e-01 -3.69455398e-03 -8.96374135e+00] [-2.37803075e-02 -5.09907306e-04 9.99717078e-01 -3.18271774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:-8.97, Z:-3.18 [[ 9.84238096e-01 1.75279069e-01 2.35078188e-02 1.09309892e+02] [-1.75240658e-01 9.84518674e-01 -3.70027268e-03 -8.96724174e+00] [-2.37924670e-02 -4.77576301e-04 9.99716805e-01 -3.18389878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84587156 meters Centerline goodness [0,1] 0.999936023202252 Centerline is valid? [True, True] Translation: X:109.34, Y:-8.97, Z:-3.19 [[ 9.84540550e-01 1.73624480e-01 2.31180568e-02 1.09341584e+02] [-1.73586796e-01 9.84811839e-01 -3.64235435e-03 -8.97216392e+00] [-2.33993379e-02 -4.26943841e-04 9.99726107e-01 -3.18526300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:-8.98, Z:-3.19 [[ 9.84615971e-01 1.73264944e-01 2.25975230e-02 1.09373808e+02] [-1.73228758e-01 9.84875167e-01 -3.56403927e-03 -8.97652991e+00] [-2.28732623e-02 -4.05330860e-04 9.99738291e-01 -3.18619080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90587156000001 meters Centerline goodness [0,1] 0.999870867768595 Centerline is valid? [True, True] Translation: X:109.41, Y:-8.98, Z:-3.19 [[ 9.84635244e-01 1.73110929e-01 2.29356191e-02 1.09405172e+02] [-1.73073516e-01 9.84902251e-01 -3.62145625e-03 -8.97881005e+00] [-2.32162565e-02 -4.03734784e-04 9.99730385e-01 -3.18715883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:-8.98, Z:-3.19 [[ 9.84704909e-01 1.72697189e-01 2.30634600e-02 1.09437317e+02] [-1.72659160e-01 9.84974886e-01 -3.64521432e-03 -8.98225598e+00] [-2.33464471e-02 -3.92657195e-04 9.99727357e-01 -3.18756046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:-8.99, Z:-3.19 [[ 9.84773090e-01 1.72354250e-01 2.27150429e-02 1.09469562e+02] [-1.72317182e-01 9.85034960e-01 -3.59399167e-03 -8.98526355e+00] [-2.29945511e-02 -3.74925910e-04 9.99735520e-01 -3.18935807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.99, Z:-3.19 [[ 9.84840463e-01 1.72026010e-01 2.22780932e-02 1.09501750e+02] [-1.71990188e-01 9.85092343e-01 -3.52851085e-03 -8.98738021e+00] [-2.25529746e-02 -3.56593183e-04 9.99745586e-01 -3.19197618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:-8.99, Z:-3.19 [[ 9.84992635e-01 1.71247592e-01 2.15353570e-02 1.09532312e+02] [-1.71213845e-01 9.85227972e-01 -3.41490044e-03 -8.99081754e+00] [-2.18020296e-02 -3.23499495e-04 9.99762255e-01 -3.19458355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:-9.00, Z:-3.20 [[ 9.85443386e-01 1.68677910e-01 2.11918884e-02 1.09563582e+02] [-1.68644571e-01 9.85671190e-01 -3.36351758e-03 -8.99639655e+00] [-2.14555850e-02 -2.59340775e-04 9.99769769e-01 -3.19637934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:-9.00, Z:-3.20 [[ 9.85730103e-01 1.66995997e-01 2.11778406e-02 1.09594005e+02] [-1.66962235e-01 9.85957549e-01 -3.36495621e-03 -9.00184138e+00] [-2.14423860e-02 -2.18960970e-04 9.99770062e-01 -3.19764216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:-9.01, Z:-3.20 [[ 9.86024880e-01 1.65289570e-01 2.08397035e-02 1.09625465e+02] [-1.65256432e-01 9.86245064e-01 -3.31428870e-03 -9.00795172e+00] [-2.11008721e-02 -1.75923929e-04 9.99777336e-01 -3.19880418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:-9.02, Z:-3.20 [[ 9.86635468e-01 1.61647577e-01 2.05064303e-02 1.09656801e+02] [-1.61614633e-01 9.86848546e-01 -3.26467473e-03 -9.01582004e+00] [-2.07644677e-02 -9.30953282e-05 9.99784391e-01 -3.20061114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:-9.02, Z:-3.20 [[ 9.86827454e-01 1.60446125e-01 2.07030562e-02 1.09688720e+02] [-1.60412209e-01 9.87044597e-01 -3.29945421e-03 -9.02187666e+00] [-2.09642244e-02 -6.50309864e-05 9.99780224e-01 -3.20007406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:-9.03, Z:-3.20 [[ 9.86954982e-01 1.59645698e-01 2.08113917e-02 1.09720002e+02] [-1.59611173e-01 9.87174376e-01 -3.32028630e-03 -9.02641412e+00] [-2.10745420e-02 -4.47575346e-05 9.99777906e-01 -3.20090597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23587156 meters Centerline goodness [0,1] 0.9999565566826683 Centerline is valid? [True, True] Translation: X:109.75, Y:-9.03, Z:-3.20 [[ 9.87256981e-01 1.57767027e-01 2.08139171e-02 1.09753047e+02] [-1.57731996e-01 9.87476362e-01 -3.32449423e-03 -9.03162304e+00] [-2.10777467e-02 -8.90562816e-07 9.99777840e-01 -3.20192743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:-9.04, Z:-3.20 [[ 9.87415741e-01 1.56699836e-01 2.13381112e-02 1.09785748e+02] [-1.56662674e-01 9.87646273e-01 -3.41260131e-03 -9.03801653e+00] [-2.16092601e-02 2.67706973e-05 9.99766492e-01 -3.20237597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:-9.04, Z:-3.20 [[ 9.87579848e-01 1.55629776e-01 2.15734992e-02 1.09816978e+02] [-1.55591437e-01 9.87815453e-01 -3.45467668e-03 -9.04454588e+00] [-2.18482864e-02 5.51173383e-05 9.99761296e-01 -3.20288928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:-9.05, Z:-3.20 [[ 9.87897344e-01 1.53478751e-01 2.24301271e-02 1.09849092e+02] [-1.53436656e-01 9.88151942e-01 -3.59606380e-03 -9.05170426e+00] [-2.27162930e-02 1.10938170e-04 9.99741946e-01 -3.20164129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:-9.06, Z:-3.20 [[ 9.88029600e-01 1.52576174e-01 2.27600759e-02 1.09880552e+02] [-1.52532483e-01 9.88291704e-01 -3.65371758e-03 -9.05882597e+00] [-2.30510645e-02 1.38330229e-04 9.99734279e-01 -3.20305976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:-9.07, Z:-3.20 [[ 9.88203355e-01 1.51440702e-01 2.28000505e-02 1.09912280e+02] [-1.51396453e-01 9.88466330e-01 -3.66453993e-03 -9.06609310e+00] [-2.30920427e-02 1.69463890e-04 9.99733329e-01 -3.20411834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:-9.07, Z:-3.20 [[ 9.88485416e-01 1.49569304e-01 2.29260785e-02 1.09943798e+02] [-1.49523973e-01 9.88751220e-01 -3.68863838e-03 -9.07365982e+00] [-2.32198951e-02 2.18166911e-04 9.99730358e-01 -3.20465468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44587156000001 meters Centerline goodness [0,1] 0.9998496337507787 Centerline is valid? [True, True] Translation: X:109.97, Y:-9.08, Z:-3.21 [[ 9.88577241e-01 1.49007914e-01 2.26203561e-02 1.09974855e+02] [-1.48963548e-01 9.88835976e-01 -3.64331782e-03 -9.08008436e+00] [-2.29107051e-02 2.32092574e-04 9.99737488e-01 -3.20612440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:-9.09, Z:-3.21 [[ 9.88661384e-01 1.48520093e-01 2.21460797e-02 1.10005286e+02] [-1.48477348e-01 9.88909360e-01 -3.57128099e-03 -9.08796346e+00] [-2.24308725e-02 2.42596427e-04 9.99748367e-01 -3.20840658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50587156 meters Centerline goodness [0,1] 0.9998059843062861 Centerline is valid? [True, True] Translation: X:110.04, Y:-9.09, Z:-3.21 [[ 9.88691569e-01 1.48330034e-01 2.20722088e-02 1.10037231e+02] [-1.48287497e-01 9.88937885e-01 -3.56069881e-03 -9.09472685e+00] [-2.23562020e-02 2.47400302e-04 9.99750038e-01 -3.21059451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53587156 meters Centerline goodness [0,1] 0.9999140376515087 Centerline is valid? [True, True] Translation: X:110.07, Y:-9.10, Z:-3.21 [[ 9.88683488e-01 1.48442230e-01 2.16763786e-02 1.10069281e+02] [-1.48401144e-01 9.88921051e-01 -3.50084720e-03 -9.10121508e+00] [-2.19559007e-02 2.44430441e-04 9.99758910e-01 -3.21076847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:-9.11, Z:-3.21 [[ 9.88646259e-01 1.48731161e-01 2.13919686e-02 1.10100583e+02] [-1.48691120e-01 9.88877639e-01 -3.45924083e-03 -9.10721959e+00] [-2.16685363e-02 2.39169748e-04 9.99765181e-01 -3.21238193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59587156 meters Centerline goodness [0,1] 0.9998080818850624 Centerline is valid? [True, True] Translation: X:110.13, Y:-9.11, Z:-3.22 [[ 9.88527176e-01 1.49551568e-01 2.11742805e-02 1.10131348e+02] [-1.49512425e-01 9.88753902e-01 -3.42873356e-03 -9.11218312e+00] [-2.14489250e-02 2.23578280e-04 9.99769920e-01 -3.21524498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:-9.12, Z:-3.22 [[ 9.88225847e-01 1.51547322e-01 2.10495558e-02 1.10162928e+02] [-1.51509062e-01 9.88449987e-01 -3.40988579e-03 -9.11664562e+00] [-2.13231922e-02 1.80538809e-04 9.99772619e-01 -3.21519104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.19, Y:-9.12, Z:-3.22 [[ 9.87998188e-01 1.53033121e-01 2.09867711e-02 1.10194863e+02] [-1.52995347e-01 9.88221049e-01 -3.40335319e-03 -9.12156893e+00] [-2.12603947e-02 1.51628453e-04 9.99773961e-01 -3.21580685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:-9.13, Z:-3.22 [[ 9.87746246e-01 1.54693472e-01 2.06708482e-02 1.10225500e+02] [-1.54657113e-01 9.87962507e-01 -3.35578619e-03 -9.12569013e+00] [-2.09411412e-02 1.17771496e-04 9.99780703e-01 -3.21752980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:-9.13, Z:-3.22 [[ 9.87184568e-01 1.58262821e-01 2.04818769e-02 1.10256884e+02] [-1.58227823e-01 9.87397021e-01 -3.32841523e-03 -9.12807170e+00] [-2.07505086e-02 4.49573500e-05 9.99784684e-01 -3.21906253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:-9.13, Z:-3.22 [[ 9.86862884e-01 1.60195918e-01 2.09503496e-02 1.10287450e+02] [-1.60159650e-01 9.87085238e-01 -3.40860295e-03 -9.13135354e+00] [-2.12258251e-02 8.42307347e-06 9.99774707e-01 -3.21993593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77587156000001 meters Centerline goodness [0,1] 0.9996116169680231 Centerline is valid? [True, True] Translation: X:110.32, Y:-9.13, Z:-3.22 [[ 9.86492486e-01 1.62474450e-01 2.08477407e-02 1.10320829e+02] [-1.62439022e-01 9.86712750e-01 -3.39301807e-03 -9.13459737e+00] [-2.11220103e-02 -3.92997785e-05 9.99776905e-01 -3.22082173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80587156000001 meters Centerline goodness [0,1] 0.9999784784246207 Centerline is valid? [True, True] Translation: X:110.35, Y:-9.14, Z:-3.22 [[ 9.86186448e-01 1.64347397e-01 2.06451574e-02 1.10354132e+02] [-1.64312980e-01 9.86402518e-01 -3.36408230e-03 -9.13797747e+00] [-2.09173134e-02 -7.46549561e-05 9.99781206e-01 -3.22161929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83587156 meters Centerline goodness [0,1] 0.9997662359741585 Centerline is valid? [True, True] Translation: X:110.39, Y:-9.14, Z:-3.23 [[ 9.85629463e-01 1.67750736e-01 1.98557919e-02 1.10385281e+02] [-1.67719495e-01 9.85829433e-01 -3.24025435e-03 -9.13805943e+00] [-2.01179792e-02 -1.36513243e-04 9.99797604e-01 -3.22570490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:-9.14, Z:-3.23 [[ 9.85400740e-01 1.69103856e-01 1.97298367e-02 1.10417564e+02] [-1.69073260e-01 9.85598224e-01 -3.22075326e-03 -9.14216477e+00] [-1.99903338e-02 -1.62055161e-04 9.99800160e-01 -3.22587544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:-9.15, Z:-3.23 [[ 9.85189050e-01 1.70331742e-01 1.97391348e-02 1.10448437e+02] [-1.70301293e-01 9.85386759e-01 -3.22578833e-03 -9.14551934e+00] [-2.00001362e-02 -1.83588846e-04 9.99799960e-01 -3.22707141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.48, Y:-9.15, Z:-3.23 [[ 9.85008384e-01 1.71361724e-01 1.98404603e-02 1.10480287e+02] [-1.71331111e-01 9.85208160e-01 -3.24529898e-03 -9.15004807e+00] [-2.01031034e-02 -2.02641397e-04 9.99797892e-01 -3.22850833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.51, Y:-9.16, Z:-3.23 [[ 9.84990898e-01 1.71400602e-01 2.03657465e-02 1.10511358e+02] [-1.71368274e-01 9.85201397e-01 -3.33510367e-03 -9.15669201e+00] [-2.06360007e-02 -2.04996068e-04 9.99787034e-01 -3.22783834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.54, Y:-9.16, Z:-3.23 [[ 9.85044716e-01 1.71018207e-01 2.09685706e-02 1.10542451e+02] [-1.70983756e-01 9.85267849e-01 -3.43827342e-03 -9.16244350e+00] [-2.12476658e-02 -1.98431897e-04 9.99774223e-01 -3.22793127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.57, Y:-9.17, Z:-3.23 [[ 9.85301222e-01 1.69443673e-01 2.16874053e-02 1.10572636e+02] [-1.69406388e-01 9.85539859e-01 -3.55840054e-03 -9.16993930e+00] [-2.19767509e-02 -1.67888608e-04 9.99758468e-01 -3.22792884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04587156000001 meters Centerline goodness [0,1] 0.9998508639239833 Centerline is valid? [True, True] Translation: X:110.60, Y:-9.18, Z:-3.23 [[ 9.85388633e-01 1.68843049e-01 2.23889720e-02 1.10603660e+02] [-1.68803116e-01 9.85642937e-01 -3.67531384e-03 -9.17691478e+00] [-2.26880833e-02 -1.57715762e-04 9.99742580e-01 -3.22828944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.63, Y:-9.18, Z:-3.23 [[ 9.85576162e-01 1.67726111e-01 2.25295402e-02 1.10634849e+02] [-1.67685299e-01 9.85833624e-01 -3.70210875e-03 -9.18418865e+00] [-2.28313186e-02 -1.29162541e-04 9.99739323e-01 -3.22841986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.67, Y:-9.19, Z:-3.23 [[ 9.85846654e-01 1.66205639e-01 2.19558647e-02 1.10667077e+02] [-1.66166429e-01 9.86091110e-01 -3.61111819e-03 -9.19399777e+00] [-2.22506712e-02 -8.83188450e-05 9.99752419e-01 -3.22992730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.70, Y:-9.20, Z:-3.23 [[ 9.85974629e-01 1.65522726e-01 2.13601933e-02 1.10698005e+02] [-1.65485364e-01 9.86205974e-01 -3.51730075e-03 -9.20135619e+00] [-2.16477434e-02 -6.68300601e-05 9.99765658e-01 -3.23216375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.73, Y:-9.21, Z:-3.23 [[ 9.86082249e-01 1.64927855e-01 2.09904957e-02 1.10730572e+02] [-1.64891564e-01 9.86305632e-01 -3.46005180e-03 -9.20906369e+00] [-2.12737030e-02 -4.92599967e-05 9.99773688e-01 -3.23339757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.76, Y:-9.22, Z:-3.24 [[ 9.86223431e-01 1.64093868e-01 2.08937128e-02 1.10761639e+02] [-1.64057633e-01 9.86444728e-01 -3.44837988e-03 -9.21637853e+00] [-2.11763508e-02 -2.69000250e-05 9.99775756e-01 -3.23534448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.79, Y:-9.22, Z:-3.24 [[ 9.86191885e-01 1.64283425e-01 2.08930986e-02 1.10793663e+02] [-1.64247153e-01 9.86413177e-01 -3.45209602e-03 -9.22186586e+00] [-2.11763499e-02 -2.72028921e-05 9.99775756e-01 -3.23632531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25587156 meters Centerline goodness [0,1] 0.9998506571087217 Centerline is valid? [True, True] Translation: X:110.83, Y:-9.23, Z:-3.24 [[ 9.86165347e-01 1.64479887e-01 2.05979484e-02 1.10826018e+02] [-1.64444593e-01 9.86380437e-01 -3.40730844e-03 -9.22812197e+00] [-2.08778471e-02 -2.70517367e-05 9.99782034e-01 -3.23812225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:-9.23, Z:-3.24 [[ 9.86167850e-01 1.64510648e-01 2.02291224e-02 1.10857906e+02] [-1.64476531e-01 9.86375307e-01 -3.35032405e-03 -9.23383085e+00] [-2.05046708e-02 -2.32340051e-05 9.99789757e-01 -3.23950763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:-9.24, Z:-3.24 [[ 9.86145255e-01 1.64647998e-01 2.02131600e-02 1.10890258e+02] [-1.64613890e-01 9.86352389e-01 -3.35129367e-03 -9.23937259e+00] [-2.04890825e-02 -2.25045426e-05 9.99790076e-01 -3.24029961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.92, Y:-9.25, Z:-3.24 [[ 9.86109037e-01 1.64887455e-01 2.00273382e-02 1.10921632e+02] [-1.64853927e-01 9.86312388e-01 -3.32508578e-03 -9.24551252e+00] [-2.03014767e-02 -2.26882102e-05 9.99793904e-01 -3.24214302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:-9.25, Z:-3.24 [[ 9.86061259e-01 1.65175035e-01 2.00100355e-02 1.10953516e+02] [-1.65141586e-01 9.86264268e-01 -3.32409787e-03 -9.25152185e+00] [-2.02842410e-02 -2.67248571e-05 9.99794253e-01 -3.24465227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:-9.26, Z:-3.25 [[ 9.86008537e-01 1.65546482e-01 1.95327196e-02 1.10985671e+02] [-1.65514617e-01 9.86201988e-01 -3.24810179e-03 -9.25718722e+00] [-1.98009187e-02 -3.02945012e-05 9.99803942e-01 -3.24548109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43587156000001 meters Centerline goodness [0,1] 0.9998923179635173 Centerline is valid? [True, True] Translation: X:111.02, Y:-9.26, Z:-3.25 [[ 9.85923029e-01 1.66004125e-01 1.99602466e-02 1.11018101e+02] [-1.65970866e-01 9.86125058e-01 -3.32298582e-03 -9.26198706e+00] [-2.02349286e-02 -3.66111684e-05 9.99795252e-01 -3.24500494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46587156000001 meters Centerline goodness [0,1] 0.9999357257632565 Centerline is valid? [True, True] Translation: X:111.05, Y:-9.27, Z:-3.25 [[ 9.85928185e-01 1.65938707e-01 2.02474433e-02 1.11050829e+02] [-1.65904387e-01 9.86136068e-01 -3.37491784e-03 -9.26785892e+00] [-2.05267636e-02 -3.17130356e-05 9.99789303e-01 -3.24591004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49587156000001 meters Centerline goodness [0,1] 0.9998716824568532 Centerline is valid? [True, True] Translation: X:111.08, Y:-9.27, Z:-3.25 [[ 9.85954836e-01 1.65748676e-01 2.05045815e-02 1.11081822e+02] [-1.65713349e-01 9.86168026e-01 -3.42203881e-03 -9.27398581e+00] [-2.07881611e-02 -2.39071599e-05 9.99783903e-01 -3.24698739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:-9.28, Z:-3.25 [[ 9.86205041e-01 1.64174026e-01 2.11306772e-02 1.11114123e+02] [-1.64136061e-01 9.86431391e-01 -3.53050846e-03 -9.28244754e+00] [-2.14235811e-02 1.34991161e-05 9.99770489e-01 -3.24670950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.15, Y:-9.29, Z:-3.25 [[ 9.86324495e-01 1.63412363e-01 2.14567253e-02 1.11145098e+02] [-1.63372928e-01 9.86557854e-01 -3.58996715e-03 -9.28967671e+00] [-2.17549458e-02 3.54244966e-05 9.99763333e-01 -3.24733867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58587156 meters Centerline goodness [0,1] 0.9999136572625035 Centerline is valid? [True, True] Translation: X:111.18, Y:-9.30, Z:-3.25 [[ 9.86450210e-01 1.62665640e-01 2.13511754e-02 1.11177141e+02] [-1.62626374e-01 9.86681249e-01 -3.57431898e-03 -9.29665343e+00] [-2.16482233e-02 5.36234684e-05 9.99765648e-01 -3.24780697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61587156 meters Centerline goodness [0,1] 0.9999785729590743 Centerline is valid? [True, True] Translation: X:111.21, Y:-9.30, Z:-3.25 [[ 9.86555995e-01 1.62030596e-01 2.12921306e-02 1.11208881e+02] [-1.61991306e-01 9.86785732e-01 -3.56874342e-03 -9.30352008e+00] [-2.15890163e-02 7.16251778e-05 9.99766927e-01 -3.24855508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64587156 meters Centerline goodness [0,1] 0.9997845291962939 Centerline is valid? [True, True] Translation: X:111.24, Y:-9.31, Z:-3.25 [[ 9.86699891e-01 1.61117975e-01 2.15481804e-02 1.11241232e+02] [-1.61077431e-01 9.86935149e-01 -3.61559630e-03 -9.31097083e+00] [-2.18491942e-02 9.65829330e-05 9.99761273e-01 -3.24926567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.27, Y:-9.32, Z:-3.25 [[ 9.86805257e-01 1.60491204e-01 2.13999556e-02 1.11273178e+02] [-1.60450977e-01 9.87037264e-01 -3.59494448e-03 -9.31812491e+00] [-2.16995106e-02 1.13866321e-04 9.99764531e-01 -3.25013124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:-9.33, Z:-3.25 [[ 9.86862789e-01 1.60146220e-01 2.13312881e-02 1.11305134e+02] [-1.60106079e-01 9.87093295e-01 -3.58763195e-03 -9.32533959e+00] [-2.16305171e-02 1.25231575e-04 9.99766025e-01 -3.25115509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73587156 meters Centerline goodness [0,1] 0.9999143212097845 Centerline is valid? [True, True] Translation: X:111.34, Y:-9.33, Z:-3.25 [[ 9.86906685e-01 1.59881296e-01 2.12877124e-02 1.11335747e+02] [-1.59841162e-01 9.87136238e-01 -3.58470603e-03 -9.33350708e+00] [-2.15869998e-02 1.35117654e-04 9.99766964e-01 -3.25311236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:-9.34, Z:-3.25 [[ 9.87037617e-01 1.59060864e-01 2.13631633e-02 1.11367554e+02] [-1.59020166e-01 9.87268766e-01 -3.60139125e-03 -9.34287687e+00] [-2.16640243e-02 1.57534865e-04 9.99765295e-01 -3.25343309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:-9.35, Z:-3.26 [[ 9.87078743e-01 1.58869065e-01 2.08847874e-02 1.11398398e+02] [-1.58830041e-01 9.87299647e-01 -3.52483331e-03 -9.35006486e+00] [-2.11795302e-02 1.62156406e-04 9.99775675e-01 -3.25602637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.43, Y:-9.36, Z:-3.26 [[ 9.87062528e-01 1.58998409e-01 2.06657273e-02 1.11430653e+02] [-1.58960152e-01 9.87278826e-01 -3.49145201e-03 -9.35515046e+00] [-2.09579703e-02 1.61254289e-04 9.99780345e-01 -3.25644377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.46, Y:-9.36, Z:-3.26 [[ 9.87036974e-01 1.59214057e-01 2.02211820e-02 1.11462284e+02] [-1.59177392e-01 9.87244073e-01 -3.42033328e-03 -9.36154211e+00] [-2.05078072e-02 1.57240413e-04 9.99789680e-01 -3.25870530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88587156000001 meters Centerline goodness [0,1] 0.9999356375104589 Centerline is valid? [True, True] Translation: X:111.49, Y:-9.37, Z:-3.26 [[ 9.87021224e-01 1.59394364e-01 1.95586514e-02 1.11494418e+02] [-1.59360032e-01 9.87214978e-01 -3.31155588e-03 -9.36954435e+00] [-1.98364369e-02 1.51708622e-04 9.99803227e-01 -3.26065816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91587156000001 meters Centerline goodness [0,1] 0.9998706255255838 Centerline is valid? [True, True] Translation: X:111.53, Y:-9.37, Z:-3.26 [[ 9.86897707e-01 1.60113449e-01 1.99148154e-02 1.11525746e+02] [-1.60077917e-01 9.87098608e-01 -3.37604841e-03 -9.37480044e+00] [-2.01984373e-02 1.43892268e-04 9.99795980e-01 -3.26026565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:-9.38, Z:-3.26 [[ 9.86794926e-01 1.60732088e-01 2.00242123e-02 1.11556686e+02] [-1.60696204e-01 9.86998064e-01 -3.39889500e-03 -9.38030567e+00] [-2.03101702e-02 1.36197432e-04 9.99793718e-01 -3.26179653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:-9.39, Z:-3.26 [[ 9.86620225e-01 1.61815203e-01 1.99091070e-02 1.11589103e+02] [-1.61779932e-01 9.86821071e-01 -3.38032617e-03 -9.38516723e+00] [-2.01937145e-02 1.14204189e-04 9.99796080e-01 -3.26210914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.62, Y:-9.39, Z:-3.26 [[ 9.86218831e-01 1.64122363e-01 2.08870125e-02 1.11619722e+02] [-1.64083957e-01 9.86439985e-01 -3.55116070e-03 -9.38914064e+00] [-2.11866092e-02 7.49978962e-05 9.99775536e-01 -3.26161234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03587156 meters Centerline goodness [0,1] 0.9999574449976595 Centerline is valid? [True, True] Translation: X:111.65, Y:-9.39, Z:-3.26 [[ 9.85973531e-01 1.65559587e-01 2.11239073e-02 1.11651066e+02] [-1.65520560e-01 9.86199787e-01 -3.59491899e-03 -9.39303707e+00] [-2.14275662e-02 4.80540072e-05 9.99770402e-01 -3.26291564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06587156 meters Centerline goodness [0,1] 0.9999357615468619 Centerline is valid? [True, True] Translation: X:111.68, Y:-9.40, Z:-3.26 [[ 9.85757507e-01 1.66883998e-01 2.07814323e-02 1.11683344e+02] [-1.66846460e-01 9.85976537e-01 -3.53950785e-03 -9.39718529e+00] [-2.10806918e-02 2.17880335e-05 9.99777777e-01 -3.26329637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:-9.40, Z:-3.26 [[ 9.85474902e-01 1.68526786e-01 2.09270194e-02 1.11716134e+02] [-1.68489004e-01 9.85697074e-01 -3.56840043e-03 -9.40262897e+00] [-2.12290729e-02 -9.40359269e-06 9.99774638e-01 -3.26389338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:-9.41, Z:-3.27 [[ 9.85320745e-01 1.69443391e-01 2.07837980e-02 1.11747634e+02] [-1.69406238e-01 9.85539921e-01 -3.54825831e-03 -9.40778642e+00] [-2.10844915e-02 -2.47324929e-05 9.99777697e-01 -3.26593967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15587156000001 meters Centerline goodness [0,1] 0.9998064432878834 Centerline is valid? [True, True] Translation: X:111.78, Y:-9.41, Z:-3.27 [[ 9.85229996e-01 1.70026685e-01 2.03169998e-02 1.11779057e+02] [-1.69991229e-01 9.85439458e-01 -3.47229999e-03 -9.41264815e+00] [-2.06115569e-02 -3.26976670e-05 9.99787559e-01 -3.26793874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:-9.42, Z:-3.27 [[ 9.85153425e-01 1.70499705e-01 2.00643664e-02 1.11811663e+02] [-1.70465152e-01 9.85357726e-01 -3.43260779e-03 -9.41754581e+00] [-2.03558371e-02 -3.86299615e-05 9.99792798e-01 -3.26896887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:-9.42, Z:-3.27 [[ 9.85056037e-01 1.71057207e-01 2.01006468e-02 1.11843952e+02] [-1.71022565e-01 9.85261097e-01 -3.44272041e-03 -9.42272636e+00] [-2.03932875e-02 -4.63916649e-05 9.99792034e-01 -3.27004115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:-9.43, Z:-3.27 [[ 9.85003587e-01 1.71319541e-01 2.04340032e-02 1.11875911e+02] [-1.71283713e-01 9.85215516e-01 -3.50388505e-03 -9.42890377e+00] [-2.07321810e-02 -4.86725852e-05 9.99785064e-01 -3.27068931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:-9.44, Z:-3.27 [[ 9.84970053e-01 1.71495933e-01 2.05703570e-02 1.11907744e+02] [-1.71459576e-01 9.85184827e-01 -3.53143754e-03 -9.43528503e+00] [-2.08712308e-02 -4.86244680e-05 9.99782171e-01 -3.27221349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30587156000001 meters Centerline goodness [0,1] 0.999786966617669 Centerline is valid? [True, True] Translation: X:111.94, Y:-9.44, Z:-3.27 [[ 9.84925061e-01 1.71851751e-01 1.97382910e-02 1.11939356e+02] [-1.71818279e-01 9.85122821e-01 -3.39206881e-03 -9.44215203e+00] [-2.00275739e-02 -5.04655978e-05 9.99799427e-01 -3.27313365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.97, Y:-9.45, Z:-3.28 [[ 9.84916493e-01 1.71936640e-01 1.94240253e-02 1.11971246e+02] [-1.71904168e-01 9.85108009e-01 -3.34178197e-03 -9.44782443e+00] [-1.97093377e-02 -4.76947306e-05 9.99805751e-01 -3.27517591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:-9.45, Z:-3.28 [[ 9.84860704e-01 1.72292540e-01 1.90964679e-02 1.12002997e+02] [-1.72261190e-01 9.85045825e-01 -3.28704854e-03 -9.45286277e+00] [-1.93772299e-02 -5.22953340e-05 9.99812242e-01 -3.27737152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.04, Y:-9.46, Z:-3.28 [[ 9.84799707e-01 1.72637077e-01 1.91305350e-02 1.12035047e+02] [-1.72605615e-01 9.84985501e-01 -3.29619844e-03 -9.45870086e+00] [-1.94123456e-02 -5.59425035e-05 9.99811561e-01 -3.27776106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:-9.46, Z:-3.28 [[ 9.84669167e-01 1.73362921e-01 1.92854631e-02 1.12066472e+02] [-1.73330997e-01 9.84858007e-01 -3.32749765e-03 -9.46493333e+00] [-1.95703074e-02 -6.62842125e-05 9.99808481e-01 -3.27891504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45587156 meters Centerline goodness [0,1] 0.9997655733861859 Centerline is valid? [True, True] Translation: X:112.10, Y:-9.47, Z:-3.28 [[ 9.84506776e-01 1.74310082e-01 1.90368995e-02 1.12098633e+02] [-1.74279124e-01 9.84690809e-01 -3.28610183e-03 -9.47014074e+00] [-1.93182606e-02 -8.25446487e-05 9.99813382e-01 -3.27969127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:-9.47, Z:-3.28 [[ 9.84345586e-01 1.75230368e-01 1.89231520e-02 1.12130831e+02] [-1.75199879e-01 9.84527455e-01 -3.27009007e-03 -9.47490785e+00] [-1.92033817e-02 -9.64352057e-05 9.99815593e-01 -3.27967832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:-9.48, Z:-3.28 [[ 9.83916242e-01 1.77663251e-01 1.85633508e-02 1.12162258e+02] [-1.77634268e-01 9.84091332e-01 -3.21189024e-03 -9.47656019e+00] [-1.88386675e-02 -1.37256262e-04 9.99822527e-01 -3.28172038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:-9.48, Z:-3.28 [[ 9.83675225e-01 1.78989311e-01 1.85978030e-02 1.12193278e+02] [-1.78960401e-01 9.83851006e-01 -3.22083901e-03 -9.47998076e+00] [-1.88739629e-02 -1.60010738e-04 9.99821858e-01 -3.28246826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:-9.48, Z:-3.28 [[ 9.83421917e-01 1.80348713e-01 1.88593706e-02 1.12226474e+02] [-1.80319183e-01 9.83602718e-01 -3.26877897e-03 -9.48419687e+00] [-1.91396483e-02 -1.86117426e-04 9.99816803e-01 -3.28261830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:-9.49, Z:-3.28 [[ 9.83148065e-01 1.81797296e-01 1.92256575e-02 1.12258311e+02] [-1.81766805e-01 9.83336004e-01 -3.33636697e-03 -9.48736013e+00] [-1.95118237e-02 -2.14443600e-04 9.99809603e-01 -3.28274447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:-9.49, Z:-3.28 [[ 9.82841220e-01 1.83492272e-01 1.88075027e-02 1.12290485e+02] [-1.83463344e-01 9.83021123e-01 -3.26688589e-03 -9.48913931e+00] [-1.90876208e-02 -2.39657237e-04 9.99817786e-01 -3.28465759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:-9.49, Z:-3.29 [[ 9.82731719e-01 1.84108163e-01 1.85081602e-02 1.12321252e+02] [-1.84080185e-01 9.82905959e-01 -3.21877286e-03 -9.49323390e+00] [-1.87843834e-02 -2.43795371e-04 9.99823528e-01 -3.28682734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.35, Y:-9.50, Z:-3.29 [[ 9.82675808e-01 1.84417778e-01 1.83940145e-02 1.12354217e+02] [-1.84390188e-01 9.82847914e-01 -3.19945928e-03 -9.49866691e+00] [-1.86685559e-02 -2.47644559e-04 9.99825697e-01 -3.28813610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72587156 meters Centerline goodness [0,1] 0.9999569892473118 Centerline is valid? [True, True] Translation: X:112.39, Y:-9.50, Z:-3.29 [[ 9.82666611e-01 1.84481143e-01 1.82493874e-02 1.12386440e+02] [-1.84453933e-01 9.82836023e-01 -3.17772801e-03 -9.50434399e+00] [-1.85223862e-02 -2.43524063e-04 9.99828416e-01 -3.28844153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.42, Y:-9.51, Z:-3.29 [[ 9.82925427e-01 1.83154404e-01 1.76654978e-02 1.12417616e+02] [-1.83128630e-01 9.83084137e-01 -3.07963558e-03 -9.51138579e+00] [-1.79307194e-02 -2.08006275e-04 9.99839210e-01 -3.29085815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:-9.52, Z:-3.29 [[ 9.83164913e-01 1.81877140e-01 1.75345522e-02 1.12447967e+02] [-1.81851486e-01 9.83321246e-01 -3.05995558e-03 -9.51704246e+00] [-1.77986337e-02 -1.80243422e-04 9.99841576e-01 -3.29405133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:-9.53, Z:-3.29 [[ 9.83410880e-01 1.80514950e-01 1.78155562e-02 1.12479151e+02] [-1.80488193e-01 9.83572229e-01 -3.11179734e-03 -9.52547200e+00] [-1.80846123e-02 -1.55322205e-04 9.99836448e-01 -3.29313265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.51, Y:-9.53, Z:-3.29 [[ 9.83695216e-01 1.78950264e-01 1.79032173e-02 1.12509632e+02] [-1.78922927e-01 9.83858114e-01 -3.13030273e-03 -9.53250106e+00] [-1.81743941e-02 -1.24032221e-04 9.99834824e-01 -3.29433352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:-9.54, Z:-3.29 [[ 9.84333515e-01 1.75321765e-01 1.87031807e-02 1.12540068e+02] [-1.75291219e-01 9.84511186e-01 -3.27307491e-03 -9.54438332e+00] [-1.89873319e-02 -5.67060177e-05 9.99819723e-01 -3.29244811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90587156000001 meters Centerline goodness [0,1] 0.9999568863308111 Centerline is valid? [True, True] Translation: X:112.57, Y:-9.55, Z:-3.29 [[ 9.84628301e-01 1.73648379e-01 1.87975663e-02 1.12570549e+02] [-1.73617158e-01 9.84807717e-01 -3.29278252e-03 -9.55311530e+00] [-1.90837747e-02 -2.14131755e-05 9.99817888e-01 -3.29318557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:-9.56, Z:-3.29 [[ 9.84877326e-01 1.72187539e-01 1.91860490e-02 1.12602333e+02] [-1.72154667e-01 9.85064186e-01 -3.36444129e-03 -9.56130799e+00] [-1.94788046e-02 1.05940588e-05 9.99810270e-01 -3.29319601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:-9.57, Z:-3.29 [[ 9.85069290e-01 1.71062476e-01 1.93938863e-02 1.12633445e+02] [-1.71028589e-01 9.85260183e-01 -3.40495946e-03 -9.56851135e+00] [-1.96904848e-02 3.72119741e-05 9.99806123e-01 -3.29429353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99587156000001 meters Centerline goodness [0,1] 0.9999139081399854 Centerline is valid? [True, True] Translation: X:112.67, Y:-9.58, Z:-3.30 [[ 9.85311614e-01 1.69699746e-01 1.90530868e-02 1.12665341e+02] [-1.69666720e-01 9.85495810e-01 -3.34847320e-03 -9.57720324e+00] [-1.93449723e-02 6.66147882e-05 9.99812866e-01 -3.29572495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02587156000001 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:112.70, Y:-9.58, Z:-3.30 [[ 9.85292324e-01 1.69823227e-01 1.89501252e-02 1.12697265e+02] [-1.69790509e-01 9.85474539e-01 -3.33406139e-03 -9.58369068e+00] [-1.92410670e-02 6.74736837e-05 9.99814871e-01 -3.29631529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:-9.59, Z:-3.30 [[ 9.85193367e-01 1.70381539e-01 1.90829758e-02 1.12729171e+02] [-1.70348388e-01 9.85378165e-01 -3.36145863e-03 -9.58917136e+00] [-1.93766782e-02 6.09325831e-05 9.99812253e-01 -3.29673029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:-9.59, Z:-3.30 [[ 9.85040046e-01 1.71272785e-01 1.90195014e-02 1.12761114e+02] [-1.71239951e-01 9.85223645e-01 -3.35384013e-03 -9.59389074e+00] [-1.93128840e-02 4.67683464e-05 9.99813488e-01 -3.29864664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:-9.60, Z:-3.30 [[ 9.85007519e-01 1.71459815e-01 1.90189128e-02 1.12793071e+02] [-1.71426951e-01 9.85191113e-01 -3.35717356e-03 -9.59973600e+00] [-1.93128842e-02 4.64869569e-05 9.99813488e-01 -3.29962749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14587156 meters Centerline goodness [0,1] 0.9999359549122583 Centerline is valid? [True, True] Translation: X:112.83, Y:-9.60, Z:-3.30 [[ 9.84658590e-01 1.73536193e-01 1.82387016e-02 1.12825554e+02] [-1.73506265e-01 9.84827492e-01 -3.22278718e-03 -9.60289463e+00] [-1.85212450e-02 8.81608026e-06 9.99828467e-01 -3.30143285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:-9.61, Z:-3.30 [[ 9.84521107e-01 1.74328797e-01 1.81014237e-02 1.12858369e+02] [-1.74299387e-01 9.84687499e-01 -3.20203321e-03 -9.60807968e+00] [-1.83824522e-02 -2.59778004e-06 9.99831028e-01 -3.30237535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:-9.61, Z:-3.30 [[ 9.84384015e-01 1.75100599e-01 1.81077912e-02 1.12890988e+02] [-1.75071234e-01 9.84550547e-01 -3.20670136e-03 -9.61349262e+00] [-1.83895311e-02 -1.35278034e-05 9.99830898e-01 -3.30348419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:-9.62, Z:-3.31 [[ 9.84353523e-01 1.75254300e-01 1.82776595e-02 1.12922742e+02] [-1.75224338e-01 9.84523199e-01 -3.24054001e-03 -9.61978257e+00] [-1.85626983e-02 -1.28538096e-05 9.99827698e-01 -3.30516492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:-9.63, Z:-3.30 [[ 9.84520687e-01 1.74259955e-01 1.87745896e-02 1.12954128e+02] [-1.74228096e-01 9.84699684e-01 -3.33205287e-03 -9.62967404e+00] [-1.90679758e-02 9.41398060e-06 9.99818190e-01 -3.30471165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:-9.64, Z:-3.31 [[ 9.84716506e-01 1.73174498e-01 1.85471314e-02 1.12985083e+02] [-1.73143144e-01 9.84891158e-01 -3.29536146e-03 -9.63862385e+00] [-1.88375783e-02 3.36881801e-05 9.99822557e-01 -3.30603474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32587156000001 meters Centerline goodness [0,1] 0.9997839239412273 Centerline is valid? [True, True] Translation: X:113.02, Y:-9.65, Z:-3.31 [[ 9.85117527e-01 1.70900550e-01 1.83428388e-02 1.13015895e+02] [-1.70869425e-01 9.85288281e-01 -3.26246091e-03 -9.65010955e+00] [-1.86305405e-02 7.96771043e-05 9.99826433e-01 -3.30744853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35587156000001 meters Centerline goodness [0,1] 0.9998912192150379 Centerline is valid? [True, True] Translation: X:113.05, Y:-9.66, Z:-3.31 [[ 9.85233316e-01 1.70191679e-01 1.87111210e-02 1.13047884e+02] [-1.70159108e-01 9.85410972e-01 -3.33092928e-03 -9.65844536e+00] [-1.90050404e-02 9.78748443e-05 9.99819383e-01 -3.30765843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:-9.67, Z:-3.31 [[ 9.85250310e-01 1.70038283e-01 1.92043799e-02 1.13079775e+02] [-1.70003869e-01 9.85437451e-01 -3.42255981e-03 -9.66657018e+00] [-1.95066814e-02 1.07259231e-04 9.99809721e-01 -3.30824779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41587156000001 meters Centerline goodness [0,1] 0.9999144330117441 Centerline is valid? [True, True] Translation: X:113.11, Y:-9.67, Z:-3.31 [[ 9.85267465e-01 1.69911069e-01 1.94486988e-02 1.13111617e+02] [-1.69875674e-01 9.85459393e-01 -3.46987533e-03 -9.67392857e+00] [-1.97554732e-02 1.14894446e-04 9.99804835e-01 -3.30894055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:-9.68, Z:-3.31 [[ 9.85114967e-01 1.70751874e-01 1.98065512e-02 1.13142287e+02] [-1.70715248e-01 9.85314055e-01 -3.53794708e-03 -9.68130300e+00] [-2.01197844e-02 1.04004304e-04 9.99797571e-01 -3.30917080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:-9.69, Z:-3.31 [[ 9.85015917e-01 1.71364232e-01 1.94407437e-02 1.13174237e+02] [-1.71329017e-01 9.85207740e-01 -3.47515448e-03 -9.68738005e+00] [-1.97486883e-02 9.23189787e-05 9.99804971e-01 -3.31108364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:-9.69, Z:-3.31 [[ 9.84909836e-01 1.72009574e-01 1.91133762e-02 1.13206169e+02] [-1.71975588e-01 9.85095275e-01 -3.42011423e-03 -9.69396509e+00] [-1.94167890e-02 8.14700378e-05 9.99811473e-01 -3.31250868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:-9.70, Z:-3.31 [[ 9.84818984e-01 1.72498415e-01 1.93872696e-02 1.13237853e+02] [-1.72463467e-01 9.85009792e-01 -3.47296253e-03 -9.70076537e+00] [-1.96957309e-02 7.66437084e-05 9.99806017e-01 -3.31336966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:-9.71, Z:-3.31 [[ 9.84711461e-01 1.73090216e-01 1.95733558e-02 1.13270366e+02] [-1.73054644e-01 9.84905971e-01 -3.50966971e-03 -9.70768921e+00] [-1.98854045e-02 6.87518658e-05 9.99802263e-01 -3.31385227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59587156 meters Centerline goodness [0,1] 0.9999788900382091 Centerline is valid? [True, True] Translation: X:113.30, Y:-9.71, Z:-3.32 [[ 9.84680992e-01 1.73312498e-01 1.91343227e-02 1.13301472e+02] [-1.73278477e-01 9.84866881e-01 -3.43448182e-03 -9.71356467e+00] [-1.94399994e-02 6.63026526e-05 9.99811023e-01 -3.31619693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:-9.72, Z:-3.32 [[ 9.84678275e-01 1.73397937e-01 1.84891894e-02 1.13334051e+02] [-1.73366133e-01 9.84851842e-01 -3.32156838e-03 -9.72079141e+00] [-1.87850654e-02 6.52769452e-05 9.99823543e-01 -3.31809334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:-9.73, Z:-3.32 [[ 9.84783614e-01 1.72793085e-01 1.85413936e-02 1.13366232e+02] [-1.72760932e-01 9.84958143e-01 -3.33420428e-03 -9.72868046e+00] [-1.88386240e-02 8.02413007e-05 9.99822534e-01 -3.31714017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.40, Y:-9.73, Z:-3.32 [[ 9.84808172e-01 1.72647871e-01 1.85897235e-02 1.13397109e+02] [-1.72615452e-01 9.84983606e-01 -3.34673712e-03 -9.73498663e+00] [-1.88883800e-02 8.70205339e-05 9.99821595e-01 -3.31880938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:-9.74, Z:-3.32 [[ 9.84762834e-01 1.72856938e-01 1.90431066e-02 1.13429236e+02] [-1.72822891e-01 9.84946938e-01 -3.43180822e-03 -9.74070185e+00] [-1.93496614e-02 8.84324533e-05 9.99812774e-01 -3.31792468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:-9.75, Z:-3.32 [[ 9.84670709e-01 1.73159886e-01 2.09582520e-02 1.13459621e+02] [-1.73118603e-01 9.84893722e-01 -3.78214404e-03 -9.74943388e+00] [-2.12965664e-02 9.59031450e-05 9.99773198e-01 -3.31742408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77587156000001 meters Centerline goodness [0,1] 0.9998934651524514 Centerline is valid? [True, True] Translation: X:113.49, Y:-9.76, Z:-3.32 [[ 9.84625330e-01 1.73409573e-01 2.10257086e-02 1.13491630e+02] [-1.73368012e-01 9.84849791e-01 -3.79751644e-03 -9.75621626e+00] [-2.13656905e-02 9.39455676e-05 9.99771723e-01 -3.31746636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:-9.76, Z:-3.32 [[ 9.84604834e-01 1.73556339e-01 2.07730258e-02 1.13523157e+02] [-1.73515708e-01 9.84823938e-01 -3.75639895e-03 -9.76378667e+00] [-2.11097199e-02 9.41222835e-05 9.99777161e-01 -3.32096986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:-9.77, Z:-3.33 [[ 9.84570804e-01 1.73909162e-01 1.93890596e-02 1.13553734e+02] [-1.73873798e-01 9.84761695e-01 -3.50794866e-03 -9.76965167e+00] [-1.97036676e-02 8.25743921e-05 9.99805860e-01 -3.32556758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.58, Y:-9.78, Z:-3.33 [[ 9.84545966e-01 1.74118438e-01 1.87619567e-02 1.13584363e+02] [-1.74085302e-01 9.84724714e-01 -3.39767173e-03 -9.77533570e+00] [-1.90669597e-02 7.89831001e-05 9.99818206e-01 -3.32763962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89587156 meters Centerline goodness [0,1] 0.9998715203426124 Centerline is valid? [True, True] Translation: X:113.62, Y:-9.78, Z:-3.33 [[ 9.84471481e-01 1.74617219e-01 1.80202439e-02 1.13616613e+02] [-1.74586728e-01 9.84636391e-01 -3.26373770e-03 -9.78144697e+00] [-1.83132927e-02 6.69612601e-05 9.99832295e-01 -3.33081664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92587156 meters Centerline goodness [0,1] 0.9998719562944152 Centerline is valid? [True, True] Translation: X:113.65, Y:-9.79, Z:-3.33 [[ 9.84288170e-01 1.75796183e-01 1.65076030e-02 1.13648611e+02] [-1.75770720e-01 9.84426584e-01 -2.99227131e-03 -9.78676052e+00] [-1.67765531e-02 4.37039860e-05 9.99859263e-01 -3.33055725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:-9.79, Z:-3.33 [[ 9.84199578e-01 1.76289005e-01 1.65341319e-02 1.13681303e+02] [-1.76263489e-01 9.84338451e-01 -2.99953644e-03 -9.79279461e+00] [-1.68039670e-02 3.77787406e-05 9.99858803e-01 -3.33161010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:-9.80, Z:-3.33 [[ 9.84060830e-01 1.77032204e-01 1.68487849e-02 1.13712087e+02] [-1.77005749e-01 9.84205059e-01 -3.06054365e-03 -9.79859333e+00] [-1.71244741e-02 2.94293321e-05 9.99853365e-01 -3.33171848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01587156000001 meters Centerline goodness [0,1] 0.9998508607465485 Centerline is valid? [True, True] Translation: X:113.74, Y:-9.80, Z:-3.33 [[ 9.83831491e-01 1.78287283e-01 1.70071190e-02 1.13744278e+02] [-1.78260476e-01 9.83978478e-01 -3.09161467e-03 -9.80393815e+00] [-1.72858346e-02 9.93075702e-06 9.99850589e-01 -3.33131812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04587156000001 meters Centerline goodness [0,1] 0.999914593786698 Centerline is valid? [True, True] Translation: X:113.78, Y:-9.81, Z:-3.33 [[ 9.83355782e-01 1.80849668e-01 1.74586120e-02 1.13777599e+02] [-1.80821759e-01 9.83510751e-01 -3.17724727e-03 -9.80697229e+00] [-1.77453367e-02 -3.25324588e-05 9.99842539e-01 -3.33137153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07587156000001 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:113.81, Y:-9.81, Z:-3.33 [[ 9.83071816e-01 1.82358881e-01 1.77494256e-02 1.13810001e+02] [-1.82330217e-01 9.83232035e-01 -3.23372487e-03 -9.81138517e+00] [-1.80415023e-02 -5.72728332e-05 9.99837237e-01 -3.33122068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10587156000001 meters Centerline goodness [0,1] 0.9999575019655341 Centerline is valid? [True, True] Translation: X:113.84, Y:-9.82, Z:-3.33 [[ 9.82714641e-01 1.84247107e-01 1.80260269e-02 1.13842278e+02] [-1.84217789e-01 9.82879950e-01 -3.28793925e-03 -9.81515032e+00] [-1.83232137e-02 -8.96087775e-05 9.99832112e-01 -3.33225835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13587156000001 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:113.87, Y:-9.82, Z:-3.33 [[ 9.82001279e-01 1.87987881e-01 1.82768943e-02 1.13874217e+02] [-1.87958322e-01 9.82171335e-01 -3.33731226e-03 -9.81728046e+00] [-1.85784160e-02 -1.58049488e-04 9.99827394e-01 -3.33272761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:-9.82, Z:-3.33 [[ 9.81661742e-01 1.89716436e-01 1.86520428e-02 1.13906465e+02] [-1.89685900e-01 9.81838906e-01 -3.40909871e-03 -9.82143103e+00] [-1.89600633e-02 -1.91447745e-04 9.99820224e-01 -3.33275917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.94, Y:-9.82, Z:-3.33 [[ 9.81311880e-01 1.91460227e-01 1.92347703e-02 1.13938917e+02] [-1.91428021e-01 9.81500346e-01 -3.51904182e-03 -9.82443045e+00] [-1.95526902e-02 -2.28796460e-04 9.99808802e-01 -3.33241920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:-9.82, Z:-3.33 [[ 9.80941763e-01 1.93295108e-01 1.97549912e-02 1.13970076e+02] [-1.93261430e-01 9.81140627e-01 -3.61810148e-03 -9.82433218e+00] [-2.00817858e-02 -2.68730993e-04 9.99798304e-01 -3.33442575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:-9.82, Z:-3.33 [[ 9.80262078e-01 1.96675284e-01 2.01268513e-02 1.14002425e+02] [-1.96640987e-01 9.80468620e-01 -3.68868275e-03 -9.82495438e+00] [-2.04592189e-02 -3.41888099e-04 9.99790630e-01 -3.33393584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:-9.83, Z:-3.33 [[ 9.79926152e-01 1.98335083e-01 2.01973219e-02 1.14033879e+02] [-1.98300827e-01 9.80134202e-01 -3.70505480e-03 -9.82948904e+00] [-2.05309283e-02 -3.74465548e-04 9.99789148e-01 -3.33410837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31587156 meters Centerline goodness [0,1] 0.999762956577955 Centerline is valid? [True, True] Translation: X:114.07, Y:-9.83, Z:-3.34 [[ 9.79612007e-01 1.99916572e-01 1.98413877e-02 1.14065966e+02] [-1.99883777e-01 9.79812843e-01 -3.64272778e-03 -9.83227045e+00] [-2.01690881e-02 -3.97511634e-04 9.99796504e-01 -3.33534223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34587156 meters Centerline goodness [0,1] 0.9998291036486371 Centerline is valid? [True, True] Translation: X:114.10, Y:-9.83, Z:-3.34 [[ 9.79312644e-01 2.01394755e-01 1.96697376e-02 1.14096772e+02] [-2.01362739e-01 9.79510069e-01 -3.61540643e-03 -9.83427799e+00] [-1.99948299e-02 -4.20139014e-04 9.99799995e-01 -3.33745714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37587156000001 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:114.13, Y:-9.84, Z:-3.34 [[ 9.79074702e-01 2.02613514e-01 1.89866184e-02 1.14128550e+02] [-2.02583885e-01 9.79258689e-01 -3.49126209e-03 -9.83503212e+00] [-1.93001879e-02 -4.28176540e-04 9.99813642e-01 -3.34028395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40587156000001 meters Centerline goodness [0,1] 0.9998927337867118 Centerline is valid? [True, True] Translation: X:114.16, Y:-9.84, Z:-3.34 [[ 9.78643164e-01 2.04792937e-01 1.78160094e-02 1.14159757e+02] [-2.04767181e-01 9.78805220e-01 -3.27761284e-03 -9.83977644e+00] [-1.81096350e-02 -4.40520613e-04 9.99835910e-01 -3.34171341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43587156000001 meters Centerline goodness [0,1] 0.9999361457579499 Centerline is valid? [True, True] Translation: X:114.19, Y:-9.84, Z:-3.34 [[ 9.78527732e-01 2.05359440e-01 1.76345743e-02 1.14191090e+02] [-2.05334286e-01 9.78686519e-01 -3.24490796e-03 -9.84140033e+00] [-1.79250927e-02 -4.45750293e-04 9.99839233e-01 -3.34424935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46587156000001 meters Centerline goodness [0,1] 0.9998509877384196 Centerline is valid? [True, True] Translation: X:114.22, Y:-9.84, Z:-3.35 [[ 9.78471424e-01 2.05650987e-01 1.73592573e-02 1.14221218e+02] [-2.05626588e-01 9.78625300e-01 -3.19818611e-03 -9.84204617e+00] [-1.76459185e-02 -4.40191149e-04 9.99844202e-01 -3.34717886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:-9.85, Z:-3.35 [[ 9.78478866e-01 2.05627784e-01 1.72140436e-02 1.14251593e+02] [-2.05603762e-01 9.78630178e-01 -3.17289410e-03 -9.85026971e+00] [-1.74986177e-02 -4.34662310e-04 9.99846793e-01 -3.34597990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52587156000001 meters Centerline goodness [0,1] 0.9999354880330301 Centerline is valid? [True, True] Translation: X:114.28, Y:-9.85, Z:-3.35 [[ 9.78469915e-01 2.05598599e-01 1.80511061e-02 1.14283446e+02] [-2.05572171e-01 9.78636301e-01 -3.32765817e-03 -9.85271088e+00] [-1.83496296e-02 -4.54791664e-04 9.99831528e-01 -3.34541457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55587156000001 meters Centerline goodness [0,1] 0.9999367195410057 Centerline is valid? [True, True] Translation: X:114.31, Y:-9.85, Z:-3.35 [[ 9.78523137e-01 2.05297957e-01 1.85800802e-02 1.14313358e+02] [-2.05269887e-01 9.78699410e-01 -3.42605862e-03 -9.85230001e+00] [-1.88876764e-02 -4.61453329e-04 9.99821505e-01 -3.34715217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58587156 meters Centerline goodness [0,1] 0.9998932627444284 Centerline is valid? [True, True] Translation: X:114.34, Y:-9.86, Z:-3.35 [[ 9.78582099e-01 2.05023684e-01 1.85031170e-02 1.14343804e+02] [-2.04995808e-01 9.78756907e-01 -3.41123625e-03 -9.85864414e+00] [-1.88094377e-02 -4.54886682e-04 9.99822983e-01 -3.34761701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61587156 meters Centerline goodness [0,1] 0.9999574549554341 Centerline is valid? [True, True] Translation: X:114.37, Y:-9.86, Z:-3.35 [[ 9.78702123e-01 2.04496830e-01 1.79777853e-02 1.14374045e+02] [-2.04470413e-01 9.78867131e-01 -3.31508220e-03 -9.86256885e+00] [-1.82757869e-02 -4.31447193e-04 9.99832891e-01 -3.34985787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64587156 meters Centerline goodness [0,1] 0.9998509464897898 Centerline is valid? [True, True] Translation: X:114.40, Y:-9.87, Z:-3.35 [[ 9.78713794e-01 2.04428899e-01 1.81145068e-02 1.14403963e+02] [-2.04402067e-01 9.78881319e-01 -3.34029349e-03 -9.86598762e+00] [-1.84148048e-02 -4.33451325e-04 9.99830339e-01 -3.34991682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67587156 meters Centerline goodness [0,1] 0.9999358220130495 Centerline is valid? [True, True] Translation: X:114.43, Y:-9.87, Z:-3.35 [[ 9.78754345e-01 2.04206067e-01 1.84340476e-02 1.14432826e+02] [-2.04178233e-01 9.78927828e-01 -3.39962610e-03 -9.86756788e+00] [-1.87398264e-02 -4.36432438e-04 9.99824299e-01 -3.35088910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:-9.87, Z:-3.35 [[ 9.78852769e-01 2.03724530e-01 1.85357223e-02 1.14462808e+02] [-2.03696320e-01 9.79028156e-01 -3.41742216e-03 -9.87115316e+00] [-1.88432068e-02 -4.30505283e-04 9.99822358e-01 -3.35191888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73587156 meters Centerline goodness [0,1] 0.9997648517497167 Centerline is valid? [True, True] Translation: X:114.49, Y:-9.88, Z:-3.35 [[ 9.79053741e-01 2.02745991e-01 1.86503672e-02 1.14492117e+02] [-2.02717254e-01 9.79231276e-01 -3.43847006e-03 -9.87564158e+00] [-1.89601589e-02 -4.14304263e-04 9.99820154e-01 -3.35169926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76587156000001 meters Centerline goodness [0,1] 0.9999784862957704 Centerline is valid? [True, True] Translation: X:114.52, Y:-9.88, Z:-3.35 [[ 9.79270408e-01 2.01724027e-01 1.83544310e-02 1.14521805e+02] [-2.01696027e-01 9.79442324e-01 -3.38333342e-03 -9.87916700e+00] [-1.86596062e-02 -3.88817521e-04 9.99825819e-01 -3.35367177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:-9.88, Z:-3.36 [[ 9.79449630e-01 2.00888475e-01 1.79511422e-02 1.14550492e+02] [-2.00861551e-01 9.79614050e-01 -3.30906595e-03 -9.88310663e+00] [-1.82499444e-02 -3.64630848e-04 9.99833389e-01 -3.35543902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:-9.89, Z:-3.36 [[ 9.79717363e-01 1.99590730e-01 1.78165463e-02 1.14579284e+02] [-1.99564007e-01 9.79879291e-01 -3.28347730e-03 -9.88856933e+00] [-1.81134164e-02 -3.38661649e-04 9.99835881e-01 -3.35694175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:-9.89, Z:-3.36 [[ 9.80176703e-01 1.97247131e-01 1.86332948e-02 1.14608354e+02] [-1.97217487e-01 9.80353749e-01 -3.43351984e-03 -9.89452838e+00] [-1.89444723e-02 -3.09355419e-04 9.99820490e-01 -3.35649079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88587156000001 meters Centerline goodness [0,1] 0.9998934038289344 Centerline is valid? [True, True] Translation: X:114.64, Y:-9.90, Z:-3.36 [[ 9.80380372e-01 1.96198077e-01 1.89905686e-02 1.14637358e+02] [-1.96167098e-01 9.80564239e-01 -3.49888404e-03 -9.89923997e+00] [-1.93079467e-02 -2.95087486e-04 9.99813541e-01 -3.35691169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.67, Y:-9.90, Z:-3.36 [[ 9.80571537e-01 1.95226377e-01 1.91343372e-02 1.14667497e+02] [-1.95194756e-01 9.80758168e-01 -3.52465637e-03 -9.90482320e+00] [-1.94542634e-02 -2.78744563e-04 9.99810709e-01 -3.35660837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:-9.91, Z:-3.36 [[ 9.80694902e-01 1.94700756e-01 1.81418098e-02 1.14697602e+02] [-1.94672238e-01 9.80862657e-01 -3.34196679e-03 -9.90560893e+00] [-1.84453073e-02 -2.54256934e-04 9.99829839e-01 -3.36129315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:-9.91, Z:-3.36 [[ 9.80727606e-01 1.94633336e-01 1.70654130e-02 1.14726548e+02] [-1.94608092e-01 9.80876041e-01 -3.14364452e-03 -9.90985374e+00] [-1.73509128e-02 -2.38008500e-04 9.99849433e-01 -3.36298273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:-9.92, Z:-3.36 [[ 9.80732150e-01 1.94610429e-01 1.70654859e-02 1.14755232e+02] [-1.94585189e-01 9.80880586e-01 -3.14324840e-03 -9.91509059e+00] [-1.73509128e-02 -2.38006043e-04 9.99849433e-01 -3.36386256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:-9.92, Z:-3.37 [[ 9.80770065e-01 1.94457582e-01 1.66231460e-02 1.14784482e+02] [-1.94433618e-01 9.80910901e-01 -3.06139269e-03 -9.91840022e+00] [-1.69011361e-02 -2.29576096e-04 9.99857139e-01 -3.36597814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06587156 meters Centerline goodness [0,1] 0.9998508512134319 Centerline is valid? [True, True] Translation: X:114.81, Y:-9.92, Z:-3.37 [[ 9.80790933e-01 1.94332340e-01 1.68549008e-02 1.14812965e+02] [-1.94307689e-01 9.80935721e-01 -3.10380880e-03 -9.92129243e+00] [-1.71367447e-02 -2.30849290e-04 9.99853129e-01 -3.36716856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:-9.93, Z:-3.37 [[ 9.80893032e-01 1.93790692e-01 1.71472042e-02 1.14842594e+02] [-1.93765109e-01 9.81042872e-01 -3.15684915e-03 -9.92596790e+00] [-1.74339104e-02 -2.25998562e-04 9.99847992e-01 -3.36692922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12587156000001 meters Centerline goodness [0,1] 0.9999787424004082 Centerline is valid? [True, True] Translation: X:114.87, Y:-9.93, Z:-3.37 [[ 9.81086889e-01 1.92741165e-01 1.78706472e-02 1.14871146e+02] [-1.92713210e-01 9.81249610e-01 -3.28971602e-03 -9.92687898e+00] [-1.81696293e-02 -2.16412532e-04 9.99834895e-01 -3.36780550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:-9.93, Z:-3.37 [[ 9.81265472e-01 1.91816270e-01 1.80164145e-02 1.14899927e+02] [-1.91787715e-01 9.81430832e-01 -3.31575024e-03 -9.93255481e+00] [-1.83178796e-02 -2.01695760e-04 9.99832193e-01 -3.36757994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:-9.94, Z:-3.37 [[ 9.81374894e-01 1.91249697e-01 1.80795883e-02 1.14928887e+02] [-1.91220855e-01 9.81541398e-01 -3.32693142e-03 -9.93738334e+00] [-1.83821390e-02 -1.92227361e-04 9.99831016e-01 -3.36859093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:-9.94, Z:-3.37 [[ 9.81613010e-01 1.90013952e-01 1.81823017e-02 1.14957613e+02] [-1.89984577e-01 9.81781375e-01 -3.34538186e-03 -9.94218955e+00] [-1.84867144e-02 -1.70486540e-04 9.99829092e-01 -3.36956923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:-9.95, Z:-3.37 [[ 9.81991550e-01 1.88034669e-01 1.83182825e-02 1.14986224e+02] [-1.88004516e-01 9.82162382e-01 -3.36994819e-03 -9.94751973e+00] [-1.86251951e-02 -1.34659193e-04 9.99826527e-01 -3.37164280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:-9.95, Z:-3.37 [[ 9.82234689e-01 1.86751044e-01 1.84136755e-02 1.15014278e+02] [-1.86720357e-01 9.82407266e-01 -3.38718017e-03 -9.95372203e+00] [-1.87222880e-02 -1.11202199e-04 9.99824716e-01 -3.37272907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:-9.96, Z:-3.37 [[ 9.82530579e-01 1.85132322e-01 1.89653720e-02 1.15043394e+02] [-1.85099484e-01 9.82713598e-01 -3.48782849e-03 -9.96162647e+00] [-1.92832387e-02 -8.35824230e-05 9.99814058e-01 -3.37199066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:-9.97, Z:-3.37 [[ 9.82891392e-01 1.83198827e-01 1.90446986e-02 1.15073218e+02] [-1.83165364e-01 9.83075881e-01 -3.50170485e-03 -9.96938034e+00] [-1.93638921e-02 -4.65335979e-05 9.99812501e-01 -3.37306256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:-9.98, Z:-3.38 [[ 9.83619516e-01 1.79290788e-01 1.86403168e-02 1.15101883e+02] [-1.79258031e-01 9.83796123e-01 -3.42722123e-03 -9.97989777e+00] [-1.89527406e-02 2.96551986e-05 9.99820380e-01 -3.37518593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:-9.99, Z:-3.38 [[ 9.83913123e-01 1.77679866e-01 1.85696387e-02 1.15130814e+02] [-1.77647066e-01 9.84088340e-01 -3.41444678e-03 -9.98906429e+00] [-1.88808434e-02 6.06771632e-05 9.99821739e-01 -3.37722112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:-10.00, Z:-3.38 [[ 9.84265427e-01 1.75689497e-01 1.88353129e-02 1.15161031e+02] [-1.75655385e-01 9.84445626e-01 -3.46339715e-03 -9.99941637e+00] [-1.91508239e-02 1.00377931e-04 9.99816601e-01 -3.37747561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:-10.01, Z:-3.38 [[ 9.84841613e-01 1.72457581e-01 1.85843855e-02 1.15191895e+02] [-1.72423821e-01 9.85016932e-01 -3.41597143e-03 -1.00110671e+01] [-1.88950446e-02 1.59800064e-04 9.99821460e-01 -3.37614261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:-10.02, Z:-3.38 [[ 9.84949219e-01 1.71848122e-01 1.85272317e-02 1.15222284e+02] [-1.71814401e-01 9.85123440e-01 -3.40861595e-03 -1.00207714e+01] [-1.88373745e-02 1.74068398e-04 9.99822546e-01 -3.37946911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:-10.03, Z:-3.38 [[ 9.85022484e-01 1.71391241e-01 1.88612723e-02 1.15254474e+02] [-1.71356139e-01 9.85203028e-01 -3.47379517e-03 -1.00287372e+01] [-1.91775606e-02 1.89771550e-04 9.99816076e-01 -3.38012860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54587156000001 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:115.29, Y:-10.04, Z:-3.38 [[ 9.84986587e-01 1.71593733e-01 1.88948311e-02 1.15286440e+02] [-1.71558475e-01 9.85167780e-01 -3.48349387e-03 -1.00366482e+01] [-1.92123245e-02 1.89626329e-04 9.99815408e-01 -3.38136879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:-10.04, Z:-3.38 [[ 9.84852281e-01 1.72334965e-01 1.91479517e-02 1.15317338e+02] [-1.72298823e-01 9.85038389e-01 -3.53393614e-03 -1.00444309e+01] [-1.94704883e-02 1.81235532e-04 9.99810416e-01 -3.38039734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:-10.05, Z:-3.38 [[ 9.84598159e-01 1.73762873e-01 1.93113921e-02 1.15349058e+02] [-1.73726322e-01 9.84787510e-01 -3.56734734e-03 -1.00492330e+01] [-1.96374903e-02 1.57506490e-04 9.99807153e-01 -3.37968440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:-10.05, Z:-3.38 [[ 9.84282221e-01 1.75528821e-01 1.94458880e-02 1.15379745e+02] [-1.75492032e-01 9.84474285e-01 -3.59576529e-03 -1.00547720e+01] [-1.97751371e-02 1.26649437e-04 9.99804445e-01 -3.38095274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66587156000001 meters Centerline goodness [0,1] 0.9998930961493233 Centerline is valid? [True, True] Translation: X:115.41, Y:-10.06, Z:-3.38 [[ 9.83890006e-01 1.77676553e-01 1.97863206e-02 1.15411403e+02] [-1.77638836e-01 9.84088936e-01 -3.66186577e-03 -1.00589142e+01] [-2.01221268e-02 8.80541807e-05 9.99797526e-01 -3.38060425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69587156000001 meters Centerline goodness [0,1] 0.999957153262779 Centerline is valid? [True, True] Translation: X:115.44, Y:-10.06, Z:-3.38 [[ 9.83472249e-01 1.79932185e-01 2.01679070e-02 1.15442420e+02] [-1.79893384e-01 9.83679016e-01 -3.73679011e-03 -1.00637518e+01] [-2.05111158e-02 4.69563248e-05 9.99789624e-01 -3.38133004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72587156 meters Centerline goodness [0,1] 0.9998287817823817 Centerline is valid? [True, True] Translation: X:115.48, Y:-10.06, Z:-3.38 [[ 9.82474463e-01 1.85281099e-01 2.03677120e-02 1.15475164e+02] [-1.85242645e-01 9.82685560e-01 -3.77518789e-03 -1.00636887e+01] [-2.07145274e-02 -6.39431560e-05 9.99785429e-01 -3.38148185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:-10.07, Z:-3.38 [[ 9.81976440e-01 1.87903326e-01 2.03620245e-02 1.15505257e+02] [-1.87865354e-01 9.82187521e-01 -3.77907869e-03 -1.00655879e+01] [-2.07094278e-02 -1.14352715e-04 9.99785530e-01 -3.38323641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.54, Y:-10.07, Z:-3.38 [[ 9.81531079e-01 1.90189918e-01 2.06042507e-02 1.15536058e+02] [-1.90151539e-01 9.81747304e-01 -3.82417504e-03 -1.00701766e+01] [-2.09554871e-02 -1.64383319e-04 9.99780396e-01 -3.38266521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:-10.07, Z:-3.38 [[ 9.81094403e-01 1.92397199e-01 2.09067200e-02 1.15565606e+02] [-1.92358169e-01 9.81317111e-01 -3.88105728e-03 -1.00744843e+01] [-2.12628266e-02 -2.13894803e-04 9.99773898e-01 -3.38326549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:-10.08, Z:-3.38 [[ 9.80269390e-01 1.96540817e-01 2.10625192e-02 1.15595232e+02] [-1.96502157e-01 9.80495596e-01 -3.91008349e-03 -1.00750860e+01] [-2.14201984e-02 -3.05895303e-04 9.99770514e-01 -3.38361551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87587156000001 meters Centerline goodness [0,1] 0.9998720027306084 Centerline is valid? [True, True] Translation: X:115.63, Y:-10.08, Z:-3.39 [[ 9.79856970e-01 1.98602762e-01 2.09107766e-02 1.15625392e+02] [-1.98565129e-01 9.80080008e-01 -3.88176841e-03 -1.00768830e+01] [-2.12651641e-02 -3.48573244e-04 9.99773810e-01 -3.38546385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:-10.08, Z:-3.39 [[ 9.79487277e-01 2.00438604e-01 2.07132689e-02 1.15654512e+02] [-2.00402098e-01 9.79706189e-01 -3.84466000e-03 -1.00771509e+01] [-2.10635360e-02 -3.85186994e-04 9.99778065e-01 -3.38784755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93587156000001 meters Centerline goodness [0,1] 0.9998929725795749 Centerline is valid? [True, True] Translation: X:115.68, Y:-10.08, Z:-3.39 [[ 9.79101780e-01 2.02366819e-01 2.01835431e-02 1.15683418e+02] [-2.02332577e-01 9.79309704e-01 -3.74581520e-03 -1.00812373e+01] [-2.05239683e-02 -4.16253951e-04 9.99789275e-01 -3.38909018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96587156000001 meters Centerline goodness [0,1] 0.9996584116140051 Centerline is valid? [True, True] Translation: X:115.71, Y:-10.08, Z:-3.39 [[ 9.78413049e-01 2.05740544e-01 1.94610879e-02 1.15713222e+02] [-2.05709391e-01 9.78606462e-01 -3.61095651e-03 -1.00828236e+01] [-1.97876665e-02 -4.70321566e-04 9.99804094e-01 -3.39083390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99587156000001 meters Centerline goodness [0,1] 0.9999574820893301 Centerline is valid? [True, True] Translation: X:115.74, Y:-10.08, Z:-3.39 [[ 9.78073902e-01 2.07362257e-01 1.92960075e-02 1.15740800e+02] [-2.07331947e-01 9.78264098e-01 -3.58023862e-03 -1.00838095e+01] [-1.96189978e-02 -4.98940863e-04 9.99807404e-01 -3.39302954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02587156000001 meters Centerline goodness [0,1] 0.9999351575671119 Centerline is valid? [True, True] Translation: X:115.77, Y:-10.09, Z:-3.39 [[ 9.77764466e-01 2.08807445e-01 1.93933203e-02 1.15769969e+02] [-2.08777143e-01 9.77956629e-01 -3.59674535e-03 -1.00905094e+01] [-1.97168533e-02 -5.32112214e-04 9.99805462e-01 -3.39216799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05587156000001 meters Centerline goodness [0,1] 0.9998515093018816 Centerline is valid? [True, True] Translation: X:115.80, Y:-10.08, Z:-3.39 [[ 9.77125878e-01 2.11744846e-01 1.97265946e-02 1.15800684e+02] [-2.11714099e-01 9.77324796e-01 -3.65817459e-03 -1.00834795e+01] [-2.00538897e-02 -6.01901146e-04 9.99798719e-01 -3.39411998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08587156000002 meters Centerline goodness [0,1] 0.9999355088352896 Centerline is valid? [True, True] Translation: X:115.83, Y:-10.09, Z:-3.39 [[ 9.76990532e-01 2.12320137e-01 2.02400585e-02 1.15828210e+02] [-2.12287906e-01 9.77199960e-01 -3.75273314e-03 -1.00910531e+01] [-2.05753651e-02 -6.30334874e-04 9.99788106e-01 -3.39240929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11587156 meters Centerline goodness [0,1] 0.9998511746571702 Centerline is valid? [True, True] Translation: X:115.86, Y:-10.09, Z:-3.39 [[ 9.76963736e-01 2.12412294e-01 2.05639385e-02 1.15856783e+02] [-2.12379062e-01 9.77179924e-01 -3.81185789e-03 -1.00892113e+01] [-2.09043533e-02 -6.43303035e-04 9.99781273e-01 -3.39451582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14587156 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:115.88, Y:-10.10, Z:-3.39 [[ 9.77008685e-01 2.12157990e-01 2.10479732e-02 1.15884942e+02] [-2.12123150e-01 9.77235160e-01 -3.90004043e-03 -1.00984380e+01] [-2.13962443e-02 -6.54389020e-04 9.99770860e-01 -3.39331411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17587156 meters Centerline goodness [0,1] 0.9998722507292355 Centerline is valid? [True, True] Translation: X:115.91, Y:-10.10, Z:-3.39 [[ 9.77169732e-01 2.11383647e-01 2.13604289e-02 1.15913464e+02] [-2.11347594e-01 9.77402954e-01 -3.95724019e-03 -1.01039115e+01] [-2.17142422e-02 -6.47579935e-04 9.99764008e-01 -3.39297202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20587156 meters Centerline goodness [0,1] 0.9999569160509252 Centerline is valid? [True, True] Translation: X:115.94, Y:-10.11, Z:-3.39 [[ 9.77552904e-01 2.09523048e-01 2.21452533e-02 1.15942483e+02] [-2.09483848e-01 9.77803506e-01 -4.10141573e-03 -1.01088839e+01] [-2.25130474e-02 -6.29722015e-04 9.99746351e-01 -3.39247418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23587156 meters Centerline goodness [0,1] 0.9999358700299273 Centerline is valid? [True, True] Translation: X:115.97, Y:-10.11, Z:-3.39 [[ 9.77733067e-01 2.08694548e-01 2.20144579e-02 1.15970776e+02] [-2.08655616e-01 9.77980683e-01 -4.07648107e-03 -1.01128608e+01] [-2.23804539e-02 -6.07729916e-04 9.99749342e-01 -3.39423360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26587156000001 meters Centerline goodness [0,1] 0.9999366473793132 Centerline is valid? [True, True] Translation: X:116.00, Y:-10.11, Z:-3.40 [[ 9.77873701e-01 2.08110115e-01 2.12885958e-02 1.15998771e+02] [-2.08073589e-01 9.78105234e-01 -3.94117516e-03 -1.01128016e+01] [-2.16426854e-02 -5.75622992e-04 9.99765604e-01 -3.39719966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29587156000001 meters Centerline goodness [0,1] 0.9999358988055811 Centerline is valid? [True, True] Translation: X:116.03, Y:-10.12, Z:-3.40 [[ 9.78024513e-01 2.07456557e-01 2.07323323e-02 1.16026380e+02] [-2.07421796e-01 9.78244078e-01 -3.83686969e-03 -1.01198093e+01] [-2.10772651e-02 -5.47784997e-04 9.99777700e-01 -3.39871882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32587156000001 meters Centerline goodness [0,1] 0.9998933742776107 Centerline is valid? [True, True] Translation: X:116.05, Y:-10.12, Z:-3.40 [[ 9.78176451e-01 2.06783804e-01 2.02802693e-02 1.16054137e+02] [-2.06750416e-01 9.78386521e-01 -3.75236433e-03 -1.01228464e+01] [-2.06178703e-02 -5.22479678e-04 9.99787293e-01 -3.40073270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35587156000001 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:116.08, Y:-10.13, Z:-3.40 [[ 9.78647678e-01 2.04627969e-01 1.93937201e-02 1.16082081e+02] [-2.04597038e-01 9.78839714e-01 -3.58710154e-03 -1.01270416e+01] [-1.97173648e-02 -4.57389097e-04 9.99805489e-01 -3.40337648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38587156000001 meters Centerline goodness [0,1] 0.999978747369987 Centerline is valid? [True, True] Translation: X:116.11, Y:-10.13, Z:-3.40 [[ 9.78944753e-01 2.03207605e-01 1.93349355e-02 1.16110188e+02] [-2.03176601e-01 9.79135581e-01 -3.57529574e-03 -1.01328892e+01] [-1.96580506e-02 -4.28389486e-04 9.99806670e-01 -3.40493279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:-10.14, Z:-3.41 [[ 9.79327092e-01 2.01379186e-01 1.91015634e-02 1.16138049e+02] [-2.01348597e-01 9.79513284e-01 -3.53125562e-03 -1.01399394e+01] [-1.94213565e-02 -3.87818687e-04 9.99811312e-01 -3.40546554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44587156000001 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:116.17, Y:-10.15, Z:-3.41 [[ 9.80183692e-01 1.97107375e-01 1.97132586e-02 1.16166251e+02] [-1.97073955e-01 9.80381856e-01 -3.64309835e-03 -1.01462975e+01] [-2.00446027e-02 -3.14064265e-04 9.99799037e-01 -3.40609527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:-10.15, Z:-3.41 [[ 9.80697068e-01 1.94500455e-01 2.00707053e-02 1.16194542e+02] [-1.94465274e-01 9.80902392e-01 -3.70877851e-03 -1.01546083e+01] [-2.04087620e-02 -2.65867001e-04 9.99791684e-01 -3.40538864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50587156 meters Centerline goodness [0,1] 0.9999362244897959 Centerline is valid? [True, True] Translation: X:116.22, Y:-10.16, Z:-3.41 [[ 9.81173747e-01 1.92053515e-01 2.03353375e-02 1.16221412e+02] [-1.92016885e-01 9.81384430e-01 -3.75714701e-03 -1.01612433e+01] [-2.06783569e-02 -2.18314159e-04 9.99786156e-01 -3.40631604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:-10.17, Z:-3.41 [[ 9.81632497e-01 1.89687020e-01 2.04077541e-02 1.16249960e+02] [-1.89649649e-01 9.81844593e-01 -3.76894707e-03 -1.01693471e+01] [-2.07521633e-02 -1.70602487e-04 9.99784636e-01 -3.40722068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:-10.18, Z:-3.41 [[ 9.82270146e-01 1.86403622e-01 1.99762165e-02 1.16279086e+02] [-1.86367148e-01 9.82473246e-01 -3.68866487e-03 -1.01774855e+01] [-2.03136788e-02 -9.96451172e-05 9.99793651e-01 -3.40892285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:-10.18, Z:-3.41 [[ 9.82448394e-01 1.85508522e-01 1.95381848e-02 1.16308533e+02] [-1.85473455e-01 9.82642652e-01 -3.60767820e-03 -1.01832780e+01] [-1.98683088e-02 -7.94569837e-05 9.99802603e-01 -3.41009291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:-10.19, Z:-3.41 [[ 9.82571355e-01 1.84915570e-01 1.89674473e-02 1.16336677e+02] [-1.84882421e-01 9.82754409e-01 -3.50185286e-03 -1.01883572e+01] [-1.92878896e-02 -6.59272642e-05 9.99813969e-01 -3.41240864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:-10.19, Z:-3.41 [[ 9.82634636e-01 1.84612282e-01 1.86407265e-02 1.16366023e+02] [-1.84580219e-01 9.82811427e-01 -3.44105559e-03 -1.01932614e+01] [-1.89555802e-02 -5.94089784e-05 9.99820325e-01 -3.41395618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68587156000001 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:116.39, Y:-10.20, Z:-3.42 [[ 9.82562862e-01 1.85030902e-01 1.82698432e-02 1.16394502e+02] [-1.85000180e-01 9.82732701e-01 -3.37229607e-03 -1.01952212e+01] [-1.85783514e-02 -6.64314076e-05 9.99827405e-01 -3.41570330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71587156000001 meters Centerline goodness [0,1] 0.9998937955351643 Centerline is valid? [True, True] Translation: X:116.42, Y:-10.20, Z:-3.42 [[ 9.82487668e-01 1.85415960e-01 1.84093540e-02 1.16422947e+02] [-1.85384845e-01 9.82660122e-01 -3.39750278e-03 -1.01982672e+01] [-1.87200892e-02 -7.48106523e-05 9.99824761e-01 -3.41678499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:-10.20, Z:-3.42 [[ 9.82452422e-01 1.85598047e-01 1.84554592e-02 1.16452440e+02] [-1.85566830e-01 9.82625747e-01 -3.40485404e-03 -1.02025549e+01] [-1.87667436e-02 -7.96139596e-05 9.99823886e-01 -3.41624989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77587156000001 meters Centerline goodness [0,1] 0.999978453383896 Centerline is valid? [True, True] Translation: X:116.48, Y:-10.21, Z:-3.42 [[ 9.82401033e-01 1.85844479e-01 1.87093409e-02 1.16481356e+02] [-1.85812451e-01 9.82579168e-01 -3.45121434e-03 -1.02066881e+01] [-1.90247977e-02 -8.59519495e-05 9.99819008e-01 -3.41705473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:-10.21, Z:-3.42 [[ 9.82379664e-01 1.85950583e-01 1.87770429e-02 1.16509545e+02] [-1.85918349e-01 9.82559094e-01 -3.46336339e-03 -1.02100096e+01] [-1.90935687e-02 -8.86590581e-05 9.99817697e-01 -3.41894891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:-10.21, Z:-3.42 [[ 9.82250247e-01 1.86623638e-01 1.88698110e-02 1.16538448e+02] [-1.86591219e-01 9.82431477e-01 -3.47988830e-03 -1.02127055e+01] [-1.91877257e-02 -1.02819896e-04 9.99815893e-01 -3.41962443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86587156 meters Centerline goodness [0,1] 0.9997849277357193 Centerline is valid? [True, True] Translation: X:116.57, Y:-10.22, Z:-3.42 [[ 9.82154797e-01 1.87134706e-01 1.87764817e-02 1.16566948e+02] [-1.87102718e-01 9.82334255e-01 -3.46177168e-03 -1.02169930e+01] [-1.90925988e-02 -1.13135092e-04 9.99817713e-01 -3.42009184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:-10.22, Z:-3.42 [[ 9.82110194e-01 1.87372389e-01 1.87391427e-02 1.16594174e+02] [-1.87340585e-01 9.82288946e-01 -3.45414240e-03 -1.02203439e+01] [-1.90544637e-02 -1.18253503e-04 9.99818440e-01 -3.42179966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:-10.22, Z:-3.42 [[ 9.81911807e-01 1.88495688e-01 1.78487831e-02 1.16622665e+02] [-1.88467042e-01 9.82074008e-01 -3.28884951e-03 -1.02215040e+01] [-1.81487599e-02 -1.34547191e-04 9.99835289e-01 -3.42405565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:-10.23, Z:-3.42 [[ 9.81920642e-01 1.88449640e-01 1.78490007e-02 1.16650533e+02] [-1.88421008e-01 9.82082845e-01 -3.28766781e-03 -1.02265436e+01] [-1.81487572e-02 -1.34897809e-04 9.99835289e-01 -3.42491020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98587156 meters Centerline goodness [0,1] 0.9999786260847262 Centerline is valid? [True, True] Translation: X:116.68, Y:-10.23, Z:-3.43 [[ 9.81784914e-01 1.89125932e-01 1.81594022e-02 1.16679804e+02] [-1.89096428e-01 9.81952829e-01 -3.34393971e-03 -1.02292623e+01] [-1.84641021e-02 -1.50848528e-04 9.99829513e-01 -3.42518213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:-10.23, Z:-3.43 [[ 9.81596769e-01 1.90111795e-01 1.80357789e-02 1.16708850e+02] [-1.90082873e-01 9.81762434e-01 -3.32031261e-03 -1.02323393e+01] [-1.83380808e-02 -1.69084545e-04 9.99831829e-01 -3.42568578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:-10.24, Z:-3.43 [[ 9.81442034e-01 1.90932734e-01 1.77827090e-02 1.16737752e+02] [-1.90904768e-01 9.81603106e-01 -3.27286840e-03 -1.02358186e+01] [-1.80804601e-02 -1.82673323e-04 9.99836518e-01 -3.42690173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:-10.24, Z:-3.43 [[ 9.81241046e-01 1.91972324e-01 1.76815473e-02 1.16765212e+02] [-1.91944857e-01 9.81400319e-01 -3.25352957e-03 -1.02375205e+01] [-1.79772638e-02 -2.01385314e-04 9.99838376e-01 -3.42976667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:-10.24, Z:-3.43 [[ 9.81034576e-01 1.92993796e-01 1.80154054e-02 1.16793756e+02] [-1.92965476e-01 9.81199951e-01 -3.31378881e-03 -1.02385728e+01] [-1.83162555e-02 -2.25409880e-04 9.99832218e-01 -3.43011225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:-10.24, Z:-3.43 [[ 9.81025563e-01 1.93012146e-01 1.83072542e-02 1.16822647e+02] [-1.92982927e-01 9.81196340e-01 -3.36624047e-03 -1.02436077e+01] [-1.86127362e-02 -2.30619556e-04 9.99826741e-01 -3.42998516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:-10.25, Z:-3.43 [[ 9.81069965e-01 1.92802081e-01 1.81406147e-02 1.16850684e+02] [-1.92773366e-01 9.81237640e-01 -3.33502977e-03 -1.02483653e+01] [-1.84432546e-02 -2.25129812e-04 9.99829883e-01 -3.43083691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19587156000001 meters Centerline goodness [0,1] 0.9998712639732229 Centerline is valid? [True, True] Translation: X:116.88, Y:-10.25, Z:-3.43 [[ 9.81115618e-01 1.92538113e-01 1.84720952e-02 1.16878773e+02] [-1.92508323e-01 9.81289470e-01 -3.39434767e-03 -1.02545287e+01] [-1.87800138e-02 -2.25784561e-04 9.99823614e-01 -3.43052103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:-10.26, Z:-3.43 [[ 9.81274754e-01 1.91693735e-01 1.87981095e-02 1.16906416e+02] [-1.91662744e-01 9.81454770e-01 -3.45342704e-03 -1.02590427e+01] [-1.91114946e-02 -2.14136494e-04 9.99817336e-01 -3.43168119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:-10.27, Z:-3.43 [[ 9.81534268e-01 1.90293424e-01 1.94652061e-02 1.16933939e+02] [-1.90259948e-01 9.81727240e-01 -3.57456887e-03 -1.02658503e+01] [-1.97897400e-02 -1.94887251e-04 9.99804145e-01 -3.43175014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:-10.27, Z:-3.43 [[ 9.81653695e-01 1.89692981e-01 1.93027653e-02 1.16961311e+02] [-1.89659962e-01 9.81843440e-01 -3.54386297e-03 -1.02740468e+01] [-1.96245394e-02 -1.82115559e-04 9.99807404e-01 -3.43104472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:-10.28, Z:-3.43 [[ 9.81774667e-01 1.89048159e-01 1.94755264e-02 1.16988550e+02] [-1.89014437e-01 9.81967802e-01 -3.57473069e-03 -1.02802911e+01] [-1.98001361e-02 -1.71575611e-04 9.99803943e-01 -3.43221931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:-10.29, Z:-3.43 [[ 9.81853137e-01 1.88615096e-01 1.97170739e-02 1.17016419e+02] [-1.88580471e-01 9.82051077e-01 -3.61772910e-03 -1.02864665e+01] [-2.00455320e-02 -1.66176428e-04 9.99799054e-01 -3.43187495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37587156000001 meters Centerline goodness [0,1] 0.9999570086627545 Centerline is valid? [True, True] Translation: X:117.05, Y:-10.29, Z:-3.43 [[ 9.81728103e-01 1.89271554e-01 1.96522370e-02 1.17045379e+02] [-1.89237307e-01 9.81924766e-01 -3.60487157e-03 -1.02909584e+01] [-1.99793179e-02 -1.79932681e-04 9.99800377e-01 -3.43218392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:-10.29, Z:-3.44 [[ 9.81579837e-01 1.90071539e-01 1.93347754e-02 1.17072954e+02] [-1.90038561e-01 9.81770224e-01 -3.54580966e-03 -1.02939970e+01] [-1.96562643e-02 -1.93857625e-04 9.99806778e-01 -3.43502613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:-10.30, Z:-3.44 [[ 9.81344107e-01 1.91289883e-01 1.92853290e-02 1.17101179e+02] [-1.91257336e-01 9.81533562e-01 -3.53537567e-03 -1.02978696e+01] [-1.96054792e-02 -2.19040562e-04 9.99807770e-01 -3.43518424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:-10.30, Z:-3.44 [[ 9.81043511e-01 1.92812974e-01 1.94109920e-02 1.17129555e+02] [-1.92780316e-01 9.81235493e-01 -3.55757691e-03 -1.02994922e+01] [-1.97327013e-02 -2.51919429e-04 9.99805260e-01 -3.43603892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49587156000001 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:117.16, Y:-10.30, Z:-3.44 [[ 9.80276034e-01 1.96739477e-01 1.87743212e-02 1.17159764e+02] [-1.96709674e-01 9.80455749e-01 -3.43941331e-03 -1.02987218e+01] [-1.90840596e-02 -3.21516162e-04 9.99817831e-01 -3.43663473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52587156000001 meters Centerline goodness [0,1] 0.9999357560442855 Centerline is valid? [True, True] Translation: X:117.19, Y:-10.30, Z:-3.44 [[ 9.79884213e-01 1.98685502e-01 1.87350061e-02 1.17187488e+02] [-1.98656177e-01 9.80063234e-01 -3.43228590e-03 -1.02994479e+01] [-1.90434361e-02 -3.58581927e-04 9.99818593e-01 -3.43816403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:-10.30, Z:-3.44 [[ 9.79530841e-01 2.00423922e-01 1.86971494e-02 1.17216477e+02] [-2.00395063e-01 9.79709190e-01 -3.42368933e-03 -1.03024338e+01] [-1.90039583e-02 -3.93207145e-04 9.99819331e-01 -3.43821349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58587156000002 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:117.25, Y:-10.30, Z:-3.44 [[ 9.78963560e-01 2.03193296e-01 1.85157364e-02 1.17245652e+02] [-2.03165507e-01 9.79138544e-01 -3.38955042e-03 -1.02984567e+01] [-1.88182051e-02 -4.43512632e-04 9.99822824e-01 -3.44040464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61587156 meters Centerline goodness [0,1] 0.9999358275043316 Centerline is valid? [True, True] Translation: X:117.27, Y:-10.30, Z:-3.44 [[ 9.78816399e-01 2.03884518e-01 1.86965151e-02 1.17274379e+02] [-2.03856325e-01 9.78994836e-01 -3.42181322e-03 -1.02983782e+01] [-1.90014465e-02 -4.62075966e-04 9.99819349e-01 -3.44178967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:-10.30, Z:-3.44 [[ 9.78764956e-01 2.04084272e-01 1.92034256e-02 1.17302593e+02] [-2.04054590e-01 9.78953206e-01 -3.51350131e-03 -1.03026225e+01] [-1.95163054e-02 -4.79655166e-04 9.99809424e-01 -3.44126226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67587156 meters Centerline goodness [0,1] 0.9999568602920558 Centerline is valid? [True, True] Translation: X:117.33, Y:-10.31, Z:-3.44 [[ 9.78842081e-01 2.03710029e-01 1.92459144e-02 1.17331162e+02] [-2.03680175e-01 9.79031153e-01 -3.51963192e-03 -1.03079800e+01] [-1.95593341e-02 -4.74847388e-04 9.99808585e-01 -3.44067211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70587156 meters Centerline goodness [0,1] 0.9999570012684625 Centerline is valid? [True, True] Translation: X:117.36, Y:-10.31, Z:-3.44 [[ 9.79165069e-01 2.02145766e-01 1.93094823e-02 1.17358877e+02] [-2.02115427e-01 9.79355344e-01 -3.53042280e-03 -1.03099445e+01] [-1.96245047e-02 -4.45877572e-04 9.99807321e-01 -3.44211408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:-10.32, Z:-3.44 [[ 9.79417101e-01 2.00928066e-01 1.92367905e-02 1.17387120e+02] [-2.00897745e-01 9.79605908e-01 -3.51583222e-03 -1.03159750e+01] [-1.95509030e-02 -4.21161636e-04 9.99808774e-01 -3.44299233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:-10.32, Z:-3.44 [[ 9.79736790e-01 1.99345376e-01 1.94227353e-02 1.17415154e+02] [-1.99314174e-01 9.79929215e-01 -3.54885905e-03 -1.03221238e+01] [-1.97403544e-02 -3.94278681e-04 9.99805062e-01 -3.44386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:-10.33, Z:-3.45 [[ 9.80057554e-01 1.97742966e-01 1.96191442e-02 1.17442479e+02] [-1.97710821e-01 9.80253837e-01 -3.58412322e-03 -1.03262554e+01] [-1.99404766e-02 -3.66270078e-04 9.99801102e-01 -3.44522180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82587156000001 meters Centerline goodness [0,1] 0.9998070243149363 Centerline is valid? [True, True] Translation: X:117.47, Y:-10.33, Z:-3.45 [[ 9.80650621e-01 1.94811964e-01 1.93043349e-02 1.17470592e+02] [-1.94780313e-01 9.80840561e-01 -3.52463966e-03 -1.03311095e+01] [-1.96211166e-02 -3.03664314e-04 9.99807441e-01 -3.44696392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:-10.34, Z:-3.45 [[ 9.80981817e-01 1.93192045e-01 1.87485579e-02 1.17497942e+02] [-1.93161903e-01 9.81160927e-01 -3.42269709e-03 -1.03356965e+01] [-1.90565903e-02 -2.63903530e-04 9.99818372e-01 -3.44915290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:-10.34, Z:-3.45 [[ 9.81303610e-01 1.91582054e-01 1.84266363e-02 1.17525812e+02] [-1.91552691e-01 9.81476573e-01 -3.36200070e-03 -1.03428631e+01] [-1.87294108e-02 -2.30528344e-04 9.99824563e-01 -3.44927704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:-10.35, Z:-3.45 [[ 9.81637666e-01 1.89868543e-01 1.83692506e-02 1.17553119e+02] [-1.89839077e-01 9.81809501e-01 -3.35075642e-03 -1.03485627e+01] [-1.86713081e-02 -1.97972881e-04 9.99825656e-01 -3.45063180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:-10.35, Z:-3.45 [[ 9.82011020e-01 1.87960329e-01 1.80352993e-02 1.17580623e+02] [-1.87931623e-01 9.82176608e-01 -3.28873762e-03 -1.03545540e+01] [-1.83320013e-02 -1.59826496e-04 9.99831942e-01 -3.45317766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:-10.36, Z:-3.45 [[ 9.82822991e-01 1.83765901e-01 1.70018487e-02 1.17608588e+02] [-1.83739781e-01 9.82970034e-01 -3.09921723e-03 -1.03637488e+01] [-1.72818382e-02 -7.79340137e-05 9.99850655e-01 -3.45329754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:-10.37, Z:-3.45 [[ 9.83220464e-01 1.81575298e-01 1.75479762e-02 1.17635340e+02] [-1.81547138e-01 9.83377043e-01 -3.19797700e-03 -1.03697820e+01] [-1.78369506e-02 -4.14684264e-05 9.99840908e-01 -3.45396557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:-10.38, Z:-3.45 [[ 9.83557270e-01 1.79649243e-01 1.84728520e-02 1.17663899e+02] [-1.79617726e-01 9.83730730e-01 -3.36497811e-03 -1.03766777e+01] [-1.87768279e-02 -8.40298472e-06 9.99823700e-01 -3.45303209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:-10.39, Z:-3.45 [[ 9.84096824e-01 1.76634498e-01 1.88068020e-02 1.17691583e+02] [-1.76601291e-01 9.84276512e-01 -3.42522191e-03 -1.03855166e+01] [-1.91161059e-02 4.94444864e-05 9.99817269e-01 -3.45290391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:-10.39, Z:-3.45 [[ 9.84266452e-01 1.75625944e-01 1.93669345e-02 1.17719852e+02] [-1.75590555e-01 9.84456968e-01 -3.52620977e-03 -1.03919145e+01] [-1.96852075e-02 7.00791936e-05 9.99806225e-01 -3.45307877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:-10.40, Z:-3.45 [[ 9.84350758e-01 1.75117695e-01 1.96819449e-02 1.17746656e+02] [-1.75081061e-01 9.84547503e-01 -3.58267314e-03 -1.03972434e+01] [-2.00051991e-02 8.06712252e-05 9.99799873e-01 -3.45403646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15587156000001 meters Centerline goodness [0,1] 0.9999573096544216 Centerline is valid? [True, True] Translation: X:117.77, Y:-10.40, Z:-3.46 [[ 9.84351003e-01 1.75145598e-01 1.94196269e-02 1.17774740e+02] [-1.75109966e-01 9.84542540e-01 -3.53360457e-03 -1.04023060e+01] [-1.97383441e-02 7.77370025e-05 9.99805177e-01 -3.45528637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:-10.41, Z:-3.46 [[ 9.84149000e-01 1.76307842e-01 1.91387084e-02 1.17803126e+02] [-1.76273471e-01 9.84335076e-01 -3.48156807e-03 -1.04055541e+01] [-1.94527298e-02 5.27351658e-05 9.99810776e-01 -3.45619940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21587156000001 meters Centerline goodness [0,1] 0.9998499303247936 Centerline is valid? [True, True] Translation: X:117.83, Y:-10.41, Z:-3.46 [[ 9.83928067e-01 1.77554176e-01 1.89756248e-02 1.17831486e+02] [-1.77520636e-01 9.84111027e-01 -3.45110347e-03 -1.04077209e+01] [-1.92868795e-02 2.70725840e-05 9.99813990e-01 -3.45757195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:-10.41, Z:-3.46 [[ 9.83630159e-01 1.79218767e-01 1.87708460e-02 1.17860481e+02] [-1.79186274e-01 9.83809246e-01 -3.41257973e-03 -1.04092355e+01] [-1.90785302e-02 -6.76161146e-06 9.99817988e-01 -3.45875940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27587156000001 meters Centerline goodness [0,1] 0.9998704747101872 Centerline is valid? [True, True] Translation: X:117.89, Y:-10.41, Z:-3.46 [[ 9.83231707e-01 1.81603267e-01 1.66031428e-02 1.17889019e+02] [-1.81578190e-01 9.83371878e-01 -3.01818148e-03 -1.04100750e+01] [-1.68751753e-02 -4.71968913e-05 9.99857603e-01 -3.46286738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:-10.41, Z:-3.47 [[ 9.82989724e-01 1.82906803e-01 1.66224041e-02 1.17917245e+02] [-1.82881879e-01 9.83130254e-01 -3.02027282e-03 -1.04126460e+01] [-1.68944168e-02 -7.10393546e-05 9.99857277e-01 -3.46532077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:-10.42, Z:-3.47 [[ 9.82765877e-01 1.84104831e-01 1.66325525e-02 1.17945710e+02] [-1.84080069e-01 9.82906609e-01 -3.02088652e-03 -1.04153926e+01] [-1.69044056e-02 -9.28972260e-05 9.99857106e-01 -3.46628886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36587156 meters Centerline goodness [0,1] 0.9998496369807106 Centerline is valid? [True, True] Translation: X:117.97, Y:-10.42, Z:-3.47 [[ 9.82584567e-01 1.85065328e-01 1.66850914e-02 1.17974065e+02] [-1.85040561e-01 9.82726214e-01 -3.02962480e-03 -1.04185918e+01] [-1.69575552e-02 -1.10556100e-04 9.99856204e-01 -3.46628775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39587156 meters Centerline goodness [0,1] 0.9999786552828175 Centerline is valid? [True, True] Translation: X:118.00, Y:-10.42, Z:-3.47 [[ 9.82203754e-01 1.87029967e-01 1.71923391e-02 1.18002022e+02] [-1.87003985e-01 9.82354197e-01 -3.12098877e-03 -1.04183193e+01] [-1.74726849e-02 -1.49589037e-04 9.99847330e-01 -3.46727974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42587156 meters Centerline goodness [0,1] 0.9999784821294084 Centerline is valid? [True, True] Translation: X:118.03, Y:-10.42, Z:-3.47 [[ 9.82084855e-01 1.87651253e-01 1.72146600e-02 1.18030160e+02] [-1.87625320e-01 9.82235705e-01 -3.12382008e-03 -1.04223235e+01] [-1.74950424e-02 -1.62049693e-04 9.99846937e-01 -3.46813081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:-10.43, Z:-3.47 [[ 9.82020959e-01 1.88007837e-01 1.69672710e-02 1.18057676e+02] [-1.87982709e-01 9.82167514e-01 -3.07827076e-03 -1.04262350e+01] [-1.72434414e-02 -1.66627157e-04 9.99851307e-01 -3.46978550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:-10.43, Z:-3.47 [[ 9.82042398e-01 1.87887503e-01 1.70591692e-02 1.18085220e+02] [-1.87862099e-01 9.82190541e-01 -3.09408995e-03 -1.04315534e+01] [-1.73366955e-02 -1.66243821e-04 9.99849694e-01 -3.46888619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:-10.44, Z:-3.47 [[ 9.82246322e-01 1.86796887e-01 1.72940906e-02 1.18112322e+02] [-1.86770635e-01 9.82398545e-01 -3.13518651e-03 -1.04371445e+01] [-1.75753325e-02 -1.50502859e-04 9.99845531e-01 -3.47033655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:-10.44, Z:-3.47 [[ 9.82439993e-01 1.85797443e-01 1.70578291e-02 1.18139892e+02] [-1.85771772e-01 9.82588058e-01 -3.09129705e-03 -1.04428284e+01] [-1.73351743e-02 -1.31849292e-04 9.99849726e-01 -3.47215137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:-10.45, Z:-3.47 [[ 9.82687872e-01 1.84480638e-01 1.70716201e-02 1.18168077e+02] [-1.84454748e-01 9.82836142e-01 -3.09257922e-03 -1.04507047e+01] [-1.73491263e-02 -1.09901290e-04 9.99849487e-01 -3.47162699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:-10.46, Z:-3.47 [[ 9.83371806e-01 1.80702613e-01 1.80681381e-02 1.18194079e+02] [-1.80672987e-01 9.83537779e-01 -3.27232160e-03 -1.04612449e+01] [-1.83620135e-02 -4.65156818e-05 9.99831403e-01 -3.47293268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:-10.47, Z:-3.47 [[ 9.83767290e-01 1.78491104e-01 1.85160867e-02 1.18222173e+02] [-1.78459630e-01 9.83941526e-01 -3.35183269e-03 -1.04705613e+01] [-1.88170189e-02 -6.95062094e-06 9.99822944e-01 -3.47208159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:-10.48, Z:-3.47 [[ 9.84175782e-01 1.76223209e-01 1.85313345e-02 1.18249595e+02] [-1.76191297e-01 9.84350232e-01 -3.35370495e-03 -1.04795387e+01] [-1.88323241e-02 3.55753228e-05 9.99822655e-01 -3.47171324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:-10.49, Z:-3.47 [[ 9.84514569e-01 1.74322326e-01 1.85146080e-02 1.18276516e+02] [-1.74290151e-01 9.84688642e-01 -3.34988024e-03 -1.04880813e+01] [-1.88150832e-02 7.10920649e-05 9.99822978e-01 -3.47267751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:-10.50, Z:-3.47 [[ 9.84789417e-01 1.72782204e-01 1.83334050e-02 1.18302915e+02] [-1.72750410e-01 9.84960050e-01 -3.31595873e-03 -1.04963033e+01] [-1.86306101e-02 9.84178505e-05 9.99826430e-01 -3.47423787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:-10.51, Z:-3.47 [[ 9.85247486e-01 1.70134878e-01 1.84800971e-02 1.18330214e+02] [-1.70102132e-01 9.85420774e-01 -3.34116710e-03 -1.05079215e+01] [-1.87791207e-02 1.48372560e-04 9.99823646e-01 -3.47484705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78587156 meters Centerline goodness [0,1] 0.999956915122792 Centerline is valid? [True, True] Translation: X:118.36, Y:-10.52, Z:-3.48 [[ 9.85386818e-01 1.69277605e-01 1.89185341e-02 1.18358406e+02] [-1.69243147e-01 9.85568397e-01 -3.41948774e-03 -1.05160709e+01] [-1.92243520e-02 1.67685910e-04 9.99815181e-01 -3.47502016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:-10.52, Z:-3.47 [[ 9.85514879e-01 1.68492543e-01 1.92532298e-02 1.18387494e+02] [-1.68456730e-01 9.85702911e-01 -3.47875286e-03 -1.05238315e+01] [-1.95641086e-02 1.85026565e-04 9.99808587e-01 -3.47484681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:-10.53, Z:-3.48 [[ 9.85519009e-01 1.68468375e-01 1.92533148e-02 1.18416192e+02] [-1.68432566e-01 9.85707042e-01 -3.47828283e-03 -1.05289714e+01] [-1.95641086e-02 1.85028636e-04 9.99808587e-01 -3.47572657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87587156000001 meters Centerline goodness [0,1] 0.9998710315327902 Centerline is valid? [True, True] Translation: X:118.44, Y:-10.54, Z:-3.48 [[ 9.85565197e-01 1.68211505e-01 1.91345826e-02 1.18443989e+02] [-1.68176097e-01 9.85750909e-01 -3.45636009e-03 -1.05362472e+01] [-1.94433317e-02 1.88488791e-04 9.99810943e-01 -3.47691067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:-10.54, Z:-3.48 [[ 9.85542321e-01 1.68288712e-01 1.96276002e-02 1.18473290e+02] [-1.68251481e-01 9.85737730e-01 -3.54487459e-03 -1.05433426e+01] [-1.99442285e-02 1.91251116e-04 9.99801076e-01 -3.47674900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.50, Y:-10.55, Z:-3.48 [[ 9.85476573e-01 1.68626392e-01 2.00265932e-02 1.18500765e+02] [-1.68587710e-01 9.85680021e-01 -3.61654046e-03 -1.05500556e+01] [-2.03496570e-02 1.87778414e-04 9.99792907e-01 -3.47782188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96587156000001 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:118.53, Y:-10.56, Z:-3.48 [[ 9.85396862e-01 1.69119267e-01 1.97913821e-02 1.18528359e+02] [-1.69081602e-01 9.85595578e-01 -3.57333425e-03 -1.05562104e+01] [-2.01106183e-02 1.74793766e-04 9.99797746e-01 -3.47920432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:-10.56, Z:-3.48 [[ 9.85301494e-01 1.69719498e-01 1.93973635e-02 1.18557654e+02] [-1.69683451e-01 9.85492398e-01 -3.50138757e-03 -1.05619975e+01] [-1.97102080e-02 1.58510827e-04 9.99805722e-01 -3.48071767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:-10.57, Z:-3.48 [[ 9.85098675e-01 1.71024004e-01 1.82041511e-02 1.18586410e+02] [-1.70992485e-01 9.85266855e-01 -3.28562163e-03 -1.05678467e+01] [-1.84978668e-02 1.23888489e-04 9.99828892e-01 -3.48238808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:-10.57, Z:-3.49 [[ 9.84926854e-01 1.72036182e-01 1.79622890e-02 1.18614711e+02] [-1.72005669e-01 9.85090626e-01 -3.24167259e-03 -1.05743666e+01] [-1.82521675e-02 1.03194836e-04 9.99833410e-01 -3.48530680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:-10.58, Z:-3.48 [[ 9.84757864e-01 1.72998175e-01 1.79883515e-02 1.18644431e+02] [-1.72967749e-01 9.84922141e-01 -3.24554510e-03 -1.05794130e+01] [-1.82785991e-02 8.46713834e-05 9.99832929e-01 -3.48470727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:-10.58, Z:-3.49 [[ 9.84547959e-01 1.74167652e-01 1.81918873e-02 1.18671944e+02] [-1.74136734e-01 9.84716012e-01 -3.28223509e-03 -1.05839284e+01] [-1.84855019e-02 6.36420213e-05 9.99829126e-01 -3.48651795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:-10.59, Z:-3.49 [[ 9.84072277e-01 1.76807847e-01 1.84591217e-02 1.18700520e+02] [-1.76776503e-01 9.84245389e-01 -3.32911824e-03 -1.05869084e+01] [-1.87569196e-02 1.29539945e-05 9.99824073e-01 -3.48691937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17587156 meters Centerline goodness [0,1] 0.9998274188329198 Centerline is valid? [True, True] Translation: X:118.73, Y:-10.59, Z:-3.49 [[ 9.83853171e-01 1.78041671e-01 1.82784431e-02 1.18729273e+02] [-1.78011166e-01 9.84022949e-01 -3.29568082e-03 -1.05920850e+01] [-1.85731760e-02 -1.13009291e-05 9.99827504e-01 -3.48753777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:-10.60, Z:-3.49 [[ 9.83624134e-01 1.79298338e-01 1.83212808e-02 1.18756479e+02] [-1.79267922e-01 9.83794747e-01 -3.30267317e-03 -1.05965535e+01] [-1.86165436e-02 -3.58288952e-05 9.99826696e-01 -3.48875305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.79, Y:-10.60, Z:-3.49 [[ 9.83104608e-01 1.82136064e-01 1.82149175e-02 1.18785378e+02] [-1.82106513e-01 9.83273332e-01 -3.28205517e-03 -1.05976400e+01] [-1.85080232e-02 -9.04515580e-05 9.99828708e-01 -3.48938838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.81, Y:-10.60, Z:-3.49 [[ 9.82861549e-01 1.83488121e-01 1.77562854e-02 1.18813203e+02] [-1.83460273e-01 9.83021921e-01 -3.19871152e-03 -1.05997898e+01] [-1.80417434e-02 -1.13682412e-04 9.99837228e-01 -3.49174512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:-10.60, Z:-3.49 [[ 9.82619118e-01 1.84808977e-01 1.74731419e-02 1.18841363e+02] [-1.84782241e-01 9.82774452e-01 -3.14648453e-03 -1.06036145e+01] [-1.77536560e-02 -1.36930459e-04 9.99842382e-01 -3.49341634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.87, Y:-10.61, Z:-3.49 [[ 9.82449744e-01 1.85724044e-01 1.72939382e-02 1.18869413e+02] [-1.85698009e-01 9.82601932e-01 -3.11339162e-03 -1.06084673e+01] [-1.75712888e-02 -1.52699106e-04 9.99845601e-01 -3.49338604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35587156000001 meters Centerline goodness [0,1] 0.9999131416659428 Centerline is valid? [True, True] Translation: X:118.90, Y:-10.61, Z:-3.49 [[ 9.82270195e-01 1.86641304e-01 1.76150015e-02 1.18898258e+02] [-1.86614457e-01 9.82428111e-01 -3.17026505e-03 -1.06112823e+01] [-1.78971751e-02 -1.73157080e-04 9.99839818e-01 -3.49424529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.93, Y:-10.62, Z:-3.50 [[ 9.82199669e-01 1.86998399e-01 1.77597432e-02 1.18926242e+02] [-1.86971184e-01 9.82360202e-01 -3.19540339e-03 -1.06158694e+01] [-1.80440003e-02 -1.82036062e-04 9.99837177e-01 -3.49534584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.95, Y:-10.62, Z:-3.50 [[ 9.82188400e-01 1.87052363e-01 1.78145910e-02 1.18953405e+02] [-1.87025002e-01 9.82349927e-01 -3.20451721e-03 -1.06205604e+01] [-1.80995747e-02 -1.84334290e-04 9.99836172e-01 -3.49734341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44587156000001 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:118.98, Y:-10.63, Z:-3.50 [[ 9.82228474e-01 1.86866915e-01 1.75494083e-02 1.18980704e+02] [-1.86840353e-01 9.82385222e-01 -3.15571337e-03 -1.06264803e+01] [-1.78299778e-02 -1.79306114e-04 9.99841017e-01 -3.49856029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.01, Y:-10.63, Z:-3.50 [[ 9.82285626e-01 1.86547079e-01 1.77520961e-02 1.19008438e+02] [-1.86519868e-01 9.82446007e-01 -3.19105643e-03 -1.06319580e+01] [-1.80357581e-02 -1.76589753e-04 9.99837327e-01 -3.49961829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:-10.64, Z:-3.50 [[ 9.82309331e-01 1.86387554e-01 1.81123475e-02 1.19037118e+02] [-1.86359223e-01 9.82476284e-01 -3.25456227e-03 -1.06378124e+01] [-1.84015618e-02 -1.78416113e-04 9.99830661e-01 -3.49834114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53587156 meters Centerline goodness [0,1] 0.9999784287501617 Centerline is valid? [True, True] Translation: X:119.07, Y:-10.64, Z:-3.50 [[ 9.82305452e-01 1.86404436e-01 1.81489679e-02 1.19065805e+02] [-1.86376010e-01 9.82473080e-01 -3.26024049e-03 -1.06432022e+01] [-1.84385957e-02 -1.79980204e-04 9.99829978e-01 -3.49896350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56587156 meters Centerline goodness [0,1] 0.9997836574865326 Centerline is valid? [True, True] Translation: X:119.09, Y:-10.65, Z:-3.50 [[ 9.82292417e-01 1.86510205e-01 1.77637286e-02 1.19094295e+02] [-1.86483006e-01 9.82453007e-01 -3.19017098e-03 -1.06485917e+01] [-1.80470280e-02 -1.78952739e-04 9.99837123e-01 -3.50064668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.12, Y:-10.65, Z:-3.50 [[ 9.82192018e-01 1.86979882e-01 1.83674411e-02 1.19122918e+02] [-1.86950902e-01 9.82363724e-01 -3.29762508e-03 -1.06541542e+01] [-1.86600974e-02 -1.94908654e-04 9.99825866e-01 -3.49982537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:-10.66, Z:-3.50 [[ 9.82070682e-01 1.87557039e-01 1.89613732e-02 1.19150616e+02] [-1.87526279e-01 9.82253690e-01 -3.40338198e-03 -1.06572781e+01] [-1.92632070e-02 -2.13394095e-04 9.99814424e-01 -3.50023564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.18, Y:-10.66, Z:-3.50 [[ 9.81890255e-01 1.88491500e-01 1.90389312e-02 1.19178149e+02] [-1.88460687e-01 9.82074793e-01 -3.41609052e-03 -1.06594530e+01] [-1.93415584e-02 -2.33864060e-04 9.99812907e-01 -3.50161024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:-10.66, Z:-3.50 [[ 9.81671767e-01 1.89618706e-01 1.91124945e-02 1.19207191e+02] [-1.89587894e-01 9.81857770e-01 -3.42795653e-03 -1.06632511e+01] [-1.94157559e-02 -2.58369435e-04 9.99811463e-01 -3.50250411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.24, Y:-10.66, Z:-3.51 [[ 9.81096134e-01 1.92648872e-01 1.83517840e-02 1.19235306e+02] [-1.92621005e-01 9.81267710e-01 -3.29094428e-03 -1.06616790e+01] [-1.86420097e-02 -3.06206362e-04 9.99826176e-01 -3.50570209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:-10.67, Z:-3.51 [[ 9.80783293e-01 1.94273155e-01 1.79464237e-02 1.19264111e+02] [-1.94246805e-01 9.80947415e-01 -3.21672207e-03 -1.06657054e+01] [-1.82294207e-02 -3.31128192e-04 9.99833775e-01 -3.50589066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77587156000001 meters Centerline goodness [0,1] 0.9999357642977967 Centerline is valid? [True, True] Translation: X:119.29, Y:-10.67, Z:-3.51 [[ 9.80476104e-01 1.95847593e-01 1.76161941e-02 1.19291908e+02] [-1.95822470e-01 9.80634282e-01 -3.15682962e-03 -1.06661983e+01] [-1.78933013e-02 -3.54450624e-04 9.99839839e-01 -3.50788634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.32, Y:-10.67, Z:-3.51 [[ 9.80164418e-01 1.97417762e-01 1.74339186e-02 1.19321222e+02] [-1.97393425e-01 9.80319378e-01 -3.12297165e-03 -1.06682001e+01] [-1.77073383e-02 -3.80315214e-04 9.99843140e-01 -3.50879468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83587156000002 meters Centerline goodness [0,1] 0.9999352051835854 Centerline is valid? [True, True] Translation: X:119.35, Y:-10.67, Z:-3.51 [[ 9.79637761e-01 2.00037349e-01 1.71731472e-02 1.19350920e+02] [-2.00014151e-01 9.79788182e-01 -3.07546557e-03 -1.06682504e+01] [-1.74412547e-02 -4.22030246e-04 9.99847801e-01 -3.50883389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86587156 meters Centerline goodness [0,1] 0.9999787514342782 Centerline is valid? [True, True] Translation: X:119.38, Y:-10.67, Z:-3.51 [[ 9.79432974e-01 2.01062917e-01 1.68746247e-02 1.19379890e+02] [-2.01040682e-01 9.79578234e-01 -3.02133488e-03 -1.06661543e+01] [-1.71374934e-02 -4.33291048e-04 9.99853048e-01 -3.51214059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89587156 meters Centerline goodness [0,1] 0.9998720791403718 Centerline is valid? [True, True] Translation: X:119.41, Y:-10.67, Z:-3.51 [[ 9.79265404e-01 2.01888387e-01 1.67436101e-02 1.19408306e+02] [-2.01866635e-01 9.79408434e-01 -2.99679800e-03 -1.06683799e+01] [-1.70038516e-02 -4.45315626e-04 9.99855325e-01 -3.51292555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92587156 meters Centerline goodness [0,1] 0.9997623779486736 Centerline is valid? [True, True] Translation: X:119.44, Y:-10.67, Z:-3.51 [[ 9.79044063e-01 2.02963869e-01 1.66850420e-02 1.19436458e+02] [-2.02942434e-01 9.79186118e-01 -2.98574174e-03 -1.06717672e+01] [-1.69437592e-02 -4.62930303e-04 9.99856337e-01 -3.51248073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95587156 meters Centerline goodness [0,1] 0.9998710343048749 Centerline is valid? [True, True] Translation: X:119.46, Y:-10.67, Z:-3.52 [[ 9.79033824e-01 2.03034912e-01 1.64193518e-02 1.19464563e+02] [-2.03014193e-01 9.79171392e-01 -2.93651851e-03 -1.06693525e+01] [-1.66735754e-02 -4.58410523e-04 9.99860881e-01 -3.51582852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98587156 meters Centerline goodness [0,1] 0.9998103746154818 Centerline is valid? [True, True] Translation: X:119.49, Y:-10.67, Z:-3.52 [[ 9.78981218e-01 2.03297893e-01 1.63015742e-02 1.19492224e+02] [-2.03277530e-01 9.79116824e-01 -2.91402489e-03 -1.06708082e+01] [-1.65535607e-02 -4.60968117e-04 9.99862874e-01 -3.51691956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01587156000001 meters Centerline goodness [0,1] 0.9999137577887497 Centerline is valid? [True, True] Translation: X:119.52, Y:-10.68, Z:-3.52 [[ 9.79010051e-01 2.03152010e-01 1.63884271e-02 1.19520372e+02] [-2.03131427e-01 9.79147102e-01 -2.92845345e-03 -1.06770786e+01] [-1.66416021e-02 -4.62019228e-04 9.99861412e-01 -3.51630065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04587156000001 meters Centerline goodness [0,1] 0.9999143927233815 Centerline is valid? [True, True] Translation: X:119.55, Y:-10.68, Z:-3.52 [[ 9.79210487e-01 2.02142768e-01 1.68855977e-02 1.19548096e+02] [-2.02120774e-01 9.79355957e-01 -3.01694974e-03 -1.06788058e+01] [-1.71468653e-02 -4.58701256e-04 9.99852876e-01 -3.51649738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07587156000001 meters Centerline goodness [0,1] 0.9999352429468776 Centerline is valid? [True, True] Translation: X:119.58, Y:-10.69, Z:-3.52 [[ 9.79431026e-01 2.01010854e-01 1.75926829e-02 1.19576560e+02] [-2.00986826e-01 9.79588907e-01 -3.14163647e-03 -1.06869307e+01] [-1.78651000e-02 -4.58881269e-04 9.99840301e-01 -3.51504081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:-10.69, Z:-3.52 [[ 9.79736925e-01 1.99462621e-01 1.81719708e-02 1.19604257e+02] [-1.99436751e-01 9.79905334e-01 -3.24332978e-03 -1.06898738e+01] [-1.84537342e-02 -4.46548866e-04 9.99829616e-01 -3.51590501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13587156000001 meters Centerline goodness [0,1] 0.9999577756196428 Centerline is valid? [True, True] Translation: X:119.63, Y:-10.69, Z:-3.52 [[ 9.80461882e-01 1.95841346e-01 1.84571065e-02 1.19633100e+02] [-1.95814062e-01 9.80635517e-01 -3.29176679e-03 -1.06948176e+01] [-1.87443582e-02 -3.86709119e-04 9.99824234e-01 -3.51641286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16587156000001 meters Centerline goodness [0,1] 0.9999356609762374 Centerline is valid? [True, True] Translation: X:119.66, Y:-10.70, Z:-3.52 [[ 9.80856997e-01 1.93861789e-01 1.83618556e-02 1.19661214e+02] [-1.93834441e-01 9.81028790e-01 -3.27460475e-03 -1.07005713e+01] [-1.86483297e-02 -3.47241045e-04 9.99826044e-01 -3.51768987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19587156000001 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:119.69, Y:-10.71, Z:-3.52 [[ 9.81200367e-01 1.92147184e-01 1.80360448e-02 1.19688968e+02] [-1.92120524e-01 9.81366070e-01 -3.21567189e-03 -1.07074786e+01] [-1.83178447e-02 -3.09875946e-04 9.99832166e-01 -3.51912186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22587156 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:119.72, Y:-10.71, Z:-3.52 [[ 9.81452381e-01 1.90904699e-01 1.75105779e-02 1.19717153e+02] [-1.90879386e-01 9.81608536e-01 -3.12118507e-03 -1.07141766e+01] [-1.77843816e-02 -2.79113838e-04 9.99841806e-01 -3.52129478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25587156 meters Centerline goodness [0,1] 0.9999784222337303 Centerline is valid? [True, True] Translation: X:119.75, Y:-10.72, Z:-3.52 [[ 9.81952071e-01 1.88373150e-01 1.69022801e-02 1.19745679e+02] [-1.88349206e-01 9.82097503e-01 -3.01184283e-03 -1.07213708e+01] [-1.71670374e-02 -2.26045725e-04 9.99852610e-01 -3.52250783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:-10.73, Z:-3.52 [[ 9.82184433e-01 1.87183322e-01 1.66175680e-02 1.19773988e+02] [-1.87160015e-01 9.82324978e-01 -2.96069451e-03 -1.07275569e+01] [-1.68780448e-02 -2.02196216e-04 9.99857535e-01 -3.52273279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:-10.73, Z:-3.53 [[ 9.82367297e-01 1.86221526e-01 1.66143890e-02 1.19801126e+02] [-1.86198102e-01 9.82507765e-01 -2.95944446e-03 -1.07314018e+01] [-1.68748785e-02 -1.86306246e-04 9.99857592e-01 -3.52525445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:-10.74, Z:-3.52 [[ 9.82529273e-01 1.85378803e-01 1.64598784e-02 1.19828974e+02] [-1.85355714e-01 9.82667121e-01 -2.93073574e-03 -1.07383549e+01] [-1.67178776e-02 -1.71398871e-04 9.99860232e-01 -3.52427324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.86, Y:-10.74, Z:-3.53 [[ 9.82793578e-01 1.83985746e-01 1.63103990e-02 1.19856053e+02] [-1.83962887e-01 9.82928901e-01 -2.90384032e-03 -1.07428817e+01] [-1.65662278e-02 -1.46632472e-04 9.99862760e-01 -3.52759110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40587156000001 meters Centerline goodness [0,1] 0.9999135378163976 Centerline is valid? [True, True] Translation: X:119.88, Y:-10.75, Z:-3.53 [[ 9.82860355e-01 1.83640821e-01 1.61731887e-02 1.19883248e+02] [-1.83618326e-01 9.82993402e-01 -2.87776659e-03 -1.07485344e+01] [-1.64266132e-02 -1.41251138e-04 9.99865064e-01 -3.52739862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:-10.75, Z:-3.53 [[ 9.82949612e-01 1.83191169e-01 1.58447293e-02 1.19910378e+02] [-1.83169535e-01 9.83077300e-01 -2.81833165e-03 -1.07522457e+01] [-1.60928871e-02 -1.31993696e-04 9.99870492e-01 -3.52938771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46587156000001 meters Centerline goodness [0,1] 0.9997420519765268 Centerline is valid? [True, True] Translation: X:119.94, Y:-10.76, Z:-3.53 [[ 9.83021815e-01 1.82786668e-01 1.60357527e-02 1.19938708e+02] [-1.82764488e-01 9.83152591e-01 -2.85034865e-03 -1.07573060e+01] [-1.62865976e-02 -1.28811232e-04 9.99867356e-01 -3.52950410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49587156000001 meters Centerline goodness [0,1] 0.9998486813661911 Centerline is valid? [True, True] Translation: X:119.97, Y:-10.76, Z:-3.53 [[ 9.83127322e-01 1.82189445e-01 1.63607723e-02 1.19967343e+02] [-1.82166288e-01 9.83263439e-01 -2.90728608e-03 -1.07627137e+01] [-1.66166261e-02 -1.22148790e-04 9.99861927e-01 -3.52870892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.99, Y:-10.77, Z:-3.53 [[ 9.83210657e-01 1.81724796e-01 1.65197657e-02 1.19994363e+02] [-1.81701133e-01 9.83349422e-01 -2.93483881e-03 -1.07668700e+01] [-1.67780351e-02 -1.16095366e-04 9.99859232e-01 -3.52942570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55587156000001 meters Centerline goodness [0,1] 0.9999784292154705 Centerline is valid? [True, True] Translation: X:120.02, Y:-10.77, Z:-3.53 [[ 9.83298361e-01 1.81232155e-01 1.67104643e-02 1.20022228e+02] [-1.81207892e-01 9.83440336e-01 -2.96745053e-03 -1.07718298e+01] [-1.69715421e-02 -1.10178775e-04 9.99855967e-01 -3.53076830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58587156000002 meters Centerline goodness [0,1] 0.9999359849778081 Centerline is valid? [True, True] Translation: X:120.05, Y:-10.78, Z:-3.53 [[ 9.83411569e-01 1.80622980e-01 1.66440618e-02 1.20048609e+02] [-1.80598829e-01 9.83552403e-01 -2.95530686e-03 -1.07772661e+01] [-1.69041034e-02 -9.96151206e-05 9.99857110e-01 -3.53119735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:-10.78, Z:-3.53 [[ 9.83527389e-01 1.79953182e-01 1.70507312e-02 1.20075776e+02] [-1.79927767e-01 9.83675172e-01 -3.02569734e-03 -1.07821925e+01] [-1.73168648e-02 -9.20437914e-05 9.99850048e-01 -3.53241591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.10, Y:-10.79, Z:-3.53 [[ 9.83600431e-01 1.79557008e-01 1.70139220e-02 1.20103153e+02] [-1.79531658e-01 9.83747566e-01 -3.01834470e-03 -1.07890667e+01] [-1.72793693e-02 -8.56924664e-05 9.99850697e-01 -3.52987599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67587156 meters Centerline goodness [0,1] 0.9999136386208087 Centerline is valid? [True, True] Translation: X:120.13, Y:-10.79, Z:-3.53 [[ 9.83767199e-01 1.78671780e-01 1.66881014e-02 1.20129658e+02] [-1.78647282e-01 9.83908731e-01 -2.95948017e-03 -1.07947766e+01] [-1.69483442e-02 -6.98444315e-05 9.99856364e-01 -3.53298086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:-10.80, Z:-3.53 [[ 9.83982390e-01 1.77490496e-01 1.66066491e-02 1.20156386e+02] [-1.77466098e-01 9.84122513e-01 -2.94326203e-03 -1.08008553e+01] [-1.68653783e-02 -5.09992126e-05 9.99857768e-01 -3.53453318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.18, Y:-10.81, Z:-3.53 [[ 9.84157779e-01 1.76491535e-01 1.68583502e-02 1.20184501e+02] [-1.76466266e-01 9.84302157e-01 -2.98668639e-03 -1.08083932e+01] [-1.71208353e-02 -3.55594642e-05 9.99853427e-01 -3.53263183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.21, Y:-10.81, Z:-3.53 [[ 9.84170616e-01 1.76419930e-01 1.68584407e-02 1.20211584e+02] [-1.76394658e-01 9.84314994e-01 -2.98617516e-03 -1.08130557e+01] [-1.71208368e-02 -3.48330486e-05 9.99853427e-01 -3.53346117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79587156000001 meters Centerline goodness [0,1] 0.9998493716646583 Centerline is valid? [True, True] Translation: X:120.24, Y:-10.82, Z:-3.53 [[ 9.84301759e-01 1.75685336e-01 1.68733293e-02 1.20239718e+02] [-1.75659940e-01 9.84446373e-01 -2.98722290e-03 -1.08201218e+01] [-1.71356991e-02 -2.36392517e-05 9.99853173e-01 -3.53444513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.27, Y:-10.83, Z:-3.54 [[ 9.84597397e-01 1.74020345e-01 1.68785709e-02 1.20266440e+02] [-1.73994699e-01 9.84742057e-01 -2.98746247e-03 -1.08285822e+01] [-1.71409179e-02 4.66590354e-06 9.99853084e-01 -3.53537194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:-10.83, Z:-3.54 [[ 9.84654741e-01 1.73673597e-01 1.71032985e-02 1.20293900e+02] [-1.73647230e-01 9.84803270e-01 -3.02619615e-03 -1.08344226e+01] [-1.73689547e-02 9.81796696e-06 9.99849148e-01 -3.53603052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:-10.84, Z:-3.54 [[ 9.84699014e-01 1.73412770e-01 1.72006702e-02 1.20322556e+02] [-1.73386086e-01 9.84849233e-01 -3.04208329e-03 -1.08402309e+01] [-1.74676029e-02 1.31795405e-05 9.99847430e-01 -3.53562053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91587156000001 meters Centerline goodness [0,1] 0.999762598467681 Centerline is valid? [True, True] Translation: X:120.35, Y:-10.85, Z:-3.54 [[ 9.84706949e-01 1.73416257e-01 1.67040911e-02 1.20349726e+02] [-1.73391103e-01 9.84848619e-01 -2.95362699e-03 -1.08457633e+01] [-1.69632080e-02 1.21162425e-05 9.99856114e-01 -3.53884993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94587156000001 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:120.38, Y:-10.85, Z:-3.54 [[ 9.84556798e-01 1.74385935e-01 1.54096394e-02 1.20378569e+02] [-1.74364662e-01 9.84677382e-01 -2.72373344e-03 -1.08499953e+01] [-1.56485042e-02 -5.22629939e-06 9.99877555e-01 -3.54141913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97587156 meters Centerline goodness [0,1] 0.9999137633666781 Centerline is valid? [True, True] Translation: X:120.41, Y:-10.85, Z:-3.54 [[ 9.84389224e-01 1.75398685e-01 1.45998847e-02 1.20407383e+02] [-1.75379710e-01 9.84497486e-01 -2.58000137e-03 -1.08543052e+01] [-1.48260786e-02 -2.07979963e-05 9.99890087e-01 -3.54192393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.43, Y:-10.86, Z:-3.55 [[ 9.84223497e-01 1.76393163e-01 1.37681173e-02 1.20434397e+02] [-1.76376389e-01 9.84319791e-01 -2.43280296e-03 -1.08581008e+01] [-1.39813602e-02 -3.39489742e-05 9.99902255e-01 -3.54591784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:-10.86, Z:-3.55 [[ 9.84002890e-01 1.77665801e-01 1.31596333e-02 1.20462681e+02] [-1.77650608e-01 9.84090880e-01 -2.32396057e-03 -1.08615841e+01] [-1.33631634e-02 -5.10329451e-05 9.99910708e-01 -3.54767742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.49, Y:-10.86, Z:-3.55 [[ 9.83517614e-01 1.80322412e-01 1.33015030e-02 1.20490854e+02] [-1.80307133e-01 9.83607554e-01 -2.34899366e-03 -1.08606198e+01] [-1.35070350e-02 -8.80792269e-05 9.99908772e-01 -3.54891248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:-10.86, Z:-3.55 [[ 9.83268736e-01 1.81684484e-01 1.31659461e-02 1.20519683e+02] [-1.81669660e-01 9.83356872e-01 -2.32329959e-03 -1.08631526e+01] [-1.33689311e-02 -1.07425101e-04 9.99910626e-01 -3.54741755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:-10.87, Z:-3.55 [[ 9.83048601e-01 1.82815191e-01 1.39303401e-02 1.20548129e+02] [-1.82798714e-01 9.83147288e-01 -2.45784258e-03 -1.08659808e+01] [-1.41449070e-02 -1.30269540e-04 9.99899947e-01 -3.54585166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:-10.87, Z:-3.54 [[ 9.82563826e-01 1.85282736e-01 1.54478179e-02 1.20576312e+02] [-1.85262804e-01 9.82685236e-01 -2.72399035e-03 -1.08659173e+01] [-1.56850510e-02 -1.85411688e-04 9.99876965e-01 -3.54343920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18587156000001 meters Centerline goodness [0,1] 0.9998717373180274 Centerline is valid? [True, True] Translation: X:120.60, Y:-10.87, Z:-3.55 [[ 9.82378461e-01 1.86231823e-01 1.58198514e-02 1.20604621e+02] [-1.86211053e-01 9.82505809e-01 -2.78893411e-03 -1.08663887e+01] [-1.60624842e-02 -2.06042389e-04 9.99870969e-01 -3.54731886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21587156000001 meters Centerline goodness [0,1] 0.9999785541186815 Centerline is valid? [True, True] Translation: X:120.63, Y:-10.87, Z:-3.55 [[ 9.82239435e-01 1.86973286e-01 1.57061477e-02 1.20632434e+02] [-1.86952939e-01 9.82364974e-01 -2.76692732e-03 -1.08731028e+01] [-1.59465109e-02 -2.18525350e-04 9.99872822e-01 -3.54505244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:-10.88, Z:-3.55 [[ 9.82192565e-01 1.87208960e-01 1.58294227e-02 1.20659459e+02] [-1.87188319e-01 9.82320088e-01 -2.78889999e-03 -1.08765860e+01] [-1.60716670e-02 -2.23846182e-04 9.99870817e-01 -3.54594278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27587156000001 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:120.69, Y:-10.87, Z:-3.55 [[ 9.82121244e-01 1.87602024e-01 1.55994524e-02 1.20687532e+02] [-1.87582070e-01 9.82245096e-01 -2.74572661e-03 -1.08740863e+01] [-1.58375895e-02 -2.29541147e-04 9.99874551e-01 -3.54955427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30587156000001 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:120.72, Y:-10.88, Z:-3.55 [[ 9.82085632e-01 1.87793020e-01 1.55432606e-02 1.20715951e+02] [-1.87773257e-01 9.82208597e-01 -2.73435462e-03 -1.08793964e+01] [-1.57802169e-02 -2.33238276e-04 9.99875457e-01 -3.54749894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:-10.88, Z:-3.55 [[ 9.82104277e-01 1.87671257e-01 1.58331674e-02 1.20744531e+02] [-1.87650746e-01 9.82231869e-01 -2.78455595e-03 -1.08833004e+01] [-1.60744227e-02 -2.36381371e-04 9.99870770e-01 -3.54743996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36587156 meters Centerline goodness [0,1] 0.9999359904412393 Centerline is valid? [True, True] Translation: X:120.77, Y:-10.89, Z:-3.55 [[ 9.82224617e-01 1.86936711e-01 1.70137708e-02 1.20772759e+02] [-1.86912931e-01 9.82371929e-01 -2.99138728e-03 -1.08852344e+01] [-1.72730509e-02 -2.41879545e-04 9.99850780e-01 -3.54690195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:-10.89, Z:-3.55 [[ 9.82295558e-01 1.86542954e-01 1.72384162e-02 1.20801008e+02] [-1.86518504e-01 9.82446777e-01 -3.02964159e-03 -1.08887705e+01] [-1.75009847e-02 -2.39280115e-04 9.99846817e-01 -3.54661880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:-10.89, Z:-3.55 [[ 9.82342833e-01 1.86318560e-01 1.69691506e-02 1.20828925e+02] [-1.86294842e-01 9.82489359e-01 -2.98185708e-03 -1.08925116e+01] [-1.72275852e-02 -2.32059298e-04 9.99851567e-01 -3.54653017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45587156 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:120.86, Y:-10.89, Z:-3.55 [[ 9.82351465e-01 1.86348275e-01 1.61220019e-02 1.20857253e+02] [-1.86326885e-01 9.82483726e-01 -2.83212419e-03 -1.08906678e+01] [-1.63673660e-02 -2.21821049e-04 9.99866021e-01 -3.54900430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:-10.89, Z:-3.55 [[ 9.82417418e-01 1.86034111e-01 1.57266322e-02 1.20884328e+02] [-1.86013730e-01 9.82543263e-01 -2.76183570e-03 -1.08921956e+01] [-1.59658922e-02 -2.12094020e-04 9.99872515e-01 -3.55102363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.91, Y:-10.89, Z:-3.55 [[ 9.82515178e-01 1.85526688e-01 1.56132613e-02 1.20912385e+02] [-1.85506585e-01 9.82639204e-01 -2.73880820e-03 -1.08945652e+01] [-1.58503247e-02 -2.05442156e-04 9.99874355e-01 -3.55312407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54587156000001 meters Centerline goodness [0,1] 0.9998076142023471 Centerline is valid? [True, True] Translation: X:120.94, Y:-10.90, Z:-3.56 [[ 9.82636921e-01 1.84930772e-01 1.50097357e-02 1.20940579e+02] [-1.84912139e-01 9.82751532e-01 -2.63191557e-03 -1.08989577e+01] [-1.52375629e-02 -1.89264919e-04 9.99883884e-01 -3.55516597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:-10.91, Z:-3.56 [[ 9.83289759e-01 1.81445038e-01 1.47968632e-02 1.20968299e+02] [-1.81426545e-01 9.83401078e-01 -2.59389526e-03 -1.09059263e+01] [-1.50219007e-02 -1.33993134e-04 9.99887156e-01 -3.55624481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:-10.91, Z:-3.56 [[ 9.83735752e-01 1.78992768e-01 1.50186487e-02 1.20996199e+02] [-1.78973442e-01 9.83850385e-01 -2.63203771e-03 -1.09132892e+01] [-1.52472190e-02 -9.87096572e-05 9.99883750e-01 -3.55542143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:-10.92, Z:-3.56 [[ 9.84220502e-01 1.76292971e-01 1.51918098e-02 1.21024192e+02] [-1.76272887e-01 9.84337739e-01 -2.66164163e-03 -1.09204039e+01] [-1.54231004e-02 -5.82619049e-05 9.99881055e-01 -3.55515586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66587156000001 meters Centerline goodness [0,1] 0.9998489719303545 Centerline is valid? [True, True] Translation: X:121.05, Y:-10.93, Z:-3.56 [[ 9.85146667e-01 1.71050480e-01 1.50923329e-02 1.21050612e+02] [-1.71030051e-01 9.85262266e-01 -2.64364752e-03 -1.09294684e+01] [-1.53221033e-02 2.31380751e-05 9.99882609e-01 -3.55590217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:-10.94, Z:-3.56 [[ 9.85506477e-01 1.68919680e-01 1.55924686e-02 1.21076583e+02] [-1.68897610e-01 9.85629818e-01 -2.73110292e-03 -1.09355459e+01] [-1.58297390e-02 5.79889245e-05 9.99874700e-01 -3.55560791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:-10.94, Z:-3.55 [[ 9.85710206e-01 1.67688239e-01 1.60013985e-02 1.21104028e+02] [-1.67664879e-01 9.85840073e-01 -2.79997257e-03 -1.09407430e+01] [-1.62443424e-02 7.70889910e-05 9.99868049e-01 -3.55444395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:-10.95, Z:-3.56 [[ 9.85799187e-01 1.67161000e-01 1.60362762e-02 1.21130687e+02] [-1.67137485e-01 9.85929608e-01 -2.80503457e-03 -1.09457135e+01] [-1.62795319e-02 8.49379230e-05 9.99867476e-01 -3.55669011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78587156 meters Centerline goodness [0,1] 0.9998712860667167 Centerline is valid? [True, True] Translation: X:121.16, Y:-10.95, Z:-3.56 [[ 9.85503666e-01 1.68861686e-01 1.63784928e-02 1.21159763e+02] [-1.68837424e-01 9.85639756e-01 -2.86292256e-03 -1.09470485e+01] [-1.66267316e-02 5.61181380e-05 9.99861765e-01 -3.55549008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81587156 meters Centerline goodness [0,1] 0.9998277495478426 Centerline is valid? [True, True] Translation: X:121.19, Y:-10.95, Z:-3.56 [[ 9.85232124e-01 1.70464666e-01 1.61077362e-02 1.21186648e+02] [-1.70441419e-01 9.85363789e-01 -2.81532566e-03 -1.09477885e+01] [-1.63518935e-02 2.83238654e-05 9.99866298e-01 -3.55683946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:-10.95, Z:-3.56 [[ 9.84900041e-01 1.72405553e-01 1.57554400e-02 1.21216292e+02] [-1.72383589e-01 9.85026053e-01 -2.75191767e-03 -1.09473679e+01] [-1.59939647e-02 -5.61546229e-06 9.99872088e-01 -3.55854232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:-10.95, Z:-3.56 [[ 9.84591123e-01 1.74181789e-01 1.55249618e-02 1.21244220e+02] [-1.74160692e-01 9.84713513e-01 -2.71109813e-03 -1.09462656e+01] [-1.57598636e-02 -3.45149489e-05 9.99875805e-01 -3.56057197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:-10.94, Z:-3.56 [[ 9.84020317e-01 1.77374412e-01 1.55670512e-02 1.21273855e+02] [-1.77353592e-01 9.84143440e-01 -2.71892901e-03 -1.09424475e+01] [-1.58024798e-02 -8.53910615e-05 9.99875129e-01 -3.55973420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:-10.94, Z:-3.56 [[ 9.83828987e-01 1.78452936e-01 1.53321107e-02 1.21302150e+02] [-1.78432931e-01 9.83948443e-01 -2.67405256e-03 -1.09437198e+01] [-1.55631989e-02 -1.04943009e-04 9.99878881e-01 -3.56246404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:-10.95, Z:-3.56 [[ 9.83772913e-01 1.78803608e-01 1.48366247e-02 1.21331046e+02] [-1.78784931e-01 9.83884779e-01 -2.58658296e-03 -1.09469190e+01] [-1.50600195e-02 -1.07954656e-04 9.99886586e-01 -3.56366665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:-10.95, Z:-3.57 [[ 9.83860908e-01 1.78357804e-01 1.43599461e-02 1.21358854e+02] [-1.78340267e-01 9.83965693e-01 -2.50300204e-03 -1.09483543e+01] [-1.45761243e-02 -9.83507645e-05 9.99893758e-01 -3.56693926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02587156000001 meters Centerline goodness [0,1] 0.9998917139515745 Centerline is valid? [True, True] Translation: X:121.39, Y:-10.95, Z:-3.57 [[ 9.84001074e-01 1.77622234e-01 1.38646555e-02 1.21386727e+02] [-1.77605826e-01 9.84098742e-01 -2.41570481e-03 -1.09541408e+01] [-1.40732729e-02 -8.53874682e-05 9.99900963e-01 -3.56628542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:-10.96, Z:-3.57 [[ 9.84198299e-01 1.76559423e-01 1.34342457e-02 1.21413594e+02] [-1.76543920e-01 9.84289980e-01 -2.34068240e-03 -1.09582558e+01] [-1.36364630e-02 -6.80387611e-05 9.99907017e-01 -3.56794705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:-10.96, Z:-3.57 [[ 9.84541972e-01 1.74669896e-01 1.29434711e-02 1.21441816e+02] [-1.74655358e-01 9.84627049e-01 -2.25391429e-03 -1.09614215e+01] [-1.31381827e-02 -4.15733633e-05 9.99913689e-01 -3.56927314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:-10.97, Z:-3.57 [[ 9.84710734e-01 1.73678823e-01 1.34326859e-02 1.21469358e+02] [-1.73663091e-01 9.84802348e-01 -2.33781155e-03 -1.09658080e+01] [-1.36345690e-02 -3.06936372e-05 9.99907044e-01 -3.57221208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:-10.97, Z:-3.57 [[ 9.84847256e-01 1.72860630e-01 1.39672890e-02 1.21497761e+02] [-1.72843554e-01 9.84946294e-01 -2.42970597e-03 -1.09716467e+01] [-1.41770300e-02 -2.12666113e-05 9.99899501e-01 -3.57121884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:-10.98, Z:-3.57 [[ 9.84977580e-01 1.72102849e-01 1.41342416e-02 1.21525599e+02] [-1.72085294e-01 9.85078986e-01 -2.45805473e-03 -1.09773707e+01] [-1.43463826e-02 -1.11663276e-05 9.99897085e-01 -3.57075069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:-10.98, Z:-3.57 [[ 9.85091195e-01 1.71427754e-01 1.44174661e-02 1.21552571e+02] [-1.71409425e-01 9.85196694e-01 -2.50675093e-03 -1.09819442e+01] [-1.46337666e-02 -1.91130407e-06 9.99892921e-01 -3.57243881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:-10.99, Z:-3.57 [[ 9.85292763e-01 1.70214712e-01 1.50041287e-02 1.21581350e+02] [-1.70194738e-01 9.85406998e-01 -2.60754486e-03 -1.09863089e+01] [-1.52290160e-02 1.55713161e-05 9.99884032e-01 -3.57154489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:-10.99, Z:-3.57 [[ 9.85383369e-01 1.69687649e-01 1.50239267e-02 1.21609234e+02] [-1.69667567e-01 9.85497895e-01 -2.61062271e-03 -1.09912735e+01] [-1.52490386e-02 2.33911019e-05 9.99883726e-01 -3.57214649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:-11.00, Z:-3.57 [[ 9.85438364e-01 1.69378664e-01 1.49029689e-02 1.21637391e+02] [-1.69358890e-01 9.85551048e-01 -2.58818088e-03 -1.09959625e+01] [-1.51260192e-02 2.65424580e-05 9.99885595e-01 -3.57313428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32587156000001 meters Centerline goodness [0,1] 0.9997852325931017 Centerline is valid? [True, True] Translation: X:121.66, Y:-11.00, Z:-3.57 [[ 9.85426536e-01 1.69455625e-01 1.48099102e-02 1.21663873e+02] [-1.69436109e-01 9.85537818e-01 -2.57184854e-03 -1.09983984e+01] [-1.50315408e-02 2.50342446e-05 9.99887020e-01 -3.57419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:-11.00, Z:-3.57 [[ 9.85348516e-01 1.69898221e-01 1.49297260e-02 1.21691601e+02] [-1.69878461e-01 9.85461615e-01 -2.59119968e-03 -1.10014838e+01] [-1.51529121e-02 1.69958829e-05 9.99885188e-01 -3.57458828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:-11.00, Z:-3.58 [[ 9.85158395e-01 1.71023770e-01 1.46221274e-02 1.21719531e+02] [-1.71004951e-01 9.85266903e-01 -2.53708592e-03 -1.10045289e+01] [-1.48406002e-02 -1.02467740e-06 9.99889872e-01 -3.57666093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:-11.00, Z:-3.58 [[ 9.84641043e-01 1.74102506e-01 1.30512284e-02 1.21749182e+02] [-1.74087804e-01 9.84727534e-01 -2.26293853e-03 -1.10022506e+01] [-1.32458872e-02 -4.38775477e-05 9.99912268e-01 -3.57951126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44587156000001 meters Centerline goodness [0,1] 0.999869528344967 Centerline is valid? [True, True] Translation: X:121.78, Y:-11.00, Z:-3.58 [[ 9.84359443e-01 1.75722450e-01 1.25740634e-02 1.21777764e+02] [-1.75708943e-01 9.84439747e-01 -2.17968313e-03 -1.10043781e+01] [-1.27614270e-02 -6.37837119e-05 9.99918568e-01 -3.57922652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47587156 meters Centerline goodness [0,1] 0.9998062682968831 Centerline is valid? [True, True] Translation: X:121.81, Y:-11.01, Z:-3.58 [[ 9.84090845e-01 1.77221585e-01 1.25586394e-02 1.21806979e+02] [-1.77208241e-01 9.84170972e-01 -2.17636693e-03 -1.10059321e+01] [-1.27455476e-02 -8.37516297e-05 9.99918769e-01 -3.57999874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:-11.01, Z:-3.58 [[ 9.83864568e-01 1.78458574e-01 1.27690944e-02 1.21835110e+02] [-1.78444889e-01 9.83947421e-01 -2.21237048e-03 -1.10066618e+01] [-1.29589340e-02 -1.01906704e-04 9.99916024e-01 -3.58268126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53587156 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:121.86, Y:-11.01, Z:-3.58 [[ 9.83453652e-01 1.80619934e-01 1.39768963e-02 1.21863123e+02] [-1.80603766e-01 9.83552957e-01 -2.42090696e-03 -1.10052015e+01] [-1.41842818e-02 -1.43430325e-04 9.99899388e-01 -3.58238985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:-11.01, Z:-3.58 [[ 9.83432001e-01 1.80673552e-01 1.47840032e-02 1.21891990e+02] [-1.80655471e-01 9.83543107e-01 -2.56057897e-03 -1.10083628e+01] [-1.50033334e-02 -1.52655768e-04 9.99887432e-01 -3.58168342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:-11.01, Z:-3.58 [[ 9.83482260e-01 1.80364437e-01 1.52090218e-02 1.21920008e+02] [-1.80345306e-01 9.83599840e-01 -2.63149779e-03 -1.10127988e+01] [-1.54342200e-02 -1.54844299e-04 9.99880873e-01 -3.58132422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62587156000001 meters Centerline goodness [0,1] 0.9999358357394931 Centerline is valid? [True, True] Translation: X:121.95, Y:-11.02, Z:-3.58 [[ 9.83862451e-01 1.78283255e-01 1.51577938e-02 1.21948465e+02] [-1.78264046e-01 9.83979200e-01 -2.62002486e-03 -1.10187250e+01] [-1.53820604e-02 -1.24345579e-04 9.99881681e-01 -3.58198738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65587156000001 meters Centerline goodness [0,1] 0.9999358357394931 Centerline is valid? [True, True] Translation: X:121.98, Y:-11.02, Z:-3.58 [[ 9.83896687e-01 1.78094186e-01 1.51581754e-02 1.21975547e+02] [-1.78074988e-01 9.84013438e-01 -2.61781463e-03 -1.10232110e+01] [-1.53820659e-02 -1.23632759e-04 9.99881681e-01 -3.58281636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68587156000001 meters Centerline goodness [0,1] 0.9997852510415325 Centerline is valid? [True, True] Translation: X:122.00, Y:-11.03, Z:-3.58 [[ 9.84124617e-01 1.76800210e-01 1.55056125e-02 1.22003580e+02] [-1.76780018e-01 9.84246754e-01 -2.67425101e-03 -1.10284488e+01] [-1.57341569e-02 -1.09286202e-04 9.99876205e-01 -3.58362397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:-11.03, Z:-3.59 [[ 9.84344695e-01 1.75579065e-01 1.54114453e-02 1.22031189e+02] [-1.75559033e-01 9.84465329e-01 -2.65379461e-03 -1.10338286e+01] [-1.56379844e-02 -9.33697867e-05 9.99877715e-01 -3.58579031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:-11.04, Z:-3.59 [[ 9.84616378e-01 1.74064674e-01 1.52340756e-02 1.22058995e+02] [-1.74044936e-01 9.84734220e-01 -2.62215468e-03 -1.10408906e+01] [-1.54579401e-02 -6.95972764e-05 9.99880516e-01 -3.58774636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77587156000001 meters Centerline goodness [0,1] 0.9998704607280107 Centerline is valid? [True, True] Translation: X:122.09, Y:-11.05, Z:-3.59 [[ 9.84993743e-01 1.71943134e-01 1.49293270e-02 1.22087293e+02] [-1.71923945e-01 9.85106876e-01 -2.56902346e-03 -1.10489940e+01] [-1.51487087e-02 -3.62367614e-05 9.99885251e-01 -3.58723956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80587156000001 meters Centerline goodness [0,1] 0.9999361348831268 Centerline is valid? [True, True] Translation: X:122.12, Y:-11.05, Z:-3.59 [[ 9.85063633e-01 1.71521152e-01 1.51701535e-02 1.22115341e+02] [-1.71501300e-01 9.85180437e-01 -2.60968752e-03 -1.10537254e+01] [-1.53929550e-02 -3.09927735e-05 9.99881521e-01 -3.58791857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:-11.06, Z:-3.59 [[ 9.85167548e-01 1.70874020e-01 1.57153069e-02 1.22144365e+02] [-1.70852622e-01 9.85292885e-01 -2.70418948e-03 -1.10578832e+01] [-1.59462558e-02 -2.09216649e-05 9.99872850e-01 -3.58801634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:-11.06, Z:-3.59 [[ 9.85339392e-01 1.69809802e-01 1.64594726e-02 1.22172683e+02] [-1.69786253e-01 9.85476855e-01 -2.82792978e-03 -1.10628277e+01] [-1.67006395e-02 -8.12156988e-06 9.99860535e-01 -3.58719310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:-11.07, Z:-3.59 [[ 9.85420979e-01 1.69276777e-01 1.70548260e-02 1.22201097e+02] [-1.69251428e-01 9.85568553e-01 -2.92935125e-03 -1.10682732e+01] [-1.73045713e-02 9.05193888e-08 9.99850265e-01 -3.58667269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:-11.07, Z:-3.59 [[ 9.85479064e-01 1.68901091e-01 1.74194065e-02 1.22228867e+02] [-1.68874601e-01 9.85633006e-01 -2.99122616e-03 -1.10736226e+01] [-1.76743633e-02 6.09543210e-06 9.99843796e-01 -3.58762131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:-11.08, Z:-3.59 [[ 9.85544682e-01 1.68495671e-01 1.76320253e-02 1.22257250e+02] [-1.68468490e-01 9.85702394e-01 -3.02645992e-03 -1.10784648e+01] [-1.78898749e-02 1.22708210e-05 9.99839963e-01 -3.58845201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98587156 meters Centerline goodness [0,1] 0.9998932399538797 Centerline is valid? [True, True] Translation: X:122.28, Y:-11.08, Z:-3.59 [[ 9.85426946e-01 1.69234631e-01 1.71281668e-02 1.22284799e+02] [-1.69209104e-01 9.85575791e-01 -2.93933077e-03 -1.10818412e+01] [-1.73785431e-02 -1.74600666e-06 9.99848982e-01 -3.58987432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:-11.08, Z:-3.59 [[ 9.85370346e-01 1.69548473e-01 1.72799415e-02 1.22312258e+02] [-1.69522555e-01 9.85521849e-01 -2.96445813e-03 -1.10843109e+01] [-1.75323792e-02 -8.25069627e-06 9.99846296e-01 -3.59103585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:-11.09, Z:-3.59 [[ 9.85290862e-01 1.70028569e-01 1.70939506e-02 1.22341319e+02] [-1.70003305e-01 9.85439133e-01 -2.93103053e-03 -1.10873674e+01] [-1.73434068e-02 -1.81104881e-05 9.99849592e-01 -3.59229423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:-11.09, Z:-3.59 [[ 9.85153069e-01 1.70831115e-01 1.70341334e-02 1.22370149e+02] [-1.70806162e-01 9.85300324e-01 -2.91995234e-03 -1.10899542e+01] [-1.72825558e-02 -3.29349294e-05 9.99850645e-01 -3.59417030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:-11.09, Z:-3.59 [[ 9.85140881e-01 1.70914105e-01 1.69060117e-02 1.22398778e+02] [-1.70889551e-01 9.85285932e-01 -2.89720115e-03 -1.10943878e+01] [-1.71524280e-02 -3.49094569e-05 9.99852886e-01 -3.59495634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13587156000001 meters Centerline goodness [0,1] 0.9999567801188547 Centerline is valid? [True, True] Translation: X:122.43, Y:-11.10, Z:-3.60 [[ 9.85179454e-01 1.70749075e-01 1.63155424e-02 1.22426088e+02] [-1.70726194e-01 9.85314545e-01 -2.79541081e-03 -1.10991442e+01] [-1.65532550e-02 -3.15091563e-05 9.99862985e-01 -3.59786315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:-11.10, Z:-3.60 [[ 9.85216748e-01 1.70531155e-01 1.63427299e-02 1.22453357e+02] [-1.70508182e-01 9.85352284e-01 -2.79920278e-03 -1.11037328e+01] [-1.65806975e-02 -2.87477053e-05 9.99862530e-01 -3.59868327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:-11.11, Z:-3.60 [[ 9.85552743e-01 1.68466470e-01 1.74596363e-02 1.22480347e+02] [-1.68439953e-01 9.85707385e-01 -2.98893765e-03 -1.11104529e+01] [-1.77136282e-02 4.85537473e-06 9.99843101e-01 -3.59841223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:-11.12, Z:-3.60 [[ 9.85738499e-01 1.67328909e-01 1.79066247e-02 1.22508262e+02] [-1.67300853e-01 9.85901129e-01 -3.06418748e-03 -1.11169655e+01] [-1.81668887e-02 2.46939803e-05 9.99834968e-01 -3.59854927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:-11.12, Z:-3.60 [[ 9.85940747e-01 1.66102077e-01 1.81918521e-02 1.22534381e+02] [-1.66072919e-01 9.86108563e-01 -3.11250735e-03 -1.11233866e+01] [-1.84561350e-02 4.75738458e-05 9.99829670e-01 -3.59902711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:-11.13, Z:-3.60 [[ 9.86146652e-01 1.64883638e-01 1.81153688e-02 1.22562410e+02] [-1.64854555e-01 9.86313024e-01 -3.09748167e-03 -1.11296118e+01] [-1.83781482e-02 6.81701167e-05 9.99831105e-01 -3.59916294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31587156 meters Centerline goodness [0,1] 0.9998709205515995 Centerline is valid? [True, True] Translation: X:122.59, Y:-11.14, Z:-3.60 [[ 9.86449310e-01 1.63069871e-01 1.80548246e-02 1.22590478e+02] [-1.63040696e-01 9.86614518e-01 -3.08613513e-03 -1.11378675e+01] [-1.83164077e-02 1.00644693e-04 9.99832235e-01 -3.59988382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:-11.14, Z:-3.60 [[ 9.86523531e-01 1.62590133e-01 1.83240523e-02 1.22617026e+02] [-1.62560002e-01 9.86693689e-01 -3.13202446e-03 -1.11443859e+01] [-1.85894630e-02 1.11057861e-04 9.99827195e-01 -3.60155393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37587156000001 meters Centerline goodness [0,1] 0.9998280789977005 Centerline is valid? [True, True] Translation: X:122.64, Y:-11.15, Z:-3.60 [[ 9.86629732e-01 1.61923128e-01 1.85114356e-02 1.22644713e+02] [-1.61892293e-01 9.86803367e-01 -3.16230892e-03 -1.11498804e+01] [-1.87791979e-02 1.23169252e-04 9.99823648e-01 -3.60068035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:-11.16, Z:-3.60 [[ 9.86664603e-01 1.61726793e-01 1.83685929e-02 1.22672229e+02] [-1.61696425e-01 9.86835563e-01 -3.13642806e-03 -1.11557447e+01] [-1.86340252e-02 1.24466730e-04 9.99826364e-01 -3.60471484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:-11.16, Z:-3.60 [[ 9.86634049e-01 1.61942517e-01 1.81072892e-02 1.22700491e+02] [-1.61913061e-01 9.86800186e-01 -3.09086768e-03 -1.11588478e+01] [-1.83688193e-02 1.17748676e-04 9.99831272e-01 -3.60406788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:-11.16, Z:-3.61 [[ 9.86614114e-01 1.62086878e-01 1.79006624e-02 1.22726936e+02] [-1.62058124e-01 9.86776485e-01 -3.05501220e-03 -1.11641952e+01] [-1.81591301e-02 1.13170375e-04 9.99835103e-01 -3.60683719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49587156000001 meters Centerline goodness [0,1] 0.9998272100909307 Centerline is valid? [True, True] Translation: X:122.75, Y:-11.17, Z:-3.61 [[ 9.86605860e-01 1.62141993e-01 1.78563786e-02 1.22754207e+02] [-1.62113446e-01 9.86767431e-01 -3.04441048e-03 -1.11684111e+01] [-1.81137196e-02 1.08874164e-04 9.99835927e-01 -3.60640436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:-11.17, Z:-3.61 [[ 9.86519029e-01 1.62632969e-01 1.81857945e-02 1.22781536e+02] [-1.62603470e-01 9.86686631e-01 -3.09907150e-03 -1.11722293e+01] [-1.84476915e-02 1.00219721e-04 9.99829822e-01 -3.60927886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:-11.18, Z:-3.61 [[ 9.86476447e-01 1.62817857e-01 1.88298959e-02 1.22810212e+02] [-1.62786291e-01 9.86656138e-01 -3.20748426e-03 -1.11765229e+01] [-1.91008681e-02 9.88587706e-05 9.99817557e-01 -3.60916658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:-11.18, Z:-3.61 [[ 9.86407118e-01 1.63205051e-01 1.91078094e-02 1.22838409e+02] [-1.63172636e-01 9.86592166e-01 -3.25393901e-03 -1.11802562e+01] [-1.93826744e-02 9.18369663e-05 9.99812134e-01 -3.60880551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61587156 meters Centerline goodness [0,1] 0.9999569670367502 Centerline is valid? [True, True] Translation: X:122.87, Y:-11.18, Z:-3.61 [[ 9.86234668e-01 1.64303875e-01 1.85853808e-02 1.22865373e+02] [-1.64273411e-01 9.86409769e-01 -3.16452356e-03 -1.11828765e+01] [-1.88527447e-02 6.78789411e-05 9.99822269e-01 -3.61201890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.89, Y:-11.19, Z:-3.61 [[ 9.86142603e-01 1.64879226e-01 1.83741011e-02 1.22893792e+02] [-1.64849581e-01 9.86313762e-01 -3.12693591e-03 -1.11853632e+01] [-1.86381955e-02 5.46418531e-05 9.99826292e-01 -3.61204416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.92, Y:-11.19, Z:-3.61 [[ 9.86080569e-01 1.65270455e-01 1.81875869e-02 1.22920787e+02] [-1.65241497e-01 9.86248282e-01 -3.09404815e-03 -1.11881506e+01] [-1.84488311e-02 4.56366723e-05 9.99829805e-01 -3.61342889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.95, Y:-11.19, Z:-3.61 [[ 9.86158059e-01 1.64750883e-01 1.86930291e-02 1.22949174e+02] [-1.64720237e-01 9.86335209e-01 -3.17802815e-03 -1.11930679e+01] [-1.89611757e-02 5.49178842e-05 9.99820219e-01 -3.61320877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.98, Y:-11.20, Z:-3.61 [[ 9.86305025e-01 1.63856184e-01 1.88028809e-02 1.22975550e+02] [-1.63825014e-01 9.86484235e-01 -3.19670195e-03 -1.11994176e+01] [-1.90725449e-02 7.25409748e-05 9.99818100e-01 -3.61479537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:-11.21, Z:-3.61 [[ 9.86470946e-01 1.62816049e-01 1.91313064e-02 1.23003179e+02] [-1.62783649e-01 9.86656438e-01 -3.24923568e-03 -1.12054873e+01] [-1.94050543e-02 9.10127212e-05 9.99811700e-01 -3.61497245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79587156000001 meters Centerline goodness [0,1] 0.9999784960110101 Centerline is valid? [True, True] Translation: X:123.03, Y:-11.21, Z:-3.61 [[ 9.86874335e-01 1.60337041e-01 1.92634367e-02 1.23030784e+02] [-1.60303752e-01 9.87062315e-01 -3.27005742e-03 -1.12126812e+01] [-1.95385238e-02 1.39134564e-04 9.99809095e-01 -3.61489182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82587156000001 meters Centerline goodness [0,1] 0.999934721587571 Centerline is valid? [True, True] Translation: X:123.06, Y:-11.22, Z:-3.61 [[ 9.87103199e-01 1.58933894e-01 1.91648712e-02 1.23059369e+02] [-1.58900698e-01 9.87289213e-01 -3.25241900e-03 -1.12192407e+01] [-1.94381903e-02 1.65161792e-04 9.99811047e-01 -3.61480797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.09, Y:-11.23, Z:-3.62 [[ 9.87543639e-01 1.56223901e-01 1.87524637e-02 1.23085206e+02] [-1.56191641e-01 9.87721645e-01 -3.18179789e-03 -1.12298913e+01] [-1.90192872e-02 2.13186191e-04 9.99819094e-01 -3.61820814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.11, Y:-11.24, Z:-3.62 [[ 9.87719181e-01 1.55088559e-01 1.89303763e-02 1.23113065e+02] [-1.55055508e-01 9.87900543e-01 -3.21029130e-03 -1.12359855e+01] [-1.91992084e-02 2.35607180e-04 9.99815650e-01 -3.61836557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.14, Y:-11.24, Z:-3.62 [[ 9.87855919e-01 1.54190619e-01 1.91294376e-02 1.23139554e+02] [-1.54156717e-01 9.88041086e-01 -3.24321534e-03 -1.12432831e+01] [-1.94007437e-02 2.54898159e-04 9.99811755e-01 -3.61954346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94587156000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.17, Y:-11.25, Z:-3.62 [[ 9.88027907e-01 1.53081473e-01 1.91550933e-02 1.23166801e+02] [-1.53047295e-01 9.88213533e-01 -3.24638209e-03 -1.12505167e+01] [-1.94262833e-02 2.75880894e-04 9.99811254e-01 -3.62077915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.19, Y:-11.26, Z:-3.62 [[ 9.88306094e-01 1.51111957e-01 2.04019670e-02 1.23194092e+02] [-1.51072792e-01 9.88516598e-01 -3.45636114e-03 -1.12592620e+01] [-2.06899805e-02 3.33760665e-04 9.99785884e-01 -3.61900568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.22, Y:-11.27, Z:-3.62 [[ 9.88419699e-01 1.50339728e-01 2.06025425e-02 1.23220658e+02] [-1.50299649e-01 9.88634332e-01 -3.48905979e-03 -1.12672915e+01] [-2.08929251e-02 3.52100538e-04 9.99781657e-01 -3.62022518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03587156000003 meters Centerline goodness [0,1] 0.9999355849955983 Centerline is valid? [True, True] Translation: X:123.25, Y:-11.27, Z:-3.62 [[ 9.88536458e-01 1.49612644e-01 2.02910560e-02 1.23248602e+02] [-1.49573642e-01 9.88744622e-01 -3.43498155e-03 -1.12744522e+01] [-2.05765891e-02 3.60597357e-04 9.99788215e-01 -3.62159443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:-11.28, Z:-3.62 [[ 9.88601200e-01 1.49261804e-01 1.97124545e-02 1.23276832e+02] [-1.49224942e-01 9.88797647e-01 -3.33617182e-03 -1.12786734e+01] [-1.99895917e-02 3.56553581e-04 9.99800125e-01 -3.62216501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09587156000003 meters Centerline goodness [0,1] 0.9999137224451059 Centerline is valid? [True, True] Translation: X:123.30, Y:-11.29, Z:-3.62 [[ 9.88589466e-01 1.49334652e-01 1.97491437e-02 1.23302743e+02] [-1.49297683e-01 9.88786648e-01 -3.34154560e-03 -1.12895889e+01] [-2.00266981e-02 3.54915382e-04 9.99799383e-01 -3.62489872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:-11.29, Z:-3.62 [[ 9.88474528e-01 1.50071641e-01 1.99150707e-02 1.23331081e+02] [-1.50034228e-01 9.88675066e-01 -3.36815843e-03 -1.12935326e+01] [-2.01949989e-02 3.41396554e-04 9.99796002e-01 -3.62499575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:-11.30, Z:-3.63 [[ 9.88314514e-01 1.51131368e-01 1.98426388e-02 1.23358194e+02] [-1.51094457e-01 9.88513636e-01 -3.35506730e-03 -1.12984521e+01] [-2.01217749e-02 3.17748983e-04 9.99797486e-01 -3.62621817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:-11.30, Z:-3.63 [[ 9.87871054e-01 1.53862214e-01 2.09093122e-02 1.23387124e+02] [-1.53821863e-01 9.88092275e-01 -3.53426742e-03 -1.13028583e+01] [-2.12041200e-02 2.75091134e-04 9.99775130e-01 -3.62625590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.41, Y:-11.31, Z:-3.63 [[ 9.87584911e-01 1.55642362e-01 2.12485111e-02 1.23414136e+02] [-1.55601143e-01 9.87813443e-01 -3.58970073e-03 -1.13080916e+01] [-2.15482744e-02 2.38841647e-04 9.99767780e-01 -3.62778380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24587156 meters Centerline goodness [0,1] 0.9998717373180274 Centerline is valid? [True, True] Translation: X:123.44, Y:-11.31, Z:-3.63 [[ 9.87353822e-01 1.57171948e-01 2.07221797e-02 1.23442690e+02] [-1.57133117e-01 9.87571232e-01 -3.49917759e-03 -1.13113701e+01] [-2.10146012e-02 1.98785664e-04 9.99779149e-01 -3.62794385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.47, Y:-11.32, Z:-3.63 [[ 9.86938724e-01 1.59777992e-01 2.05657002e-02 1.23471040e+02] [-1.59740331e-01 9.87152963e-01 -3.47179556e-03 -1.13151823e+01] [-2.08562084e-02 1.41277730e-04 9.99782476e-01 -3.62915326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:-11.32, Z:-3.63 [[ 9.86730064e-01 1.61011772e-01 2.09520976e-02 1.23499267e+02] [-1.60972985e-01 9.86952479e-01 -3.53586715e-03 -1.13199947e+01] [-2.12480409e-02 1.16224717e-04 9.99774228e-01 -3.62967884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:-11.33, Z:-3.63 [[ 9.86651310e-01 1.61514001e-01 2.07947198e-02 1.23526097e+02] [-1.61475913e-01 9.86870415e-01 -3.50898685e-03 -1.13255534e+01] [-2.10884442e-02 1.04300114e-04 9.99777609e-01 -3.63100217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36587156000002 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:123.55, Y:-11.33, Z:-3.63 [[ 9.86560017e-01 1.62128364e-01 2.03402615e-02 1.23552836e+02] [-1.62092089e-01 9.86769672e-01 -3.43058322e-03 -1.13316561e+01] [-2.06273481e-02 8.74807641e-05 9.99787230e-01 -3.63381702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:-11.34, Z:-3.63 [[ 9.86356210e-01 1.63374739e-01 2.02514432e-02 1.23580728e+02] [-1.63339086e-01 9.86564084e-01 -3.41351858e-03 -1.13371287e+01] [-2.05370293e-02 5.90930349e-05 9.99789091e-01 -3.63445919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:-11.34, Z:-3.64 [[ 9.86238363e-01 1.64111041e-01 2.00364181e-02 1.23608639e+02] [-1.64076307e-01 9.86441871e-01 -3.37653826e-03 -1.13425455e+01] [-2.03188890e-02 4.25700616e-05 9.99793549e-01 -3.63559996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:-11.35, Z:-3.64 [[ 9.86124072e-01 1.64828106e-01 1.97739541e-02 1.23635661e+02] [-1.64794449e-01 9.86322308e-01 -3.33090335e-03 -1.13481649e+01] [-2.00525185e-02 2.60461142e-05 9.99798928e-01 -3.63632098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:-11.35, Z:-3.64 [[ 9.85976496e-01 1.65718005e-01 1.96949958e-02 1.23662029e+02] [-1.65684815e-01 9.86173181e-01 -3.31650606e-03 -1.13534236e+01] [-1.99722814e-02 6.83528969e-06 9.99800534e-01 -3.63890010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:-11.36, Z:-3.64 [[ 9.85530135e-01 1.68271146e-01 2.03758123e-02 1.23690982e+02] [-1.68236230e-01 9.85740746e-01 -3.42810113e-03 -1.13579261e+01] [-2.06621189e-02 -4.94528690e-05 9.99786514e-01 -3.63785529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:-11.36, Z:-3.64 [[ 9.85349416e-01 1.69331106e-01 2.03348000e-02 1.23718585e+02] [-1.69296570e-01 9.85559218e-01 -3.42053228e-03 -1.13615854e+01] [-2.06203521e-02 -7.21924170e-05 9.99787375e-01 -3.63980014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.75, Y:-11.37, Z:-3.64 [[ 9.85361245e-01 1.69262226e-01 2.03351081e-02 1.23745705e+02] [-1.69227713e-01 9.85571050e-01 -3.41869933e-03 -1.13660076e+01] [-2.06203505e-02 -7.26100105e-05 9.99787375e-01 -3.64062950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.77, Y:-11.37, Z:-3.64 [[ 9.85239970e-01 1.70004101e-01 2.00201867e-02 1.23774040e+02] [-1.69970835e-01 9.85443351e-01 -3.36411475e-03 -1.13702023e+01] [-2.03006731e-02 -8.83875321e-05 9.99793916e-01 -3.64247820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.80, Y:-11.38, Z:-3.64 [[ 9.85182294e-01 1.70326254e-01 2.01200317e-02 1.23801517e+02] [-1.70292740e-01 9.85387720e-01 -3.38005994e-03 -1.13760705e+01] [-2.04017451e-02 -9.63201141e-05 9.99791858e-01 -3.64276924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:-11.38, Z:-3.64 [[ 9.85292843e-01 1.69669129e-01 2.02583266e-02 1.23829102e+02] [-1.69635042e-01 9.85501080e-01 -3.40191996e-03 -1.13832183e+01] [-2.05418035e-02 -8.46346836e-05 9.99788991e-01 -3.64327109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:-11.39, Z:-3.64 [[ 9.85452371e-01 1.68728604e-01 2.03539267e-02 1.23856137e+02] [-1.68694013e-01 9.85662546e-01 -3.41706792e-03 -1.13913571e+01] [-2.06386603e-02 -6.62278888e-05 9.99786998e-01 -3.64428016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:-11.40, Z:-3.64 [[ 9.85886366e-01 1.66149396e-01 2.05536445e-02 1.23883115e+02] [-1.66113590e-01 9.86100592e-01 -3.44920798e-03 -1.14043946e+01] [-2.08410448e-02 -1.37125505e-05 9.99782802e-01 -3.64497478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75587156000003 meters Centerline goodness [0,1] 0.9998288879857977 Centerline is valid? [True, True] Translation: X:123.91, Y:-11.41, Z:-3.65 [[ 9.86137669e-01 1.64664635e-01 2.04464134e-02 1.23909689e+02] [-1.64628901e-01 9.86349612e-01 -3.43033420e-03 -1.14126797e+01] [-2.07321667e-02 1.67111983e-05 9.99785065e-01 -3.64563075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78587156000003 meters Centerline goodness [0,1] 0.9999574150963484 Centerline is valid? [True, True] Translation: X:123.94, Y:-11.42, Z:-3.65 [[ 9.86454417e-01 1.62741935e-01 2.05607731e-02 1.23936934e+02] [-1.62705409e-01 9.86668668e-01 -3.44824899e-03 -1.14211820e+01] [-2.08478453e-02 5.61914606e-05 9.99782658e-01 -3.64670252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:-11.43, Z:-3.65 [[ 9.86729832e-01 1.61025618e-01 2.08563729e-02 1.23964770e+02] [-1.60987680e-01 9.86950223e-01 -3.49643507e-03 -1.14300565e+01] [-2.11472174e-02 9.24177124e-05 9.99776368e-01 -3.64710803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:-11.44, Z:-3.65 [[ 9.87077864e-01 1.58814123e-01 2.13392580e-02 1.23992411e+02] [-1.58773913e-01 9.87308490e-01 -3.57634299e-03 -1.14419495e+01] [-2.16364044e-02 1.42011499e-04 9.99765896e-01 -3.64730346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:-11.45, Z:-3.65 [[ 9.87183677e-01 1.58241363e-01 2.06895755e-02 1.24018826e+02] [-1.58203457e-01 9.87400450e-01 -3.46658598e-03 -1.14505663e+01] [-2.09774535e-02 1.48994729e-04 9.99779938e-01 -3.65016288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90587156000004 meters Centerline goodness [0,1] 0.9998290159870052 Centerline is valid? [True, True] Translation: X:124.05, Y:-11.46, Z:-3.65 [[ 9.87257524e-01 1.57815966e-01 2.04132733e-02 1.24046997e+02] [-1.57779004e-01 9.87468530e-01 -3.41892772e-03 -1.14581300e+01] [-2.06970263e-02 1.54576198e-04 9.99785782e-01 -3.65108436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.07, Y:-11.47, Z:-3.65 [[ 9.87389610e-01 1.56905387e-01 2.10346576e-02 1.24074717e+02] [-1.56865955e-01 9.87613623e-01 -3.52195692e-03 -1.14686381e+01] [-2.13267284e-02 1.77922018e-04 9.99772544e-01 -3.65043783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.10, Y:-11.48, Z:-3.65 [[ 9.87412629e-01 1.56769538e-01 2.09669290e-02 1.24101135e+02] [-1.56730349e-01 9.87635196e-01 -3.50969070e-03 -1.14765162e+01] [-2.12578896e-02 1.79358818e-04 9.99774009e-01 -3.65189481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.13, Y:-11.48, Z:-3.65 [[ 9.87432682e-01 1.56639357e-01 2.09954647e-02 1.24128642e+02] [-1.56600064e-01 9.87655851e-01 -3.51293964e-03 -1.14840647e+01] [-2.12865581e-02 1.80900295e-04 9.99773399e-01 -3.65251294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.16, Y:-11.49, Z:-3.65 [[ 9.87463951e-01 1.56414843e-01 2.11976790e-02 1.24157761e+02] [-1.56374757e-01 9.87691431e-01 -3.54589900e-03 -1.14913896e+01] [-2.14913971e-02 1.86665531e-04 9.99769016e-01 -3.65251132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.19, Y:-11.50, Z:-3.65 [[ 9.87442103e-01 1.56537587e-01 2.13090902e-02 1.24187170e+02] [-1.56497122e-01 9.87671985e-01 -3.56381385e-03 -1.15007620e+01] [-2.16042622e-02 1.84248548e-04 9.99766584e-01 -3.65281178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.22, Y:-11.51, Z:-3.65 [[ 9.87348565e-01 1.57142181e-01 2.11930819e-02 1.24216546e+02] [-1.57102295e-01 9.87575975e-01 -3.54441218e-03 -1.15082658e+01] [-2.14867552e-02 1.70088482e-04 9.99769119e-01 -3.65351795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11587156000002 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:124.25, Y:-11.52, Z:-3.65 [[ 9.87172911e-01 1.58176485e-01 2.16758560e-02 1.24245591e+02] [-1.58135013e-01 9.87410845e-01 -3.62503371e-03 -1.15156669e+01] [-2.19763704e-02 1.50823302e-04 9.99758479e-01 -3.65498351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:-11.52, Z:-3.66 [[ 9.86770159e-01 1.60731857e-01 2.12114221e-02 1.24274988e+02] [-1.60692719e-01 9.86998106e-01 -3.54799877e-03 -1.15220821e+01] [-2.15059099e-02 9.25382032e-05 9.99768717e-01 -3.65580089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17587156000002 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:124.30, Y:-11.53, Z:-3.66 [[ 9.86511354e-01 1.62359501e-01 2.08504286e-02 1.24303807e+02] [-1.62322059e-01 9.86731670e-01 -3.48712719e-03 -1.15274523e+01] [-2.11399464e-02 5.56060757e-05 9.99776525e-01 -3.65761593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:-11.53, Z:-3.66 [[ 9.86220148e-01 1.64141720e-01 2.06716023e-02 1.24332009e+02] [-1.64105316e-01 9.86436767e-01 -3.45683592e-03 -1.15325180e+01] [-2.09586396e-02 1.68814063e-05 9.99780343e-01 -3.66004505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:-11.54, Z:-3.66 [[ 9.85653574e-01 1.67498432e-01 2.07679202e-02 1.24360618e+02] [-1.67462447e-01 9.85872341e-01 -3.47228421e-03 -1.15350856e+01] [-2.10561202e-02 -5.53773869e-05 9.99778294e-01 -3.66026780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26587156000002 meters Centerline goodness [0,1] 0.9998076758697324 Centerline is valid? [True, True] Translation: X:124.39, Y:-11.54, Z:-3.66 [[ 9.85366934e-01 1.69160824e-01 2.08954650e-02 1.24388772e+02] [-1.69124790e-01 9.85588457e-01 -3.49262357e-03 -1.15387478e+01] [-2.11851442e-02 -9.24253423e-05 9.99775565e-01 -3.66118532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:-11.54, Z:-3.66 [[ 9.84826452e-01 1.72278913e-01 2.09005999e-02 1.24416514e+02] [-1.72243580e-01 9.85048197e-01 -3.49265712e-03 -1.15429391e+01] [-2.11898094e-02 -1.60333035e-04 9.99775458e-01 -3.66218467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32587156000002 meters Centerline goodness [0,1] 0.9999787234042553 Centerline is valid? [True, True] Translation: X:124.44, Y:-11.55, Z:-3.66 [[ 9.84593080e-01 1.73598925e-01 2.09732992e-02 1.24443810e+02] [-1.73563677e-01 9.84816418e-01 -3.50333532e-03 -1.15476782e+01] [-2.12630247e-02 -1.90843212e-04 9.99773898e-01 -3.66311041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:-11.55, Z:-3.66 [[ 9.84407209e-01 1.74695907e-01 2.05860785e-02 1.24472107e+02] [-1.74662215e-01 9.84622412e-01 -3.43736160e-03 -1.15524449e+01] [-2.08700073e-02 -2.11846537e-04 9.99782175e-01 -3.66476025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:-11.56, Z:-3.67 [[ 9.84217908e-01 1.75816482e-01 2.00916265e-02 1.24500160e+02] [-1.75784638e-01 9.84422933e-01 -3.35400820e-03 -1.15559678e+01] [-2.03683478e-02 -2.30724370e-04 9.99792517e-01 -3.66658352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41587156000003 meters Centerline goodness [0,1] 0.9999785467573423 Centerline is valid? [True, True] Translation: X:124.53, Y:-11.56, Z:-3.67 [[ 9.83842051e-01 1.77923473e-01 1.99513530e-02 1.24527647e+02] [-1.77892530e-01 9.84044289e-01 -3.32943500e-03 -1.15586956e+01] [-2.02253996e-02 -2.73558496e-04 9.99795408e-01 -3.66760641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.56, Y:-11.57, Z:-3.67 [[ 9.83676428e-01 1.78842919e-01 1.98971199e-02 1.24555512e+02] [-1.78812356e-01 9.83877596e-01 -3.31914123e-03 -1.15660246e+01] [-2.01699354e-02 -2.92889905e-04 9.99796523e-01 -3.66780389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:-11.57, Z:-3.67 [[ 9.83616961e-01 1.79207147e-01 1.95569197e-02 1.24583080e+02] [-1.79177707e-01 9.83811319e-01 -3.26164354e-03 -1.15703618e+01] [-1.98248288e-02 -2.95956135e-04 9.99803425e-01 -3.66942304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.61, Y:-11.57, Z:-3.67 [[ 9.83484902e-01 1.79883836e-01 1.99813267e-02 1.24610366e+02] [-1.79853274e-01 9.83687808e-01 -3.33098559e-03 -1.15749398e+01] [-2.02545779e-02 -3.17732974e-04 9.99794805e-01 -3.66996145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.64, Y:-11.58, Z:-3.67 [[ 9.83362886e-01 1.80417269e-01 2.11434101e-02 1.24638211e+02] [-1.80383203e-01 9.83590101e-01 -3.52324562e-03 -1.15813802e+01] [-2.14321032e-02 -3.49287037e-04 9.99770245e-01 -3.66843319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:-11.59, Z:-3.67 [[ 9.83305098e-01 1.80721591e-01 2.12318254e-02 1.24666105e+02] [-1.80687332e-01 9.83534228e-01 -3.53696185e-03 -1.15869408e+01] [-2.15214324e-02 -3.58409266e-04 9.99768323e-01 -3.66854879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59587156000003 meters Centerline goodness [0,1] 0.9999360818152765 Centerline is valid? [True, True] Translation: X:124.69, Y:-11.59, Z:-3.67 [[ 9.83197948e-01 1.81291122e-01 2.13383073e-02 1.24694221e+02] [-1.81256675e-01 9.83429402e-01 -3.55366973e-03 -1.15906856e+01] [-2.16289676e-02 -3.73749841e-04 9.99765997e-01 -3.66945250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62587156000004 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:124.72, Y:-11.60, Z:-3.67 [[ 9.83132750e-01 1.81626019e-01 2.14938514e-02 1.24722469e+02] [-1.81591170e-01 9.83367602e-01 -3.57853733e-03 -1.15955337e+01] [-2.17863126e-02 -3.84916367e-04 9.99762576e-01 -3.67025774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65587156000004 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:124.75, Y:-11.60, Z:-3.67 [[ 9.83055907e-01 1.82017550e-01 2.16955317e-02 1.24750686e+02] [-1.81982163e-01 9.83295201e-01 -3.61104459e-03 -1.15998310e+01] [-2.19903857e-02 -3.98341076e-04 9.99758103e-01 -3.67115646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:-11.60, Z:-3.67 [[ 9.82783203e-01 1.83413030e-01 2.22898359e-02 1.24778676e+02] [-1.83376058e-01 9.83035841e-01 -3.70899088e-03 -1.16026733e+01] [-2.25919849e-02 -4.42288313e-04 9.99744671e-01 -3.67068833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:-11.61, Z:-3.67 [[ 9.82639829e-01 1.84193100e-01 2.21780962e-02 1.24807249e+02] [-1.84156734e-01 9.82889969e-01 -3.68874808e-03 -1.16052155e+01] [-2.24780702e-02 -4.59534974e-04 9.99747231e-01 -3.67171445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74587156 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:124.84, Y:-11.61, Z:-3.67 [[ 9.82487384e-01 1.85018582e-01 2.20604595e-02 1.24835620e+02] [-1.84982829e-01 9.82734907e-01 -3.66822500e-03 -1.16063782e+01] [-2.23582734e-02 -4.76821409e-04 9.99749909e-01 -3.67322447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77587156 meters Centerline goodness [0,1] 0.9997844641779464 Centerline is valid? [True, True] Translation: X:124.86, Y:-11.61, Z:-3.67 [[ 9.82234604e-01 1.86371890e-01 2.19249237e-02 1.24864494e+02] [-1.86336943e-01 9.82479141e-01 -3.64430054e-03 -1.16083371e+01] [-2.22199754e-02 -5.05865155e-04 9.99752978e-01 -3.67452066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80587156 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:124.89, Y:-11.61, Z:-3.67 [[ 9.82148473e-01 1.86800786e-01 2.21324070e-02 1.24892192e+02] [-1.86765305e-01 9.82397676e-01 -3.67781349e-03 -1.16107167e+01] [-2.24298437e-02 -5.21406847e-04 9.99748283e-01 -3.67479573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:-11.61, Z:-3.68 [[ 9.82077369e-01 1.87168070e-01 2.21845621e-02 1.24921273e+02] [-1.87132547e-01 9.82327761e-01 -3.68508141e-03 -1.16125938e+01] [-2.24822408e-02 -5.32418564e-04 9.99747101e-01 -3.67595425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86587156000002 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:124.95, Y:-11.61, Z:-3.68 [[ 9.82033052e-01 1.87406131e-01 2.21365497e-02 1.24950541e+02] [-1.87370845e-01 9.82282369e-01 -3.67608151e-03 -1.16141106e+01] [-2.24332627e-02 -5.37710465e-04 9.99748198e-01 -3.67714061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89587156000002 meters Centerline goodness [0,1] 0.9999784101213351 Centerline is valid? [True, True] Translation: X:124.98, Y:-11.62, Z:-3.68 [[ 9.82098579e-01 1.87035847e-01 2.23600749e-02 1.24978027e+02] [-1.86999771e-01 9.82352943e-01 -3.71222321e-03 -1.16172205e+01] [-2.26598042e-02 -5.35559756e-04 9.99743090e-01 -3.67790433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92587156000002 meters Centerline goodness [0,1] 0.9999786155721404 Centerline is valid? [True, True] Translation: X:125.01, Y:-11.62, Z:-3.68 [[ 9.82207049e-01 1.86469234e-01 2.23279800e-02 1.25006821e+02] [-1.86433146e-01 9.82460661e-01 -3.70551287e-03 -1.16209716e+01] [-2.26273261e-02 -5.23094688e-04 9.99743832e-01 -3.67845915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95587156000002 meters Centerline goodness [0,1] 0.9999356789091143 Centerline is valid? [True, True] Translation: X:125.04, Y:-11.62, Z:-3.68 [[ 9.82333528e-01 1.85776742e-01 2.25353484e-02 1.25035287e+02] [-1.85739823e-01 9.82591848e-01 -3.73888140e-03 -1.16239173e+01] [-2.28376469e-02 -5.12883062e-04 9.99739055e-01 -3.67912124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98587156000002 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:125.06, Y:-11.63, Z:-3.68 [[ 9.82690525e-01 1.83968799e-01 2.17901884e-02 1.25063937e+02] [-1.83933859e-01 9.82931978e-01 -3.61421815e-03 -1.16298605e+01] [-2.20831763e-02 -4.56295510e-04 9.99756033e-01 -3.68046635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:-11.63, Z:-3.68 [[ 9.82927795e-01 1.82732555e-01 2.14886618e-02 1.25091587e+02] [-1.82698293e-01 9.83162568e-01 -3.56363626e-03 -1.16341734e+01] [-2.17780403e-02 -4.23144693e-04 9.99762741e-01 -3.68235771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04587156000002 meters Centerline goodness [0,1] 0.9999786707618804 Centerline is valid? [True, True] Translation: X:125.12, Y:-11.63, Z:-3.68 [[ 9.83104944e-01 1.81773019e-01 2.15229931e-02 1.25119898e+02] [-1.81738446e-01 9.83340433e-01 -3.56802334e-03 -1.16349286e+01] [-2.18129997e-02 -4.03813933e-04 9.99761987e-01 -3.68441610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.15, Y:-11.64, Z:-3.68 [[ 9.83260958e-01 1.80940819e-01 2.14081286e-02 1.25147792e+02] [-1.80906447e-01 9.83493911e-01 -3.54761619e-03 -1.16430540e+01] [-2.16966727e-02 -3.84635989e-04 9.99764525e-01 -3.68294806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10587156000003 meters Centerline goodness [0,1] 0.9999355282386315 Centerline is valid? [True, True] Translation: X:125.18, Y:-11.64, Z:-3.68 [[ 9.83543728e-01 1.79417545e-01 2.12386284e-02 1.25176024e+02] [-1.79383380e-01 9.83772953e-01 -3.51857598e-03 -1.16442912e+01] [-2.15252824e-02 -3.49183621e-04 9.99768243e-01 -3.68466820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13587156000003 meters Centerline goodness [0,1] 0.9999568090528226 Centerline is valid? [True, True] Translation: X:125.20, Y:-11.65, Z:-3.69 [[ 9.83641807e-01 1.78855185e-01 2.14386951e-02 1.25204931e+02] [-1.78820271e-01 9.83875351e-01 -3.55025079e-03 -1.16475418e+01] [-2.17279845e-02 -3.41498178e-04 9.99763861e-01 -3.68521207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:-11.65, Z:-3.69 [[ 9.83766738e-01 1.78143268e-01 2.16328853e-02 1.25233816e+02] [-1.78107571e-01 9.84004506e-01 -3.58131470e-03 -1.16505718e+01] [-2.19248437e-02 -3.29802381e-04 9.99759567e-01 -3.68636730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19587156000003 meters Centerline goodness [0,1] 0.9998703123311359 Centerline is valid? [True, True] Translation: X:125.26, Y:-11.65, Z:-3.69 [[ 9.84052705e-01 1.76598207e-01 2.12919630e-02 1.25262773e+02] [-1.76563288e-01 9.84282982e-01 -3.52382858e-03 -1.16519919e+01] [-2.15796186e-02 -2.91745939e-04 9.99767090e-01 -3.68750269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:-11.66, Z:-3.69 [[ 9.84245331e-01 1.75465702e-01 2.17466301e-02 1.25291273e+02] [-1.75429023e-01 9.84485506e-01 -3.59796034e-03 -1.16562936e+01] [-2.20405608e-02 -2.73714416e-04 9.99757040e-01 -3.68839809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:-11.66, Z:-3.69 [[ 9.84474141e-01 1.74157417e-01 2.19057054e-02 1.25318502e+02] [-1.74119898e-01 9.84717794e-01 -3.62326555e-03 -1.16605538e+01] [-2.22019564e-02 -2.47207950e-04 9.99753476e-01 -3.68946342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:-11.66, Z:-3.69 [[ 9.84868520e-01 1.71916389e-01 2.18804204e-02 1.25345880e+02] [-1.71878434e-01 9.85111525e-01 -3.61771473e-03 -1.16647509e+01] [-2.21765987e-02 -1.97799027e-04 9.99754049e-01 -3.69110007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.37, Y:-11.67, Z:-3.69 [[ 9.85002387e-01 1.71184323e-01 2.15922483e-02 1.25374176e+02] [-1.71147217e-01 9.85239004e-01 -3.56865607e-03 -1.16689812e+01] [-2.18844231e-02 -1.80318445e-04 9.99760491e-01 -3.69237298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:-11.67, Z:-3.69 [[ 9.85088781e-01 1.70752966e-01 2.10598581e-02 1.25403177e+02] [-1.70717589e-01 9.85313857e-01 -3.47968782e-03 -1.16726877e+01] [-2.13447371e-02 -1.67486774e-04 9.99772161e-01 -3.69379264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:-11.67, Z:-3.69 [[ 9.85050251e-01 1.71029007e-01 2.06175081e-02 1.25432093e+02] [-1.70995181e-01 9.85265979e-01 -3.40565182e-03 -1.16732779e+01] [-2.08961946e-02 -1.70756354e-04 9.99781636e-01 -3.69482985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40587156000004 meters Centerline goodness [0,1] 0.9998922669194803 Centerline is valid? [True, True] Translation: X:125.46, Y:-11.67, Z:-3.70 [[ 9.84925544e-01 1.71760104e-01 2.04973225e-02 1.25460942e+02] [-1.71726851e-01 9.85138788e-01 -3.38477524e-03 -1.16742750e+01] [-2.07740768e-02 -1.86189043e-04 9.99784178e-01 -3.69516066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43587156 meters Centerline goodness [0,1] 0.9998490761303119 Centerline is valid? [True, True] Translation: X:125.49, Y:-11.67, Z:-3.70 [[ 9.84822028e-01 1.72367850e-01 2.03690114e-02 1.25489267e+02] [-1.72335161e-01 9.85032631e-01 -3.36268074e-03 -1.16746312e+01] [-2.06437590e-02 -1.98654789e-04 9.99786875e-01 -3.69691481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46587156 meters Centerline goodness [0,1] 0.9998490761303119 Centerline is valid? [True, True] Translation: X:125.52, Y:-11.68, Z:-3.70 [[ 9.84834470e-01 1.72296727e-01 2.03692002e-02 1.25516403e+02] [-1.72264046e-01 9.85045074e-01 -3.36153675e-03 -1.16789733e+01] [-2.06437621e-02 -1.98323579e-04 9.99786875e-01 -3.69774415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:-11.68, Z:-3.70 [[ 9.84682706e-01 1.73158588e-01 2.03978501e-02 1.25545636e+02] [-1.73126035e-01 9.84893931e-01 -3.36452338e-03 -1.16781430e+01] [-2.06723149e-02 -2.18410936e-04 9.99786281e-01 -3.69946573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.57, Y:-11.68, Z:-3.70 [[ 9.84688019e-01 1.73166637e-01 2.00704195e-02 1.25573704e+02] [-1.73135136e-01 9.84892517e-01 -3.30988857e-03 -1.16800172e+01] [-2.03403682e-02 -2.15687191e-04 9.99793090e-01 -3.70175640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55587156 meters Centerline goodness [0,1] 0.9998056785058836 Centerline is valid? [True, True] Translation: X:125.60, Y:-11.68, Z:-3.70 [[ 9.84718875e-01 1.73044991e-01 1.96001976e-02 1.25601813e+02] [-1.73014965e-01 9.84913898e-01 -3.23031673e-03 -1.16838634e+01] [-1.98634972e-02 -2.10173649e-04 9.99802679e-01 -3.70292135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:-11.69, Z:-3.71 [[ 9.84987216e-01 1.71588362e-01 1.89107957e-02 1.25629451e+02] [-1.71560153e-01 9.85168718e-01 -3.11619083e-03 -1.16856651e+01] [-1.91650265e-02 -1.74930881e-04 9.99816319e-01 -3.70645216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:-11.69, Z:-3.71 [[ 9.85054257e-01 1.71178473e-01 1.91321920e-02 1.25658393e+02] [-1.71149560e-01 9.85240022e-01 -3.15070289e-03 -1.16886425e+01] [-1.93891337e-02 -1.70852946e-04 9.99811998e-01 -3.70621552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:-11.69, Z:-3.71 [[ 9.85121971e-01 1.70735978e-01 1.95941016e-02 1.25686487e+02] [-1.70705581e-01 9.85316801e-01 -3.22591049e-03 -1.16916715e+01] [-1.98571764e-02 -1.66907192e-04 9.99802813e-01 -3.70666787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:-11.70, Z:-3.71 [[ 9.85198630e-01 1.70239211e-01 2.00566887e-02 1.25714952e+02] [-1.70207287e-01 9.85402753e-01 -3.30070751e-03 -1.16956880e+01] [-2.03258261e-02 -1.61942059e-04 9.99793396e-01 -3.70632009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70587156000002 meters Centerline goodness [0,1] 0.9997650325750294 Centerline is valid? [True, True] Translation: X:125.74, Y:-11.70, Z:-3.71 [[ 9.85289985e-01 1.69593446e-01 2.10168595e-02 1.25743902e+02] [-1.69558268e-01 9.85514099e-01 -3.45764263e-03 -1.16997543e+01] [-2.12988049e-02 -1.56801643e-04 9.99773142e-01 -3.70593653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73587156000002 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:125.77, Y:-11.70, Z:-3.71 [[ 9.85343845e-01 1.69303057e-01 2.08322290e-02 1.25771476e+02] [-1.69268445e-01 9.85564028e-01 -3.42650235e-03 -1.17039145e+01] [-2.11116128e-02 -1.49956016e-04 9.99777114e-01 -3.70694019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.80, Y:-11.71, Z:-3.71 [[ 9.85356516e-01 1.69227452e-01 2.08471817e-02 1.25799510e+02] [-1.69192805e-01 9.85577012e-01 -3.42747937e-03 -1.17085482e+01] [-2.11265267e-02 -1.49904024e-04 9.99776799e-01 -3.70754813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.83, Y:-11.71, Z:-3.71 [[ 9.85271660e-01 1.69701336e-01 2.10050440e-02 1.25827726e+02] [-1.69666307e-01 9.85495525e-01 -3.45170940e-03 -1.17090096e+01] [-2.12861365e-02 -1.62976796e-04 9.99773411e-01 -3.70800924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.86, Y:-11.71, Z:-3.71 [[ 9.85148186e-01 1.70377065e-01 2.13238745e-02 1.25855626e+02] [-1.70341152e-01 9.85378923e-01 -3.50271699e-03 -1.17100717e+01] [-2.16088791e-02 -1.81638067e-04 9.99766484e-01 -3.70901901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.88, Y:-11.71, Z:-3.71 [[ 9.85008425e-01 1.71183462e-01 2.13219622e-02 1.25884840e+02] [-1.71147775e-01 9.85239150e-01 -3.50097848e-03 -1.17122859e+01] [-2.16065415e-02 -2.00713096e-04 9.99766531e-01 -3.70963136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.91, Y:-11.71, Z:-3.71 [[ 9.84791390e-01 1.72509010e-01 2.06533094e-02 1.25912395e+02] [-1.72475833e-01 9.85007915e-01 -3.39044806e-03 -1.17129323e+01] [-2.09285560e-02 -2.23312683e-04 9.99780949e-01 -3.71232378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.94, Y:-11.72, Z:-3.71 [[ 9.84720063e-01 1.72936343e-01 2.04796947e-02 1.25940624e+02] [-1.72903849e-01 9.84932976e-01 -3.36027679e-03 -1.17171602e+01] [-2.07522406e-02 -2.32086072e-04 9.99784622e-01 -3.71274809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.97, Y:-11.72, Z:-3.71 [[ 9.84628147e-01 1.73437169e-01 2.06630163e-02 1.25969058e+02] [-1.73404220e-01 9.84844906e-01 -3.38941971e-03 -1.17183707e+01] [-2.09377177e-02 -2.45736176e-04 9.99780752e-01 -3.71461386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97587156000003 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:126.00, Y:-11.72, Z:-3.72 [[ 9.84503731e-01 1.74132981e-01 2.07390720e-02 1.25998113e+02] [-1.74099974e-01 9.84722111e-01 -3.40046815e-03 -1.17196287e+01] [-2.10143565e-02 -2.62898331e-04 9.99779139e-01 -3.71519465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:-11.72, Z:-3.72 [[ 9.84445002e-01 1.74523090e-01 2.02417536e-02 1.26026762e+02] [-1.74491749e-01 9.84653046e-01 -3.31798875e-03 -1.17227058e+01] [-2.05101700e-02 -2.65641543e-04 9.99789609e-01 -3.71661155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.05, Y:-11.72, Z:-3.72 [[ 9.84333948e-01 1.75222282e-01 1.95916097e-02 1.26054963e+02] [-1.75193077e-01 9.84528861e-01 -3.21062675e-03 -1.17220869e+01] [-1.98510785e-02 -2.71985472e-04 9.99802911e-01 -3.71858544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.08, Y:-11.72, Z:-3.72 [[ 9.84262938e-01 1.75588804e-01 1.98756132e-02 1.26082726e+02] [-1.75558845e-01 9.84463555e-01 -3.25592430e-03 -1.17230522e+01] [-2.01385207e-02 -2.84654075e-04 9.99797159e-01 -3.72024355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.11, Y:-11.73, Z:-3.72 [[ 9.84239408e-01 1.75724265e-01 1.98436552e-02 1.26111312e+02] [-1.75694456e-01 9.84439383e-01 -3.24938323e-03 -1.17274739e+01] [-2.01058712e-02 -2.88249179e-04 9.99797815e-01 -3.71982761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.14, Y:-11.73, Z:-3.72 [[ 9.84220954e-01 1.75806799e-01 2.00270588e-02 1.26138778e+02] [-1.75776469e-01 9.84424646e-01 -3.27866356e-03 -1.17310502e+01] [-2.02915417e-02 -2.93356309e-04 9.99794062e-01 -3.72083916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.17, Y:-11.73, Z:-3.72 [[ 9.84290954e-01 1.75382183e-01 2.03078185e-02 1.26167726e+02] [-1.75350941e-01 9.84500384e-01 -3.32290332e-03 -1.17348135e+01] [-2.05758331e-02 -2.90291404e-04 9.99788253e-01 -3.72163900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.20, Y:-11.74, Z:-3.72 [[ 9.84379485e-01 1.74879491e-01 2.03517274e-02 1.26195049e+02] [-1.74848025e-01 9.84589805e-01 -3.32921486e-03 -1.17380996e+01] [-2.06203147e-02 -2.81248543e-04 9.99787339e-01 -3.72233695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.22, Y:-11.74, Z:-3.72 [[ 9.84423534e-01 1.74641087e-01 2.02680992e-02 1.26222826e+02] [-1.74609851e-01 9.84632121e-01 -3.31443712e-03 -1.17411674e+01] [-2.05354584e-02 -2.76199878e-04 9.99789087e-01 -3.72380812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.25, Y:-11.75, Z:-3.73 [[ 9.84483180e-01 1.74362640e-01 1.97620407e-02 1.26250827e+02] [-1.74332920e-01 9.84681471e-01 -3.23010118e-03 -1.17455452e+01] [-2.00225243e-02 -2.65193970e-04 9.99799494e-01 -3.72515499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27587156 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:126.28, Y:-11.75, Z:-3.73 [[ 9.84518799e-01 1.74261302e-01 1.88609059e-02 1.26279542e+02] [-1.74234228e-01 9.84699414e-01 -3.08196147e-03 -1.17493495e+01] [-1.91093896e-02 -2.51966382e-04 9.99817367e-01 -3.72841264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30587156 meters Centerline goodness [0,1] 0.9999786397812713 Centerline is valid? [True, True] Translation: X:126.31, Y:-11.75, Z:-3.73 [[ 9.84627813e-01 1.73652120e-01 1.87885887e-02 1.26306875e+02] [-1.73625158e-01 9.84807029e-01 -3.06937633e-03 -1.17532509e+01] [-1.90361379e-02 -2.39978378e-04 9.99818768e-01 -3.73087897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33587156000002 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:126.34, Y:-11.76, Z:-3.73 [[ 9.84706498e-01 1.73216649e-01 1.86843481e-02 1.26335344e+02] [-1.73189930e-01 9.84883718e-01 -3.05112559e-03 -1.17600000e+01] [-1.89304160e-02 -2.31477729e-04 9.99820777e-01 -3.72981994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:-11.76, Z:-3.73 [[ 9.84764185e-01 1.72839978e-01 1.91269759e-02 1.26362916e+02] [-1.72811923e-01 9.84949892e-01 -3.12255026e-03 -1.17613043e+01] [-1.93788144e-02 -2.30393827e-04 9.99812187e-01 -3.73020298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39587156000002 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:126.39, Y:-11.77, Z:-3.73 [[ 9.84735249e-01 1.72940139e-01 1.97027135e-02 1.26391449e+02] [-1.72910417e-01 9.84932308e-01 -3.21515766e-03 -1.17652436e+01] [-1.99618689e-02 -2.40725322e-04 9.99800713e-01 -3.72900746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:-11.77, Z:-3.73 [[ 9.84650336e-01 1.73343818e-01 2.03871809e-02 1.26419577e+02] [-1.73312098e-01 9.84861338e-01 -3.32602687e-03 -1.17681746e+01] [-2.06550924e-02 -2.58371618e-04 9.99786627e-01 -3.72805252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45587156000002 meters Centerline goodness [0,1] 0.9999140173255089 Centerline is valid? [True, True] Translation: X:126.45, Y:-11.77, Z:-3.73 [[ 9.84649707e-01 1.73329891e-01 2.05354229e-02 1.26446420e+02] [-1.73297736e-01 9.84863788e-01 -3.34874752e-03 -1.17703618e+01] [-2.08050324e-02 -2.61399037e-04 9.99783518e-01 -3.72926268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.47, Y:-11.77, Z:-3.73 [[ 9.84587071e-01 1.73623380e-01 2.10528512e-02 1.26473535e+02] [-1.73589692e-01 9.84812086e-01 -3.43118908e-03 -1.17724646e+01] [-2.13288370e-02 -2.76253563e-04 9.99772476e-01 -3.72992326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.50, Y:-11.78, Z:-3.73 [[ 9.84568622e-01 1.73728291e-01 2.10501492e-02 1.26502410e+02] [-1.73694681e-01 9.84793584e-01 -3.42866747e-03 -1.17768617e+01] [-2.13257084e-02 -2.80540527e-04 9.99772542e-01 -3.73011201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54587156000002 meters Centerline goodness [0,1] 0.9998717811732023 Centerline is valid? [True, True] Translation: X:126.53, Y:-11.78, Z:-3.73 [[ 9.84434213e-01 1.74498987e-01 2.09614734e-02 1.26530680e+02] [-1.74465847e-01 9.84657309e-01 -3.41356986e-03 -1.17773430e+01] [-2.12355325e-02 -2.96626262e-04 9.99774457e-01 -3.73100199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.56, Y:-11.78, Z:-3.73 [[ 9.84286562e-01 1.75324430e-01 2.10073414e-02 1.26559238e+02] [-1.75291382e-01 9.84510662e-01 -3.41875000e-03 -1.17798182e+01] [-2.12813420e-02 -3.17376228e-04 9.99773476e-01 -3.73174458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.59, Y:-11.78, Z:-3.73 [[ 9.84142104e-01 1.76121710e-01 2.11059877e-02 1.26587587e+02] [-1.76088556e-01 9.84368340e-01 -3.43376889e-03 -1.17824736e+01] [-2.13808273e-02 -3.37206355e-04 9.99771347e-01 -3.73203202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.62, Y:-11.78, Z:-3.73 [[ 9.83820066e-01 1.77932606e-01 2.09300083e-02 1.26615687e+02] [-1.77900429e-01 9.84042605e-01 -3.40432414e-03 -1.17798818e+01] [-2.12017601e-02 -3.74215061e-04 9.99775147e-01 -3.73325751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.64, Y:-11.78, Z:-3.74 [[ 9.83719403e-01 1.78530051e-01 2.05707640e-02 1.26643779e+02] [-1.78499135e-01 9.83934385e-01 -3.34426702e-03 -1.17802045e+01] [-2.08373342e-02 -3.82043226e-04 9.99782806e-01 -3.73514725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.67, Y:-11.78, Z:-3.74 [[ 9.83622909e-01 1.79024194e-01 2.08880350e-02 1.26671882e+02] [-1.78992455e-01 9.83844590e-01 -3.39454111e-03 -1.17839785e+01] [-2.11582852e-02 -3.99852260e-04 9.99776058e-01 -3.73501512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.70, Y:-11.78, Z:-3.74 [[ 9.83635193e-01 1.78910927e-01 2.12764325e-02 1.26699020e+02] [-1.78877986e-01 9.83865192e-01 -3.45693103e-03 -1.17836793e+01] [-2.15516241e-02 -4.05526375e-04 9.99767655e-01 -3.73652161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75587156000003 meters Centerline goodness [0,1] 0.9999786155721404 Centerline is valid? [True, True] Translation: X:126.73, Y:-11.79, Z:-3.74 [[ 9.83686217e-01 1.78618459e-01 2.13745688e-02 1.26726881e+02] [-1.78585197e-01 9.83918332e-01 -3.47044294e-03 -1.17859316e+01] [-2.16507152e-02 -4.03354686e-04 9.99765514e-01 -3.73668574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.75, Y:-11.79, Z:-3.74 [[ 9.83830223e-01 1.77866579e-01 2.10136313e-02 1.26754771e+02] [-1.77834346e-01 9.84054537e-01 -3.40775714e-03 -1.17912408e+01] [-2.12846853e-02 -3.84290919e-04 9.99773382e-01 -3.73787829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81587156000003 meters Centerline goodness [0,1] 0.9999357381543998 Centerline is valid? [True, True] Translation: X:126.78, Y:-11.80, Z:-3.74 [[ 9.84002698e-01 1.76967479e-01 2.05232179e-02 1.26783666e+02] [-1.76936624e-01 9.84216633e-01 -3.32409884e-03 -1.17961806e+01] [-2.07875498e-02 -3.60386663e-04 9.99783851e-01 -3.73892191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.81, Y:-11.80, Z:-3.74 [[ 9.84451265e-01 1.74427951e-01 2.07508436e-02 1.26811335e+02] [-1.74395870e-01 9.84669890e-01 -3.35968603e-03 -1.18015830e+01] [-2.10187540e-02 -3.11414262e-04 9.99779033e-01 -3.74133614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.84, Y:-11.81, Z:-3.74 [[ 9.84629162e-01 1.73416997e-01 2.07836245e-02 1.26839415e+02] [-1.73384687e-01 9.84848444e-01 -3.36036402e-03 -1.18079422e+01] [-2.10514645e-02 -2.94849831e-04 9.99778350e-01 -3.74104208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.87, Y:-11.81, Z:-3.74 [[ 9.84793453e-01 1.72530644e-01 2.03723086e-02 1.26866905e+02] [-1.72499422e-01 9.85004113e-01 -3.29328893e-03 -1.18111644e+01] [-2.06350010e-02 -2.71002092e-04 9.99787039e-01 -3.74330807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.89, Y:-11.82, Z:-3.74 [[ 9.84978684e-01 1.71494100e-01 2.01684546e-02 1.26894803e+02] [-1.71463329e-01 9.85185116e-01 -3.25808718e-03 -1.18165160e+01] [-2.04284040e-02 -2.49003938e-04 9.99791287e-01 -3.74429968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.92, Y:-11.82, Z:-3.75 [[ 9.85298139e-01 1.69594975e-01 2.06184729e-02 1.26922722e+02] [-1.69562421e-01 9.85513824e-01 -3.32975487e-03 -1.18211947e+01] [-2.08844998e-02 -2.15316905e-04 9.99781872e-01 -3.74534768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.95, Y:-11.83, Z:-3.75 [[ 9.85459631e-01 1.68667402e-01 2.05090853e-02 1.26951000e+02] [-1.68635012e-01 9.85673003e-01 -3.31112012e-03 -1.18274611e+01] [-2.07737298e-02 -1.95574649e-04 9.99784184e-01 -3.74533380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.98, Y:-11.83, Z:-3.75 [[ 9.85657751e-01 1.67602073e-01 1.97064386e-02 1.26978197e+02] [-1.67571969e-01 9.85854714e-01 -3.18086776e-03 -1.18333598e+01] [-1.99608054e-02 -1.66999753e-04 9.99800749e-01 -3.74753075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.00, Y:-11.84, Z:-3.75 [[ 9.86026235e-01 1.65522192e-01 1.88326443e-02 1.27004697e+02] [-1.65494331e-01 9.86206058e-01 -3.03919596e-03 -1.18403002e+01] [-1.90759223e-02 -1.19968922e-04 9.99818031e-01 -3.75047098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.03, Y:-11.85, Z:-3.75 [[ 9.86174287e-01 1.64628161e-01 1.89167644e-02 1.27033575e+02] [-1.64599953e-01 9.86355695e-01 -3.04926179e-03 -1.18452446e+01] [-1.91606527e-02 -1.06594967e-04 9.99816412e-01 -3.75066753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.06, Y:-11.85, Z:-3.75 [[ 9.86212782e-01 1.64398431e-01 1.89077823e-02 1.27061677e+02] [-1.64370221e-01 9.86394011e-01 -3.04715882e-03 -1.18485506e+01] [-1.91514714e-02 -1.02729377e-04 9.99816588e-01 -3.75148200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14587156000002 meters Centerline goodness [0,1] 0.9998498981451699 Centerline is valid? [True, True] Translation: X:127.09, Y:-11.85, Z:-3.75 [[ 9.86190581e-01 1.64567901e-01 1.85888170e-02 1.27089851e+02] [-1.64540685e-01 9.86365751e-01 -2.99465784e-03 -1.18512435e+01] [-1.88281970e-02 -1.05313348e-04 9.99822728e-01 -3.75340845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:-11.85, Z:-3.75 [[ 9.86015525e-01 1.65530395e-01 1.93150909e-02 1.27117487e+02] [-1.65501236e-01 9.86204680e-01 -3.10960766e-03 -1.18534251e+01] [-1.95633676e-02 -1.30549972e-04 9.99808610e-01 -3.75202416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.14, Y:-11.86, Z:-3.75 [[ 9.85962154e-01 1.65832412e-01 1.94484415e-02 1.27144830e+02] [-1.65802935e-01 9.86153939e-01 -3.12967119e-03 -1.18567629e+01] [-1.96981582e-02 -1.38871341e-04 9.99805963e-01 -3.75279423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.17, Y:-11.86, Z:-3.75 [[ 9.85952231e-01 1.65929922e-01 1.91170050e-02 1.27172969e+02] [-1.65901491e-01 9.86137537e-01 -3.07475496e-03 -1.18608895e+01] [-1.93621900e-02 -1.39978108e-04 9.99812525e-01 -3.75427702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:-11.87, Z:-3.75 [[ 9.86058188e-01 1.65314617e-01 1.89822823e-02 1.27200338e+02] [-1.65286482e-01 9.86240874e-01 -3.05248345e-03 -1.18662033e+01] [-1.92257228e-02 -1.27588366e-04 9.99815161e-01 -3.75453992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.23, Y:-11.87, Z:-3.76 [[ 9.86154702e-01 1.64703087e-01 1.92820364e-02 1.27227443e+02] [-1.64673971e-01 9.86343185e-01 -3.09909679e-03 -1.18697587e+01] [-1.95291361e-02 -1.19060643e-04 9.99809281e-01 -3.75679006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:-11.88, Z:-3.76 [[ 9.86306458e-01 1.63785444e-01 1.93364634e-02 1.27255499e+02] [-1.63756014e-01 9.86495980e-01 -3.10649906e-03 -1.18756211e+01] [-1.95841427e-02 -1.02502071e-04 9.99808207e-01 -3.75750562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:-11.88, Z:-3.76 [[ 9.86459687e-01 1.62903702e-01 1.89649507e-02 1.27281987e+02] [-1.62875238e-01 9.86641970e-01 -3.04633151e-03 -1.18817701e+01] [-1.92078750e-02 -8.38376274e-05 9.99815508e-01 -3.75911416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:-11.89, Z:-3.76 [[ 9.86470679e-01 1.62837098e-01 1.89652144e-02 1.27309136e+02] [-1.62808653e-01 9.86652965e-01 -3.04468845e-03 -1.18859914e+01] [-1.92078733e-02 -8.42051291e-05 9.99815508e-01 -3.75994355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:-11.89, Z:-3.76 [[ 9.86732731e-01 1.61334856e-01 1.81544125e-02 1.27336684e+02] [-1.61308563e-01 9.86899722e-01 -2.91309800e-03 -1.18934345e+01] [-1.83865689e-02 -5.40130527e-05 9.99830951e-01 -3.76115061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44587156000003 meters Centerline goodness [0,1] 0.9997632168073015 Centerline is valid? [True, True] Translation: X:127.36, Y:-11.90, Z:-3.76 [[ 9.86796559e-01 1.60963829e-01 1.79776736e-02 1.27363848e+02] [-1.60937994e-01 9.86960305e-01 -2.88418756e-03 -1.18983299e+01] [-1.82075000e-02 -4.71843581e-05 9.99834229e-01 -3.76142591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:-11.90, Z:-3.76 [[ 9.86850934e-01 1.60619358e-01 1.80736272e-02 1.27391397e+02] [-1.60593212e-01 9.87016423e-01 -2.89828164e-03 -1.19034215e+01] [-1.83044870e-02 -4.23299012e-05 9.99832458e-01 -3.76326284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.42, Y:-11.91, Z:-3.76 [[ 9.86813690e-01 1.60893394e-01 1.76651415e-02 1.27419899e+02] [-1.60868488e-01 9.86971790e-01 -2.83127798e-03 -1.19074707e+01] [-1.78905302e-02 -4.78207258e-05 9.99839951e-01 -3.76376729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53587156000003 meters Centerline goodness [0,1] 0.9999783643444397 Centerline is valid? [True, True] Translation: X:127.45, Y:-11.91, Z:-3.76 [[ 9.86733685e-01 1.61404703e-01 1.74687234e-02 1.27448853e+02] [-1.61380443e-01 9.86888301e-01 -2.79896318e-03 -1.19114347e+01] [-1.76914446e-02 -5.72790608e-05 9.99843493e-01 -3.76410728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.48, Y:-11.91, Z:-3.77 [[ 9.86591713e-01 1.62255018e-01 1.76096819e-02 1.27475446e+02] [-1.62230508e-01 9.86748855e-01 -2.82111041e-03 -1.19144651e+01] [-1.78340728e-02 -7.35434836e-05 9.99840958e-01 -3.76628877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:-11.92, Z:-3.77 [[ 9.86295405e-01 1.64050485e-01 1.75730406e-02 1.27503548e+02] [-1.64026387e-01 9.86451939e-01 -2.81376996e-03 -1.19150055e+01] [-1.77965603e-02 -1.07233980e-04 9.99841623e-01 -3.76732404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.53, Y:-11.92, Z:-3.77 [[ 9.86108596e-01 1.65153763e-01 1.77220484e-02 1.27532252e+02] [-1.65129471e-01 9.86267822e-01 -2.83554370e-03 -1.19168443e+01] [-1.79469867e-02 -1.30278446e-04 9.99838931e-01 -3.76710672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:-11.92, Z:-3.77 [[ 9.85902226e-01 1.66362218e-01 1.79000776e-02 1.27560331e+02] [-1.66337641e-01 9.86064698e-01 -2.86365264e-03 -1.19182967e+01] [-1.81270383e-02 -1.54175179e-04 9.99835680e-01 -3.76747378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:-11.92, Z:-3.77 [[ 9.85434241e-01 1.69076376e-01 1.82355770e-02 1.27589225e+02] [-1.69051350e-01 9.85602930e-01 -2.91641511e-03 -1.19182088e+01] [-1.84661351e-02 -2.08813608e-04 9.99829465e-01 -3.76808194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71587156 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:127.62, Y:-11.92, Z:-3.77 [[ 9.85210338e-01 1.70370625e-01 1.82876929e-02 1.27616754e+02] [-1.70345752e-01 9.85380025e-01 -2.92080365e-03 -1.19201463e+01] [-1.85179464e-02 -2.37624853e-04 9.99828500e-01 -3.76892425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:-11.92, Z:-3.77 [[ 9.85037216e-01 1.71311703e-01 1.88144377e-02 1.27644515e+02] [-1.71285564e-01 9.85216845e-01 -3.00407653e-03 -1.19220687e+01] [-1.90509344e-02 -2.63514393e-04 9.99818480e-01 -3.76940121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.67, Y:-11.92, Z:-3.77 [[ 9.84775315e-01 1.72831511e-01 1.86238646e-02 1.27673436e+02] [-1.72806185e-01 9.84951361e-01 -2.97289282e-03 -1.19214059e+01] [-1.88574103e-02 -2.90687524e-04 9.99822141e-01 -3.77038600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.70, Y:-11.93, Z:-3.77 [[ 9.84717946e-01 1.73182476e-01 1.83955695e-02 1.27702045e+02] [-1.73157882e-01 9.84889711e-01 -2.93357313e-03 -1.19264784e+01] [-1.86256506e-02 -2.96595752e-04 9.99826484e-01 -3.76967856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83587156000002 meters Centerline goodness [0,1] 0.9999358178939711 Centerline is valid? [True, True] Translation: X:127.73, Y:-11.93, Z:-3.77 [[ 9.84639147e-01 1.73680765e-01 1.79092637e-02 1.27730004e+02] [-1.73657616e-01 9.84801960e-01 -2.85164495e-03 -1.19252685e+01] [-1.81323539e-02 -3.02238785e-04 9.99835550e-01 -3.77359659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:-11.93, Z:-3.77 [[ 9.84609306e-01 1.73875454e-01 1.76590081e-02 1.27758768e+02] [-1.73852974e-01 9.84767605e-01 -2.81205448e-03 -1.19290441e+01] [-1.78789664e-02 -3.01296066e-04 9.99840113e-01 -3.77353152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.79, Y:-11.93, Z:-3.78 [[ 9.84622800e-01 1.73818609e-01 1.74651981e-02 1.27786859e+02] [-1.73796687e-01 9.84777640e-01 -2.77686391e-03 -1.19306021e+01] [-1.76820072e-02 -3.01230050e-04 9.99843616e-01 -3.77625550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.81, Y:-11.93, Z:-3.78 [[ 9.84637540e-01 1.73816799e-01 1.66323362e-02 1.27814667e+02] [-1.73796935e-01 9.84777964e-01 -2.64348702e-03 -1.19333145e+01] [-1.68386406e-02 -2.87772483e-04 9.99858179e-01 -3.77929888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95587156000002 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:127.84, Y:-11.94, Z:-3.78 [[ 9.84691585e-01 1.73535709e-01 1.63658042e-02 1.27841849e+02] [-1.73516422e-01 9.84827539e-01 -2.60203780e-03 -1.19398119e+01] [-1.65690411e-02 -2.77531054e-04 9.99862685e-01 -3.77881485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.87, Y:-11.94, Z:-3.78 [[ 9.84837999e-01 1.72647800e-01 1.69367218e-02 1.27869724e+02] [-1.72627103e-01 9.84983584e-01 -2.68752016e-03 -1.19408528e+01] [-1.71463874e-02 -2.76965245e-04 9.99852952e-01 -3.77867437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.90, Y:-11.94, Z:-3.78 [[ 9.84973514e-01 1.71802198e-01 1.76403215e-02 1.27897892e+02] [-1.71779607e-01 9.85131428e-01 -2.79935508e-03 -1.19446099e+01] [-1.78589705e-02 -2.72956888e-04 9.99840479e-01 -3.77801767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04587156000002 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:127.93, Y:-11.95, Z:-3.78 [[ 9.85149908e-01 1.70786107e-01 1.76568330e-02 1.27925094e+02] [-1.70763389e-01 9.85308093e-01 -2.79758459e-03 -1.19482502e+01] [-1.78752090e-02 -2.59100427e-04 9.99840192e-01 -3.77974097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.95, Y:-11.95, Z:-3.78 [[ 9.85477174e-01 1.68921157e-01 1.73315574e-02 1.27953142e+02] [-1.68898973e-01 9.85629542e-01 -2.74640439e-03 -1.19538526e+01] [-1.75464208e-02 -2.20763429e-04 9.99846025e-01 -3.77987504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.98, Y:-11.96, Z:-3.78 [[ 9.85619240e-01 1.68082596e-01 1.74055692e-02 1.27980684e+02] [-1.68060169e-01 9.85772893e-01 -2.75374085e-03 -1.19571670e+01] [-1.76207942e-02 -2.11042944e-04 9.99844719e-01 -3.78090318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13587156000003 meters Centerline goodness [0,1] 0.9998707732069783 Centerline is valid? [True, True] Translation: X:128.01, Y:-11.96, Z:-3.78 [[ 9.85798710e-01 1.67072630e-01 1.69599697e-02 1.28008451e+02] [-1.67051174e-01 9.85944573e-01 -2.68400521e-03 -1.19624170e+01] [-1.71700139e-02 -1.87293986e-04 9.99852567e-01 -3.78115828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.04, Y:-11.97, Z:-3.78 [[ 9.86029176e-01 1.65727492e-01 1.67589188e-02 1.28036869e+02] [-1.65706408e-01 9.86171573e-01 -2.64865397e-03 -1.19683469e+01] [-1.69661241e-02 -1.65410145e-04 9.99856051e-01 -3.78325868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.06, Y:-11.97, Z:-3.79 [[ 9.86373589e-01 1.63774080e-01 1.56586556e-02 1.28064523e+02] [-1.63755459e-01 9.86497864e-01 -2.47277508e-03 -1.19741441e+01] [-1.58522067e-02 -1.25110299e-04 9.99874338e-01 -3.78572808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.09, Y:-11.98, Z:-3.79 [[ 9.86481568e-01 1.63140636e-01 1.54676816e-02 1.28091298e+02] [-1.63122461e-01 9.86602817e-01 -2.43795744e-03 -1.19770365e+01] [-1.56581881e-02 -1.18126207e-04 9.99877396e-01 -3.78919861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25587156000003 meters Centerline goodness [0,1] 0.9999783928610013 Centerline is valid? [True, True] Translation: X:128.12, Y:-11.98, Z:-3.79 [[ 9.86634800e-01 1.62210080e-01 1.54809734e-02 1.28118376e+02] [-1.62191757e-01 9.86756241e-01 -2.44026905e-03 -1.19828813e+01] [-1.56717834e-02 -1.03231907e-04 9.99877185e-01 -3.78838719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.15, Y:-11.99, Z:-3.79 [[ 9.86697046e-01 1.61818589e-01 1.56103539e-02 1.28146542e+02] [-1.61799990e-01 9.86820518e-01 -2.45546932e-03 -1.19882426e+01] [-1.58019581e-02 -1.02950788e-04 9.99875136e-01 -3.78889769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.17, Y:-11.99, Z:-3.79 [[ 9.86726615e-01 1.61606631e-01 1.59337393e-02 1.28173882e+02] [-1.61587206e-01 9.86855251e-01 -2.50757086e-03 -1.19910402e+01] [-1.61295344e-02 -1.00401521e-04 9.99869906e-01 -3.78987903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.20, Y:-11.99, Z:-3.79 [[ 9.86712586e-01 1.61673685e-01 1.61211609e-02 1.28200866e+02] [-1.61653889e-01 9.86844267e-01 -2.53224865e-03 -1.19937229e+01] [-1.63184732e-02 -1.07446741e-04 9.99866839e-01 -3.79148916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.23, Y:-12.00, Z:-3.79 [[ 9.86692217e-01 1.61788354e-01 1.62171880e-02 1.28228065e+02] [-1.61768361e-01 9.86825474e-01 -2.54581112e-03 -1.19986257e+01] [-1.64154168e-02 -1.11495907e-04 9.99865252e-01 -3.78980542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.26, Y:-12.00, Z:-3.79 [[ 9.86608574e-01 1.62256023e-01 1.66284160e-02 1.28255560e+02] [-1.62235078e-01 9.86748685e-01 -2.60986611e-03 -1.20000500e+01] [-1.68315342e-02 -1.22796098e-04 9.99858332e-01 -3.79121100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.28, Y:-12.00, Z:-3.79 [[ 9.86541049e-01 1.62628898e-01 1.69882353e-02 1.28282840e+02] [-1.62607136e-01 9.86687298e-01 -2.66383350e-03 -1.20013972e+01] [-1.71952923e-02 -1.34427186e-04 9.99852141e-01 -3.79230368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.31, Y:-12.00, Z:-3.79 [[ 9.86481942e-01 1.62962550e-01 1.72216461e-02 1.28310702e+02] [-1.62940262e-01 9.86632245e-01 -2.69895778e-03 -1.20047067e+01] [-1.74312604e-02 -1.43626409e-04 9.99848054e-01 -3.79126208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.34, Y:-12.01, Z:-3.79 [[ 9.86309147e-01 1.64044232e-01 1.68450745e-02 1.28339835e+02] [-1.64023126e-01 9.86452971e-01 -2.63639799e-03 -1.20067415e+01] [-1.70493596e-02 -1.62678324e-04 9.99854636e-01 -3.79129425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.37, Y:-12.01, Z:-3.79 [[ 9.86230478e-01 1.64525659e-01 1.67556318e-02 1.28368054e+02] [-1.64504914e-01 9.86372788e-01 -2.61839720e-03 -1.20076390e+01] [-1.69580928e-02 -1.74040645e-04 9.99856186e-01 -3.79421099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.40, Y:-12.01, Z:-3.79 [[ 9.86187064e-01 1.64776242e-01 1.68482642e-02 1.28396018e+02] [-1.64755294e-01 9.86330958e-01 -2.63346181e-03 -1.20092030e+01] [-1.70518965e-02 -1.78754748e-04 9.99854590e-01 -3.79486042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.42, Y:-12.01, Z:-3.79 [[ 9.86116739e-01 1.65193070e-01 1.68827093e-02 1.28424309e+02] [-1.65172156e-01 9.86261230e-01 -2.63541318e-03 -1.20120913e+01] [-1.70861136e-02 -1.89728442e-04 9.99854004e-01 -3.79410134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.45, Y:-12.02, Z:-3.80 [[ 9.86157721e-01 1.64958064e-01 1.67864926e-02 1.28451696e+02] [-1.64937396e-01 9.86300564e-01 -2.61786273e-03 -1.20160950e+01] [-1.69883647e-02 -1.87094839e-04 9.99855670e-01 -3.79532467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.48, Y:-12.02, Z:-3.79 [[ 9.86158976e-01 1.64802763e-01 1.81803092e-02 1.28479786e+02] [-1.64778600e-01 9.86326521e-01 -2.82948522e-03 -1.20168005e+01] [-1.83980281e-02 -2.05403643e-04 9.99830721e-01 -3.79442641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.51, Y:-12.02, Z:-3.80 [[ 9.86164827e-01 1.64723837e-01 1.85739378e-02 1.28507190e+02] [-1.64698624e-01 9.86339705e-01 -2.88952940e-03 -1.20187336e+01] [-1.87961867e-02 -2.09549745e-04 9.99823314e-01 -3.79545509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:-12.02, Z:-3.80 [[ 9.86227418e-01 1.64370309e-01 1.83815455e-02 1.28534450e+02] [-1.64345546e-01 9.86398683e-01 -2.86005405e-03 -1.20242653e+01] [-1.86016402e-02 -2.00261410e-04 9.99826954e-01 -3.79531673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.56, Y:-12.03, Z:-3.80 [[ 9.86284241e-01 1.64080553e-01 1.79155918e-02 1.28562085e+02] [-1.64057043e-01 9.86446925e-01 -2.78421397e-03 -1.20287093e+01] [-1.81296158e-02 -1.93152648e-04 9.99835626e-01 -3.79692713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.59, Y:-12.03, Z:-3.80 [[ 9.86397438e-01 1.63380083e-01 1.80843293e-02 1.28589748e+02] [-1.63356075e-01 9.86563183e-01 -2.80689647e-03 -1.20324862e+01] [-1.82999245e-02 -1.85469573e-04 9.99832525e-01 -3.79741367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79587156000002 meters Centerline goodness [0,1] 0.9998059633917599 Centerline is valid? [True, True] Translation: X:128.62, Y:-12.04, Z:-3.80 [[ 9.86471206e-01 1.63026934e-01 1.72272484e-02 1.28618191e+02] [-1.63005154e-01 9.86621604e-01 -2.67042064e-03 -1.20364674e+01] [-1.74321259e-02 -1.73837212e-04 9.99848034e-01 -3.79839014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.65, Y:-12.04, Z:-3.80 [[ 9.86592926e-01 1.62276637e-01 1.73404637e-02 1.28645284e+02] [-1.62254532e-01 9.86745289e-01 -2.68350126e-03 -1.20396509e+01] [-1.75460904e-02 -1.66045461e-04 9.99846042e-01 -3.80309145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.67, Y:-12.05, Z:-3.80 [[ 9.86740145e-01 1.61403339e-01 1.71128179e-02 1.28672755e+02] [-1.61381668e-01 9.86888515e-01 -2.64894241e-03 -1.20458633e+01] [-1.73159916e-02 -1.47877288e-04 9.99850056e-01 -3.80159999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88587156000003 meters Centerline goodness [0,1] 0.9999140025369252 Centerline is valid? [True, True] Translation: X:128.70, Y:-12.05, Z:-3.80 [[ 9.86762318e-01 1.61261793e-01 1.71686155e-02 1.28699205e+02] [-1.61240043e-01 9.86911653e-01 -2.65277717e-03 -1.20482012e+01] [-1.73716983e-02 -1.50607752e-04 9.99849089e-01 -3.80154241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.73, Y:-12.05, Z:-3.80 [[ 9.86801812e-01 1.60992173e-01 1.74271086e-02 1.28727318e+02] [-1.60969723e-01 9.86955672e-01 -2.69252907e-03 -1.20518465e+01] [-1.76332598e-02 -1.48244297e-04 9.99844511e-01 -3.80254383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.75, Y:-12.05, Z:-3.80 [[ 9.86788997e-01 1.61018381e-01 1.79041060e-02 1.28754253e+02] [-1.60994769e-01 9.86951395e-01 -2.76186298e-03 -1.20548283e+01] [-1.81151931e-02 -1.57091416e-04 9.99835894e-01 -3.80294275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97587156000003 meters Centerline goodness [0,1] 0.9997848351837507 Centerline is valid? [True, True] Translation: X:128.78, Y:-12.06, Z:-3.80 [[ 9.86661036e-01 1.61754297e-01 1.83179329e-02 1.28781864e+02] [-1.61729741e-01 9.86831048e-01 -2.82389689e-03 -1.20580110e+01] [-1.85334823e-02 -1.76325512e-04 9.99828225e-01 -3.80096388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00587156000003 meters Centerline goodness [0,1] 0.9999363894660955 Centerline is valid? [True, True] Translation: X:128.81, Y:-12.06, Z:-3.80 [[ 9.86683656e-01 1.61625906e-01 1.82326259e-02 1.28808926e+02] [-1.61601645e-01 9.86852084e-01 -2.80594191e-03 -1.20599756e+01] [-1.84464178e-02 -1.77845325e-04 9.99829835e-01 -3.80446061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.84, Y:-12.06, Z:-3.81 [[ 9.86768782e-01 1.61210503e-01 1.72784300e-02 1.28837351e+02] [-1.61188658e-01 9.86920031e-01 -2.65876844e-03 -1.20646775e+01] [-1.74810501e-02 -1.61497248e-04 9.99847182e-01 -3.80598084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.87, Y:-12.07, Z:-3.81 [[ 9.86854872e-01 1.60701141e-01 1.71057279e-02 1.28865174e+02] [-1.60679695e-01 9.87003100e-01 -2.62979324e-03 -1.20700209e+01] [-1.73060172e-02 -1.53318860e-04 9.99850228e-01 -3.80552241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09587156000003 meters Centerline goodness [0,1] 0.9998711727573324 Centerline is valid? [True, True] Translation: X:128.89, Y:-12.07, Z:-3.81 [[ 9.86900108e-01 1.60440334e-01 1.69432958e-02 1.28891711e+02] [-1.60419336e-01 9.87045529e-01 -2.60012533e-03 -1.20734081e+01] [-1.71409694e-02 -1.51968292e-04 9.99853071e-01 -3.80553094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12587156000004 meters Centerline goodness [0,1] 0.9999137968191026 Centerline is valid? [True, True] Translation: X:128.92, Y:-12.08, Z:-3.81 [[ 9.87098981e-01 1.59213949e-01 1.69269168e-02 1.28919381e+02] [-1.59192841e-01 9.87244094e-01 -2.59585006e-03 -1.20785826e+01] [-1.71242942e-02 -1.32283019e-04 9.99853360e-01 -3.80775908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15587156000004 meters Centerline goodness [0,1] 0.9999138023919836 Centerline is valid? [True, True] Translation: X:128.95, Y:-12.08, Z:-3.81 [[ 9.87161984e-01 1.58799230e-01 1.71470607e-02 1.28946596e+02] [-1.58777494e-01 9.87310888e-01 -2.63030316e-03 -1.20836847e+01] [-1.73471698e-02 -1.26032045e-04 9.99849519e-01 -3.80664425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18587156 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:128.97, Y:-12.09, Z:-3.81 [[ 9.87161810e-01 1.58743493e-01 1.76653540e-02 1.28974701e+02] [-1.58720511e-01 9.87319850e-01 -2.70447352e-03 -1.20864660e+01] [-1.78706723e-02 -1.34101042e-04 9.99840298e-01 -3.80832958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.00, Y:-12.09, Z:-3.81 [[ 9.87160612e-01 1.58772840e-01 1.74674458e-02 1.29002271e+02] [-1.58750364e-01 9.87315131e-01 -2.67469973e-03 -1.20880693e+01] [-1.76705432e-02 -1.32605170e-04 9.99843855e-01 -3.80969619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.03, Y:-12.09, Z:-3.81 [[ 9.87136309e-01 1.59001451e-01 1.67465397e-02 1.29030938e+02] [-1.58980880e-01 9.87278340e-01 -2.56109828e-03 -1.20909149e+01] [-1.69407143e-02 -1.34226515e-04 9.99856487e-01 -3.81057107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.06, Y:-12.09, Z:-3.81 [[ 9.87166332e-01 1.58814905e-01 1.67469142e-02 1.29058090e+02] [-1.58794348e-01 9.87308365e-01 -2.55864649e-03 -1.20948748e+01] [-1.69407196e-02 -1.33505649e-04 9.99856487e-01 -3.81140000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.09, Y:-12.10, Z:-3.81 [[ 9.87149417e-01 1.58982699e-01 1.61409294e-02 1.29086572e+02] [-1.58963678e-01 9.87281360e-01 -2.46291644e-03 -1.20984745e+01] [-1.63271998e-02 -1.34554965e-04 9.99866693e-01 -3.81175377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.11, Y:-12.10, Z:-3.82 [[ 9.87130066e-01 1.59090964e-01 1.62572143e-02 1.29113387e+02] [-1.59071750e-01 9.87263919e-01 -2.47655522e-03 -1.20989368e+01] [-1.64441587e-02 -1.41381408e-04 9.99864776e-01 -3.81574275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.14, Y:-12.10, Z:-3.82 [[ 9.87145523e-01 1.58999125e-01 1.62171345e-02 1.29140395e+02] [-1.58980008e-01 9.87278714e-01 -2.46955647e-03 -1.21015159e+01] [-1.64034890e-02 -1.40388548e-04 9.99865444e-01 -3.81661913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.17, Y:-12.11, Z:-3.82 [[ 9.87199740e-01 1.58669514e-01 1.61449300e-02 1.29168323e+02] [-1.58650539e-01 9.87331741e-01 -2.45748751e-03 -1.21070437e+01] [-1.63303302e-02 -1.35370828e-04 9.99866642e-01 -3.81531393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.20, Y:-12.11, Z:-3.82 [[ 9.87294969e-01 1.58090625e-01 1.59999275e-02 1.29195477e+02] [-1.58071964e-01 9.87424599e-01 -2.43233145e-03 -1.21109017e+01] [-1.61832507e-02 -1.27711345e-04 9.99869034e-01 -3.81652475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.22, Y:-12.12, Z:-3.82 [[ 9.87513397e-01 1.56730988e-01 1.58961378e-02 1.29223920e+02] [-1.56712446e-01 9.87641324e-01 -2.41319941e-03 -1.21162894e+01] [-1.60779057e-02 -1.08055887e-04 9.99870736e-01 -3.81692869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.25, Y:-12.12, Z:-3.82 [[ 9.87708646e-01 1.55526322e-01 1.55947036e-02 1.29250562e+02] [-1.55508376e-01 9.87831744e-01 -2.36429712e-03 -1.21210013e+01] [-1.57726537e-02 -8.98703274e-05 9.99875600e-01 -3.81831574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.28, Y:-12.13, Z:-3.82 [[ 9.87880738e-01 1.54439345e-01 1.54963382e-02 1.29278261e+02] [-1.54421509e-01 9.88002269e-01 -2.34823291e-03 -1.21250526e+01] [-1.56730769e-02 -7.31938687e-05 9.99877167e-01 -3.81828321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.31, Y:-12.13, Z:-3.82 [[ 9.87993273e-01 1.53667103e-01 1.59910618e-02 1.29306078e+02] [-1.53648094e-01 9.88122673e-01 -2.41793506e-03 -1.21279417e+01] [-1.61726878e-02 -6.80925948e-05 9.99869211e-01 -3.81994693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:-12.13, Z:-3.82 [[ 9.88213618e-01 1.52180119e-01 1.65848315e-02 1.29333938e+02] [-1.52159456e-01 9.88352776e-01 -2.50810356e-03 -1.21344112e+01] [-1.67733477e-02 -4.49968459e-05 9.99859316e-01 -3.81845331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.36, Y:-12.14, Z:-3.82 [[ 9.88335244e-01 1.51434879e-01 1.61530771e-02 1.29361260e+02] [-1.51415247e-01 9.88467236e-01 -2.43862098e-03 -1.21397171e+01] [-1.63360798e-02 -3.56470995e-05 9.99866557e-01 -3.82070774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63587156000003 meters Centerline goodness [0,1] 0.9998712031769883 Centerline is valid? [True, True] Translation: X:129.39, Y:-12.14, Z:-3.82 [[ 9.88359625e-01 1.51330078e-01 1.56352001e-02 1.29388715e+02] [-1.51311686e-01 9.88483286e-01 -2.35951779e-03 -1.21436423e+01] [-1.58122000e-02 -3.37363776e-05 9.99874979e-01 -3.82200599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.42, Y:-12.15, Z:-3.82 [[ 9.88531493e-01 1.50256672e-01 1.51135489e-02 1.29416635e+02] [-1.50239374e-01 9.88647021e-01 -2.27996730e-03 -1.21481870e+01] [-1.52845454e-02 -1.68306441e-05 9.99883184e-01 -3.82350986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.44, Y:-12.15, Z:-3.82 [[ 9.88573903e-01 1.49963290e-01 1.52528659e-02 1.29443579e+02] [-1.49945646e-01 9.88691565e-01 -2.30037829e-03 -1.21523584e+01] [-1.54253522e-02 -1.30068855e-05 9.99881022e-01 -3.82434996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72587156000003 meters Centerline goodness [0,1] 0.9999781630781325 Centerline is valid? [True, True] Translation: X:129.47, Y:-12.16, Z:-3.82 [[ 9.88626610e-01 1.49545126e-01 1.59273434e-02 1.29472542e+02] [-1.49525838e-01 9.88754901e-01 -2.40181874e-03 -1.21565999e+01] [-1.61074192e-02 -7.04744571e-06 9.99870267e-01 -3.82266680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.50, Y:-12.16, Z:-3.82 [[ 9.88845614e-01 1.47936868e-01 1.72926389e-02 1.29500997e+02] [-1.47913970e-01 9.88996806e-01 -2.60282980e-03 -1.21627160e+01] [-1.74874192e-02 1.59739597e-05 9.99847083e-01 -3.82003356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78587156000003 meters Centerline goodness [0,1] 0.9999143193745315 Centerline is valid? [True, True] Translation: X:129.53, Y:-12.17, Z:-3.82 [[ 9.88945702e-01 1.47305953e-01 1.69515606e-02 1.29528374e+02] [-1.47283868e-01 9.89090974e-01 -2.55082832e-03 -1.21693163e+01] [-1.71423877e-02 2.59392912e-05 9.99853058e-01 -3.82217055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.56, Y:-12.18, Z:-3.82 [[ 9.89144834e-01 1.46038866e-01 1.62833421e-02 1.29555836e+02] [-1.46018333e-01 9.89278852e-01 -2.44930791e-03 -1.21766006e+01] [-1.64664601e-02 4.50538045e-05 9.99864418e-01 -3.82480735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.58, Y:-12.18, Z:-3.83 [[ 9.89278708e-01 1.45175616e-01 1.58643641e-02 1.29583317e+02] [-1.45156029e-01 9.89405901e-01 -2.38536829e-03 -1.21828952e+01] [-1.60425928e-02 5.69859547e-05 9.99871308e-01 -3.82749144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.61, Y:-12.19, Z:-3.83 [[ 9.89374658e-01 1.44479222e-01 1.62339194e-02 1.29611755e+02] [-1.44458637e-01 9.89507832e-01 -2.43976515e-03 -1.21886115e+01] [-1.64160857e-02 6.87119458e-05 9.99865245e-01 -3.82655823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90587156000004 meters Centerline goodness [0,1] 0.9998702029161078 Centerline is valid? [True, True] Translation: X:129.64, Y:-12.19, Z:-3.83 [[ 9.89399114e-01 1.44277169e-01 1.65376128e-02 1.29640652e+02] [-1.44255792e-01 9.89537313e-01 -2.48457576e-03 -1.21938171e+01] [-1.67230525e-02 7.25906083e-05 9.99860157e-01 -3.82504163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.67, Y:-12.20, Z:-3.83 [[ 9.89470215e-01 1.43731961e-01 1.70240368e-02 1.29667775e+02] [-1.43709240e-01 9.89616651e-01 -2.55693265e-03 -1.21996376e+01] [-1.72147832e-02 8.34973040e-05 9.99851811e-01 -3.82666778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.69, Y:-12.21, Z:-3.83 [[ 9.89533414e-01 1.43291053e-01 1.70674098e-02 1.29694116e+02] [-1.43268163e-01 9.89680588e-01 -2.56270117e-03 -1.22058290e+01] [-1.72584963e-02 9.06619832e-05 9.99851057e-01 -3.82815785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.72, Y:-12.21, Z:-3.83 [[ 9.89687997e-01 1.42195252e-01 1.72678648e-02 1.29721265e+02] [-1.42171686e-01 9.89838622e-01 -2.59101237e-03 -1.22143995e+01] [-1.74608292e-02 1.09292392e-04 9.99847542e-01 -3.82893675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.75, Y:-12.22, Z:-3.83 [[ 9.89729693e-01 1.41936878e-01 1.70016700e-02 1.29749876e+02] [-1.41914013e-01 9.89875705e-01 -2.54999069e-03 -1.22196549e+01] [-1.71914778e-02 1.11026286e-04 9.99852209e-01 -3.82866989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.78, Y:-12.23, Z:-3.83 [[ 9.89786772e-01 1.41602910e-01 1.64548319e-02 1.29778419e+02] [-1.41581459e-01 9.89923534e-01 -2.46723868e-03 -1.22258134e+01] [-1.66383935e-02 1.12341108e-04 9.99861566e-01 -3.83010238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.80, Y:-12.23, Z:-3.83 [[ 9.89813244e-01 1.41415240e-01 1.64764012e-02 1.29804416e+02] [-1.41393711e-01 9.89950361e-01 -2.47015846e-03 -1.22329331e+01] [-1.66601374e-02 1.15336045e-04 9.99861204e-01 -3.83143311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.83, Y:-12.24, Z:-3.83 [[ 9.89795621e-01 1.41524522e-01 1.65963221e-02 1.29833192e+02] [-1.41502726e-01 9.89934744e-01 -2.48625035e-03 -1.22386306e+01] [-1.67811413e-02 1.12454894e-04 9.99859180e-01 -3.83204039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.86, Y:-12.24, Z:-3.83 [[ 9.89775589e-01 1.41700511e-01 1.62864736e-02 1.29861127e+02] [-1.41679557e-01 9.89909569e-01 -2.43909044e-03 -1.22439226e+01] [-1.64677564e-02 1.06691809e-04 9.99864392e-01 -3.83287087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17587156000002 meters Centerline goodness [0,1] 0.999827882960413 Centerline is valid? [True, True] Translation: X:129.89, Y:-12.25, Z:-3.83 [[ 9.89610178e-01 1.42884292e-01 1.59929832e-02 1.29888236e+02] [-1.42864251e-01 9.89739396e-01 -2.39456639e-03 -1.22498389e+01] [-1.61710314e-02 8.48617166e-05 9.99869237e-01 -3.83355583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.92, Y:-12.25, Z:-3.84 [[ 9.89553635e-01 1.43273997e-01 1.60051586e-02 1.29915648e+02] [-1.43253989e-01 9.89683058e-01 -2.39560632e-03 -1.22545095e+01] [-1.61832624e-02 7.77781281e-05 9.99869039e-01 -3.83512354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.94, Y:-12.26, Z:-3.84 [[ 9.89439532e-01 1.44046977e-01 1.61208169e-02 1.29942844e+02] [-1.44026797e-01 9.89570848e-01 -2.41197379e-03 -1.22587434e+01] [-1.63001280e-02 6.46725845e-05 9.99867142e-01 -3.83586183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26587156000002 meters Centerline goodness [0,1] 0.9998919105884387 Centerline is valid? [True, True] Translation: X:129.97, Y:-12.26, Z:-3.83 [[ 9.89246036e-01 1.45390880e-01 1.59302293e-02 1.29970813e+02] [-1.45371372e-01 9.89374292e-01 -2.38197770e-03 -1.22621583e+01] [-1.61072772e-02 4.05626927e-05 9.99870269e-01 -3.83390911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.00, Y:-12.27, Z:-3.84 [[ 9.89219835e-01 1.45543543e-01 1.61615277e-02 1.29997892e+02] [-1.45523507e-01 9.89351846e-01 -2.41519043e-03 -1.22668129e+01] [-1.63409526e-02 3.72720806e-05 9.99866477e-01 -3.83583169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.03, Y:-12.27, Z:-3.84 [[ 9.89229132e-01 1.45443493e-01 1.64898198e-02 1.30025254e+02] [-1.45422638e-01 9.89366559e-01 -2.46320516e-03 -1.22726956e+01] [-1.66727335e-02 3.86812017e-05 9.99861000e-01 -3.83725793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.05, Y:-12.28, Z:-3.84 [[ 9.89298600e-01 1.44994451e-01 1.62754347e-02 1.30053316e+02] [-1.44974093e-01 9.89432467e-01 -2.43008019e-03 -1.22795237e+01] [-1.64557917e-02 4.45585419e-05 9.99864593e-01 -3.83654398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.08, Y:-12.28, Z:-3.84 [[ 9.89331354e-01 1.44806350e-01 1.59559514e-02 1.30080550e+02] [-1.44786768e-01 9.89460014e-01 -2.38179917e-03 -1.22846914e+01] [-1.61326755e-02 4.61779700e-05 9.99869859e-01 -3.84024778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.11, Y:-12.29, Z:-3.84 [[ 9.89359778e-01 1.44603310e-01 1.60347370e-02 1.30108490e+02] [-1.44583521e-01 9.89489707e-01 -2.39273891e-03 -1.22895524e+01] [-1.62122052e-02 4.89209133e-05 9.99868572e-01 -3.83902613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.14, Y:-12.30, Z:-3.84 [[ 9.89397622e-01 1.44136938e-01 1.78013394e-02 1.30136742e+02] [-1.44112504e-01 9.89557749e-01 -2.65457169e-03 -1.22978208e+01] [-1.79980752e-02 6.10313199e-05 9.99838020e-01 -3.83676772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.16, Y:-12.30, Z:-3.84 [[ 9.89437781e-01 1.43807105e-01 1.82316616e-02 1.30164779e+02] [-1.43781436e-01 9.89605736e-01 -2.71784683e-03 -1.23031658e+01] [-1.84330026e-02 6.77658569e-05 9.99830095e-01 -3.83623696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.19, Y:-12.31, Z:-3.84 [[ 9.89505769e-01 1.43310700e-01 1.84492686e-02 1.30191680e+02] [-1.43284337e-01 9.89677744e-01 -2.74979353e-03 -1.23081415e+01] [-1.86529054e-02 7.74453282e-05 9.99826016e-01 -3.83673175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53587156000003 meters Centerline goodness [0,1] 0.9998508448573438 Centerline is valid? [True, True] Translation: X:130.22, Y:-12.31, Z:-3.84 [[ 9.89602062e-01 1.42619157e-01 1.86422996e-02 1.30217950e+02] [-1.42592146e-01 9.89777636e-01 -2.77700759e-03 -1.23137711e+01] [-1.88477857e-02 8.98869288e-05 9.99822361e-01 -3.83679172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.24, Y:-12.33, Z:-3.84 [[ 9.89916818e-01 1.40487302e-01 1.81110821e-02 1.30243956e+02] [-1.40461483e-01 9.90082472e-01 -2.69618994e-03 -1.23251198e+01] [-1.83102454e-02 1.25094317e-04 9.99832346e-01 -3.83996343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59587156000003 meters Centerline goodness [0,1] 0.9998723023879453 Centerline is valid? [True, True] Translation: X:130.27, Y:-12.33, Z:-3.84 [[ 9.90052158e-01 1.39570854e-01 1.77961164e-02 1.30272117e+02] [-1.39545798e-01 9.90212077e-01 -2.64816517e-03 -1.23327375e+01] [-1.79915361e-02 1.38448379e-04 9.99838130e-01 -3.84113586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.30, Y:-12.34, Z:-3.84 [[ 9.90233810e-01 1.38366820e-01 1.70770464e-02 1.30299198e+02] [-1.38343579e-01 9.90381038e-01 -2.54057071e-03 -1.23401527e+01] [-1.72643136e-02 1.53259296e-04 9.99850949e-01 -3.84376653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:-12.35, Z:-3.85 [[ 9.90355368e-01 1.37515615e-01 1.69027041e-02 1.30325450e+02] [-1.37492735e-01 9.90499585e-01 -2.51392922e-03 -1.23488800e+01] [-1.70878260e-02 1.65684285e-04 9.99853979e-01 -3.84745717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:-12.36, Z:-3.84 [[ 9.90610990e-01 1.35577348e-01 1.75684165e-02 1.30353096e+02] [-1.35552356e-01 9.90766744e-01 -2.61113518e-03 -1.23583217e+01] [-1.77602136e-02 2.05178953e-04 9.99842254e-01 -3.84420717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.38, Y:-12.37, Z:-3.84 [[ 9.90714582e-01 1.34808342e-01 1.76444973e-02 1.30381065e+02] [-1.34783027e-01 9.90871668e-01 -2.62159731e-03 -1.23659207e+01] [-1.78368457e-02 2.19075917e-04 9.99840887e-01 -3.84471946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.41, Y:-12.37, Z:-3.85 [[ 9.90810194e-01 1.34147509e-01 1.73091329e-02 1.30409681e+02] [-1.34123060e-01 9.90961349e-01 -2.57098053e-03 -1.23723246e+01] [-1.74975723e-02 2.25799854e-04 9.99846880e-01 -3.84544489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.44, Y:-12.38, Z:-3.85 [[ 9.90835934e-01 1.34089044e-01 1.62566839e-02 1.30436687e+02] [-1.34067479e-01 9.90969264e-01 -2.41411590e-03 -1.23799866e+01] [-1.64335806e-02 2.12500148e-04 9.99864937e-01 -3.84820041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.47, Y:-12.39, Z:-3.85 [[ 9.90773423e-01 1.34636750e-01 1.55231831e-02 1.30465367e+02] [-1.34617171e-01 9.90895004e-01 -2.30416688e-03 -1.23851298e+01] [-1.56920701e-02 1.93220311e-04 9.99876853e-01 -3.84953091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:-12.39, Z:-3.85 [[ 9.90647166e-01 1.35601965e-01 1.51756198e-02 1.30492791e+02] [-1.35583370e-01 9.90763381e-01 -2.25229562e-03 -1.23915665e+01] [-1.53408641e-02 1.73668597e-04 9.99882307e-01 -3.85411718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.52, Y:-12.39, Z:-3.85 [[ 9.90147775e-01 1.39248187e-01 1.47419922e-02 1.30521845e+02] [-1.39231066e-01 9.90257507e-01 -2.18644725e-03 -1.23914503e+01] [-1.49028272e-02 1.12362597e-04 9.99888940e-01 -3.85259290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.55, Y:-12.39, Z:-3.85 [[ 9.89807767e-01 1.41643041e-01 1.47592000e-02 1.30550155e+02] [-1.41626156e-01 9.89917796e-01 -2.18828989e-03 -1.23944126e+01] [-1.49203508e-02 7.56975673e-05 9.99888683e-01 -3.85391359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.58, Y:-12.40, Z:-3.85 [[ 9.89495722e-01 1.43798017e-01 1.48440496e-02 1.30579194e+02] [-1.43781191e-01 9.89607058e-01 -2.20015509e-03 -1.23973448e+01] [-1.50061542e-02 4.27489223e-05 9.99887400e-01 -3.85452210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.61, Y:-12.40, Z:-3.86 [[ 9.88987863e-01 1.47160816e-01 1.57067079e-02 1.30606933e+02] [-1.47142406e-01 9.89112579e-01 -2.32772308e-03 -1.23970437e+01] [-1.58782520e-02 -9.03291985e-06 9.99873933e-01 -3.85690327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.64, Y:-12.40, Z:-3.86 [[ 9.88844478e-01 1.48128808e-01 1.56350653e-02 1.30635802e+02] [-1.48110716e-01 9.88968076e-01 -2.31524226e-03 -1.24000956e+01] [-1.58055345e-02 -2.63061808e-05 9.99875084e-01 -3.85515992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:-12.41, Z:-3.86 [[ 9.88779887e-01 1.48601593e-01 1.52282919e-02 1.30664569e+02] [-1.48584496e-01 9.88897146e-01 -2.25432832e-03 -1.24050455e+01] [-1.53942112e-02 -3.36535832e-05 9.99881502e-01 -3.85623057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:-12.41, Z:-3.86 [[ 9.88825962e-01 1.48310632e-01 1.50722696e-02 1.30690932e+02] [-1.48293844e-01 9.88940825e-01 -2.23164789e-03 -1.24137132e+01] [-1.52365598e-02 -2.84134301e-05 9.99883916e-01 -3.85894735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07587156000002 meters Centerline goodness [0,1] 0.999892380542402 Centerline is valid? [True, True] Translation: X:130.72, Y:-12.42, Z:-3.86 [[ 9.88870586e-01 1.47992570e-01 1.52697007e-02 1.30718435e+02] [-1.47975347e-01 9.88988472e-01 -2.25793195e-03 -1.24194198e+01] [-1.54357152e-02 -2.67367772e-05 9.99880862e-01 -3.85818786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:-12.43, Z:-3.86 [[ 9.88915453e-01 1.47581466e-01 1.63076023e-02 1.30745365e+02] [-1.47561783e-01 9.89049903e-01 -2.41033211e-03 -1.24250733e+01] [-1.64847529e-02 -2.27642097e-05 9.99864117e-01 -3.85956549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.77, Y:-12.44, Z:-3.86 [[ 9.89112253e-01 1.46209134e-01 1.67283997e-02 1.30772929e+02] [-1.46188245e-01 9.89253703e-01 -2.47141437e-03 -1.24376858e+01] [-1.69099747e-02 -9.89145448e-07 9.99857016e-01 -3.85568687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.80, Y:-12.44, Z:-3.86 [[ 9.89257351e-01 1.45190119e-01 1.70212238e-02 1.30799465e+02] [-1.45168354e-01 9.89403775e-01 -2.51394477e-03 -1.24449365e+01] [-1.72058630e-02 1.59952967e-05 9.99851968e-01 -3.85836873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.83, Y:-12.45, Z:-3.86 [[ 9.89267504e-01 1.45120909e-01 1.70213650e-02 1.30826667e+02] [-1.45099150e-01 9.89413928e-01 -2.51298850e-03 -1.24488170e+01] [-1.72058628e-02 1.62322704e-05 9.99851968e-01 -3.85919806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22587156000003 meters Centerline goodness [0,1] 0.999935367114788 Centerline is valid? [True, True] Translation: X:130.85, Y:-12.45, Z:-3.86 [[ 9.89362567e-01 1.44494306e-01 1.68257531e-02 1.30853622e+02] [-1.44472974e-01 9.89505632e-01 -2.48297057e-03 -1.24546734e+01] [-1.70079525e-02 2.56915594e-05 9.99855354e-01 -3.85928306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.88, Y:-12.46, Z:-3.86 [[ 9.89472780e-01 1.43751016e-01 1.67111667e-02 1.30881387e+02] [-1.43729893e-01 9.89613886e-01 -2.46447824e-03 -1.24604472e+01] [-1.68918738e-02 3.66399344e-05 9.99857321e-01 -3.86101602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.91, Y:-12.47, Z:-3.86 [[ 9.89597419e-01 1.42899534e-01 1.66334382e-02 1.30908737e+02] [-1.42878500e-01 9.89737198e-01 -2.45222695e-03 -1.24690766e+01] [-1.68131546e-02 5.01567538e-05 9.99858648e-01 -3.86225602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:-12.48, Z:-3.86 [[ 9.89638060e-01 1.42601790e-01 1.67701771e-02 1.30936115e+02] [-1.42580375e-01 9.89780140e-01 -2.47188455e-03 -1.24753371e+01] [-1.69512834e-02 5.51728815e-05 9.99856315e-01 -3.86281220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:-12.48, Z:-3.86 [[ 9.89662179e-01 1.42480813e-01 1.63703876e-02 1.30964699e+02] [-1.42460414e-01 9.89797563e-01 -2.41154023e-03 -1.24818750e+01] [-1.65469680e-02 5.44779615e-05 9.99863088e-01 -3.86296821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.99, Y:-12.49, Z:-3.86 [[ 9.89672046e-01 1.42457315e-01 1.59735810e-02 1.30993145e+02] [-1.42437901e-01 9.89800945e-01 -2.35235410e-03 -1.24886847e+01] [-1.61457756e-02 5.28157407e-05 9.99869647e-01 -3.86341795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40587156000004 meters Centerline goodness [0,1] 0.9998056701142228 Centerline is valid? [True, True] Translation: X:131.02, Y:-12.50, Z:-3.87 [[ 9.89621562e-01 1.42762503e-01 1.63716598e-02 1.31020050e+02] [-1.42742163e-01 9.89756973e-01 -2.41028746e-03 -1.24967118e+01] [-1.65480631e-02 4.83463202e-05 9.99863070e-01 -3.86531229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.05, Y:-12.50, Z:-3.87 [[ 9.89539869e-01 1.43299471e-01 1.66165237e-02 1.31048320e+02] [-1.43278615e-01 9.89679372e-01 -2.44509296e-03 -1.25005415e+01] [-1.67954113e-02 3.87244628e-05 9.99858946e-01 -3.86578361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.08, Y:-12.50, Z:-3.87 [[ 9.89423488e-01 1.44099382e-01 1.66291753e-02 1.31075682e+02] [-1.44078618e-01 9.89563221e-01 -2.44631344e-03 -1.25046240e+01] [-1.68081325e-02 2.45313862e-05 9.99858733e-01 -3.86728471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.10, Y:-12.51, Z:-3.87 [[ 9.89331888e-01 1.44770359e-01 1.62467844e-02 1.31103686e+02] [-1.44750644e-01 9.89465281e-01 -2.38913298e-03 -1.25083384e+01] [-1.64215047e-02 1.19129381e-05 9.99865158e-01 -3.86866373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.13, Y:-12.51, Z:-3.87 [[ 9.89003587e-01 1.46965793e-01 1.65215168e-02 1.31132352e+02] [-1.46945732e-01 9.89141575e-01 -2.42837393e-03 -1.25093517e+01] [-1.66990071e-02 -2.60958595e-05 9.99860562e-01 -3.86843666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.16, Y:-12.51, Z:-3.87 [[ 9.88791037e-01 1.48414530e-01 1.62914707e-02 1.31160656e+02] [-1.48395232e-01 9.88925237e-01 -2.39380808e-03 -1.25120666e+01] [-1.64663224e-02 -5.06005932e-05 9.99864420e-01 -3.86935492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58587156000002 meters Centerline goodness [0,1] 0.9998925816916235 Centerline is valid? [True, True] Translation: X:131.19, Y:-12.51, Z:-3.87 [[ 9.88559631e-01 1.49983358e-01 1.59639696e-02 1.31188341e+02] [-1.49965043e-01 9.88688518e-01 -2.34511628e-03 -1.25145330e+01] [-1.61351219e-02 -7.57501007e-05 9.99869818e-01 -3.87067021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61587156000002 meters Centerline goodness [0,1] 0.9997640801269678 Centerline is valid? [True, True] Translation: X:131.22, Y:-12.52, Z:-3.87 [[ 9.88203794e-01 1.52376309e-01 1.53206400e-02 1.31217477e+02] [-1.52359743e-01 9.88322542e-01 -2.24961574e-03 -1.25150028e+01] [-1.54845220e-02 -1.11169955e-04 9.99880101e-01 -3.87206638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64587156000002 meters Centerline goodness [0,1] 0.9999142587670411 Centerline is valid? [True, True] Translation: X:131.25, Y:-12.52, Z:-3.87 [[ 9.88063693e-01 1.53291412e-01 1.52276837e-02 1.31246648e+02] [-1.53275166e-01 9.88181019e-01 -2.23524280e-03 -1.25172926e+01] [-1.53903515e-02 -1.25463486e-04 9.99881554e-01 -3.87318842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.28, Y:-12.52, Z:-3.88 [[ 9.88008448e-01 1.53645736e-01 1.52412333e-02 1.31275107e+02] [-1.53629514e-01 9.88125989e-01 -2.23649231e-03 -1.25207126e+01] [-1.54038862e-02 -1.31829976e-04 9.99881344e-01 -3.87518553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.30, Y:-12.53, Z:-3.88 [[ 9.88048178e-01 1.53376424e-01 1.53776241e-02 1.31302811e+02] [-1.53359882e-01 9.88167828e-01 -2.25625338e-03 -1.25250900e+01] [-1.55417295e-02 -1.29023573e-04 9.99879212e-01 -3.87604533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:-12.53, Z:-3.88 [[ 9.88130546e-01 1.52794943e-01 1.58660011e-02 1.31329875e+02] [-1.52777286e-01 9.88257906e-01 -2.32618283e-03 -1.25296469e+01] [-1.60351300e-02 -1.25392279e-04 9.99871421e-01 -3.87664180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.36, Y:-12.54, Z:-3.88 [[ 9.88567820e-01 1.49905292e-01 1.61885589e-02 1.31358257e+02] [-1.49886542e-01 9.88700357e-01 -2.37230398e-03 -1.25376751e+01] [-1.63612549e-02 -8.12637437e-05 9.99866142e-01 -3.87691708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.39, Y:-12.54, Z:-3.88 [[ 9.88880079e-01 1.47814641e-01 1.63407899e-02 1.31385613e+02] [-1.47795261e-01 9.89015081e-01 -2.39397747e-03 -1.25447576e+01] [-1.65151525e-02 -4.77346736e-05 9.99863614e-01 -3.87811012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82587156000002 meters Centerline goodness [0,1] 0.9999570391373459 Centerline is valid? [True, True] Translation: X:131.41, Y:-12.55, Z:-3.88 [[ 9.89218685e-01 1.45518439e-01 1.64553118e-02 1.31413930e+02] [-1.45498488e-01 9.89355540e-01 -2.40962979e-03 -1.25530769e+01] [-1.66307994e-02 -1.05721698e-05 9.99861699e-01 -3.87708883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.44, Y:-12.56, Z:-3.88 [[ 9.89537966e-01 1.43336804e-01 1.64065458e-02 1.31441482e+02] [-1.43316684e-01 9.89673967e-01 -2.40169115e-03 -1.25608958e+01] [-1.65813820e-02 2.52328409e-05 9.99862519e-01 -3.87827602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.47, Y:-12.57, Z:-3.88 [[ 9.90169391e-01 1.38916962e-01 1.63295855e-02 1.31468768e+02] [-1.38896442e-01 9.90304028e-01 -2.38964521e-03 -1.25737624e+01] [-1.65032165e-02 9.80322275e-05 9.99863808e-01 -3.87909491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91587156000003 meters Centerline goodness [0,1] 0.9999785720407989 Centerline is valid? [True, True] Translation: X:131.50, Y:-12.58, Z:-3.88 [[ 9.90382179e-01 1.37394350e-01 1.63074349e-02 1.31497105e+02] [-1.37373692e-01 9.90516420e-01 -2.38560443e-03 -1.25814615e+01] [-1.64805506e-02 1.22447575e-04 9.99864179e-01 -3.87948384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.52, Y:-12.59, Z:-3.88 [[ 9.90519657e-01 1.36410762e-01 1.62146196e-02 1.31523696e+02] [-1.36390217e-01 9.90652353e-01 -2.37139588e-03 -1.25884887e+01] [-1.63865350e-02 1.37398747e-04 9.99865722e-01 -3.88053867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97587156000003 meters Centerline goodness [0,1] 0.9998071318361049 Centerline is valid? [True, True] Translation: X:131.55, Y:-12.59, Z:-3.88 [[ 9.90622990e-01 1.35598026e-01 1.67112745e-02 1.31552294e+02] [-1.35576109e-01 9.90763923e-01 -2.44279304e-03 -1.25945786e+01] [-1.68881658e-02 1.54237379e-04 9.99857373e-01 -3.87980945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.58, Y:-12.60, Z:-3.88 [[ 9.90673570e-01 1.35160535e-01 1.72484002e-02 1.31581012e+02] [-1.35137135e-01 9.90823699e-01 -2.52040845e-03 -1.26000576e+01] [-1.74307835e-02 1.66002637e-04 9.99848059e-01 -3.88008088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03587156000003 meters Centerline goodness [0,1] 0.9999571606048923 Centerline is valid? [True, True] Translation: X:131.61, Y:-12.61, Z:-3.88 [[ 9.90675306e-01 1.35034241e-01 1.81160698e-02 1.31608070e+02] [-1.35008421e-01 9.90840917e-01 -2.64638100e-03 -1.26054826e+01] [-1.83074953e-02 1.75882321e-04 9.99832388e-01 -3.87959927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.64, Y:-12.61, Z:-3.88 [[ 9.90634984e-01 1.35367478e-01 1.78318257e-02 1.31635865e+02] [-1.35342535e-01 9.90795447e-01 -2.60385774e-03 -1.26100794e+01] [-1.80201694e-02 1.66068085e-04 9.99837610e-01 -3.88095006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.66, Y:-12.61, Z:-3.88 [[ 9.90609726e-01 1.35589742e-01 1.75440267e-02 1.31664211e+02] [-1.35565655e-01 9.90765056e-01 -2.56052030e-03 -1.26148140e+01] [-1.77291889e-02 1.58108841e-04 9.99842813e-01 -3.88257652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.69, Y:-12.62, Z:-3.88 [[ 9.90572656e-01 1.35878605e-01 1.74016689e-02 1.31692214e+02] [-1.35854966e-01 9.90725483e-01 -2.53893083e-03 -1.26200947e+01] [-1.75852632e-02 1.50892314e-04 9.99845356e-01 -3.88377697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15587156000004 meters Centerline goodness [0,1] 0.9998718879446556 Centerline is valid? [True, True] Translation: X:131.72, Y:-12.63, Z:-3.89 [[ 9.90504051e-01 1.36456644e-01 1.67722554e-02 1.31719259e+02] [-1.36434778e-01 9.90646035e-01 -2.44650227e-03 -1.26269707e+01] [-1.69492098e-02 1.34951465e-04 9.99856343e-01 -3.88603608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.75, Y:-12.63, Z:-3.89 [[ 9.90417444e-01 1.37097091e-01 1.66635851e-02 1.31746711e+02] [-1.37075614e-01 9.90557607e-01 -2.42967755e-03 -1.26307589e+01] [-1.68393427e-02 1.22223872e-04 9.99858201e-01 -3.88732276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.78, Y:-12.63, Z:-3.89 [[ 9.90288320e-01 1.37983492e-01 1.70175909e-02 1.31775741e+02] [-1.37961244e-01 9.90434523e-01 -2.48009992e-03 -1.26341689e+01] [-1.71970224e-02 1.08245959e-04 9.99852114e-01 -3.88790332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.80, Y:-12.64, Z:-3.89 [[ 9.90124789e-01 1.39128223e-01 1.72116023e-02 1.31804247e+02] [-1.39105653e-01 9.90274371e-01 -2.50755153e-03 -1.26371699e+01] [-1.73930798e-02 8.85577560e-05 9.99848725e-01 -3.88835250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.83, Y:-12.64, Z:-3.89 [[ 9.89619640e-01 1.42624061e-01 1.76449788e-02 1.31832419e+02] [-1.42600907e-01 9.89776933e-01 -2.56999428e-03 -1.26373076e+01] [-1.78311360e-02 2.71268373e-05 9.99841012e-01 -3.88837541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:-12.64, Z:-3.89 [[ 9.89315210e-01 1.44700685e-01 1.78080448e-02 1.31861143e+02] [-1.44677459e-01 9.89475473e-01 -2.59252992e-03 -1.26378402e+01] [-1.79957644e-02 -1.15933792e-05 9.99838063e-01 -3.88627686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33587156000002 meters Centerline goodness [0,1] 0.9998922599551802 Centerline is valid? [True, True] Translation: X:131.89, Y:-12.64, Z:-3.89 [[ 9.89006130e-01 1.46821690e-01 1.76143553e-02 1.31889047e+02] [-1.46799315e-01 9.89162974e-01 -2.56361436e-03 -1.26379654e+01] [-1.77998622e-02 -5.03449754e-05 9.99841569e-01 -3.89043888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.92, Y:-12.64, Z:-3.89 [[ 9.88418602e-01 1.50845306e-01 1.65638347e-02 1.31917122e+02] [-1.50826103e-01 9.88557373e-01 -2.40973001e-03 -1.26367673e+01] [-1.67377974e-02 -1.16436667e-04 9.99859906e-01 -3.89412822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.95, Y:-12.64, Z:-3.90 [[ 9.88197044e-01 1.52328737e-01 1.62036392e-02 1.31946012e+02] [-1.52310576e-01 9.88329872e-01 -2.35627098e-03 -1.26382925e+01] [-1.63734684e-02 -1.39525606e-04 9.99865936e-01 -3.89577013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42587156000002 meters Centerline goodness [0,1] 0.9998055483536428 Centerline is valid? [True, True] Translation: X:131.97, Y:-12.64, Z:-3.89 [[ 9.88002970e-01 1.53602098e-01 1.60164234e-02 1.31974628e+02] [-1.53584533e-01 9.88132769e-01 -2.32838401e-03 -1.26418239e+01] [-1.61839975e-02 -1.59424579e-04 9.99869018e-01 -3.89334713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.00, Y:-12.64, Z:-3.90 [[ 9.87859584e-01 1.54531708e-01 1.59183669e-02 1.32002664e+02] [-1.54514487e-01 9.87987814e-01 -2.31351716e-03 -1.26405205e+01] [-1.60846643e-02 -1.74188202e-04 9.99870618e-01 -3.89837765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.03, Y:-12.64, Z:-3.90 [[ 9.87789857e-01 1.54985315e-01 1.58350923e-02 1.32029890e+02] [-1.54968349e-01 9.87916757e-01 -2.30038317e-03 -1.26437058e+01] [-1.60002787e-02 -1.81642958e-04 9.99871971e-01 -3.90003939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51587156000002 meters Centerline goodness [0,1] 0.9999572357167293 Centerline is valid? [True, True] Translation: X:132.06, Y:-12.65, Z:-3.90 [[ 9.87804571e-01 1.54868829e-01 1.60553743e-02 1.32058549e+02] [-1.54851390e-01 9.87935024e-01 -2.33128866e-03 -1.26474074e+01] [-1.62227106e-02 -1.83339438e-04 9.99868386e-01 -3.90025645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.09, Y:-12.65, Z:-3.90 [[ 9.87826193e-01 1.54688228e-01 1.64610119e-02 1.32086919e+02] [-1.54669883e-01 9.87963318e-01 -2.38947567e-03 -1.26536370e+01] [-1.66324997e-02 -1.85636128e-04 9.99861653e-01 -3.89624204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.11, Y:-12.66, Z:-3.90 [[ 9.87820999e-01 1.54681933e-01 1.68277585e-02 1.32114408e+02] [-1.54662773e-01 9.87964303e-01 -2.44199685e-03 -1.26551682e+01] [-1.70029575e-02 -1.90372022e-04 9.99855421e-01 -3.89869845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60587156000003 meters Centerline goodness [0,1] 0.9999784264233167 Centerline is valid? [True, True] Translation: X:132.14, Y:-12.66, Z:-3.90 [[ 9.87872393e-01 1.54377859e-01 1.66015472e-02 1.32141834e+02] [-1.54359181e-01 9.88011864e-01 -2.40834656e-03 -1.26608322e+01] [-1.67743209e-02 -1.83462148e-04 9.99859284e-01 -3.89787422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.17, Y:-12.66, Z:-3.90 [[ 9.87850909e-01 1.54525992e-01 1.65014905e-02 1.32169228e+02] [-1.54507583e-01 9.87988706e-01 -2.39243117e-03 -1.26633424e+01] [-1.66729791e-02 -1.86240104e-04 9.99860979e-01 -3.89938059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.20, Y:-12.67, Z:-3.90 [[ 9.87807783e-01 1.54804158e-01 1.64759629e-02 1.32197796e+02] [-1.54785864e-01 9.87945158e-01 -2.38754946e-03 -1.26658965e+01] [-1.66469504e-02 -1.91806223e-04 9.99861412e-01 -3.89935960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69587156000003 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:132.23, Y:-12.67, Z:-3.90 [[ 9.87787685e-01 1.54946676e-01 1.63406388e-02 1.32225441e+02] [-1.54928712e-01 9.87922816e-01 -2.36729468e-03 -1.26677658e+01] [-1.65100943e-02 -1.93249581e-04 9.99863680e-01 -3.90079303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.25, Y:-12.67, Z:-3.90 [[ 9.87708188e-01 1.55512819e-01 1.57575225e-02 1.32253088e+02] [-1.55496197e-01 9.87833855e-01 -2.28207200e-03 -1.26668121e+01] [-1.59207056e-02 -1.96213621e-04 9.99873238e-01 -3.90359747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75587156000003 meters Centerline goodness [0,1] 0.9999133392551509 Centerline is valid? [True, True] Translation: X:132.28, Y:-12.67, Z:-3.90 [[ 9.87708992e-01 1.55516118e-01 1.56742891e-02 1.32281416e+02] [-1.55499696e-01 9.87833335e-01 -2.26852674e-03 -1.26703703e+01] [-1.58363778e-02 -1.96702940e-04 9.99874577e-01 -3.90289241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.31, Y:-12.67, Z:-3.90 [[ 9.87663818e-01 1.55793191e-01 1.57691021e-02 1.32309671e+02] [-1.55776615e-01 9.87789674e-01 -2.28161323e-03 -1.26721159e+01] [-1.59320160e-02 -2.02990516e-04 9.99873057e-01 -3.90425231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.34, Y:-12.67, Z:-3.91 [[ 9.87708307e-01 1.55509352e-01 1.57842141e-02 1.32336704e+02] [-1.55492718e-01 9.87834400e-01 -2.28315250e-03 -1.26739107e+01] [-1.59472412e-02 -1.99241660e-04 9.99872815e-01 -3.90619849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.37, Y:-12.68, Z:-3.91 [[ 9.87825857e-01 1.54753392e-01 1.58576172e-02 1.32365254e+02] [-1.54736537e-01 9.87953112e-01 -2.29183902e-03 -1.26758066e+01] [-1.60212521e-02 -1.89814932e-04 9.99871633e-01 -3.90681292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.39, Y:-12.68, Z:-3.91 [[ 9.87926404e-01 1.54117033e-01 1.57911367e-02 1.32393212e+02] [-1.54100247e-01 9.88052584e-01 -2.28163682e-03 -1.26771381e+01] [-1.59541125e-02 -1.79328817e-04 9.99872709e-01 -3.90979830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.42, Y:-12.68, Z:-3.91 [[ 9.88092681e-01 1.53053410e-01 1.57323588e-02 1.32421913e+02] [-1.53036632e-01 9.88217905e-01 -2.27203790e-03 -1.26819392e+01] [-1.58947418e-02 -1.62643180e-04 9.99873657e-01 -3.90874061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.45, Y:-12.69, Z:-3.91 [[ 9.88237128e-01 1.52081501e-01 1.60809167e-02 1.32449640e+02] [-1.52063852e-01 9.88367945e-01 -2.32173252e-03 -1.26852144e+01] [-1.62469552e-02 -1.50903871e-04 9.99867998e-01 -3.90969993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.48, Y:-12.69, Z:-3.91 [[ 9.88586303e-01 1.49733065e-01 1.66472332e-02 1.32478636e+02] [-1.49713842e-01 9.88726451e-01 -2.40212689e-03 -1.26900038e+01] [-1.68192376e-02 -1.17611504e-04 9.99858540e-01 -3.90841489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.51, Y:-12.70, Z:-3.91 [[ 9.88851379e-01 1.47939365e-01 1.69379883e-02 1.32505639e+02] [-1.47919207e-01 9.88996429e-01 -2.44375185e-03 -1.26952589e+01] [-1.71131371e-02 -8.89464097e-05 9.99853556e-01 -3.90999575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.53, Y:-12.70, Z:-3.91 [[ 9.89148994e-01 1.45901527e-01 1.72340239e-02 1.32533025e+02] [-1.45880368e-01 9.89299116e-01 -2.48537815e-03 -1.27005067e+01] [-1.74122251e-02 -5.56964424e-05 9.99848394e-01 -3.91013097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05587156 meters Centerline goodness [0,1] 0.9998709538660071 Centerline is valid? [True, True] Translation: X:132.56, Y:-12.71, Z:-3.91 [[ 9.89434389e-01 1.43868417e-01 1.79295614e-02 1.32561150e+02] [-1.43845205e-01 9.89596826e-01 -2.58439486e-03 -1.27060056e+01] [-1.81148499e-02 -2.19922890e-05 9.99835912e-01 -3.90991946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08587156000002 meters Centerline goodness [0,1] 0.9998709538660071 Centerline is valid? [True, True] Translation: X:132.59, Y:-12.71, Z:-3.91 [[ 9.89444404e-01 1.43799510e-01 1.79296408e-02 1.32588367e+02] [-1.43776296e-01 9.89606841e-01 -2.58384440e-03 -1.27097898e+01] [-1.81148507e-02 -2.12869522e-05 9.99835912e-01 -3.91074875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.62, Y:-12.72, Z:-3.91 [[ 9.90065993e-01 1.39371803e-01 1.85696021e-02 1.32616423e+02] [-1.39346154e-01 9.90240121e-01 -2.67441663e-03 -1.27167858e+01] [-1.87611033e-02 6.02463088e-05 9.99823993e-01 -3.90961333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.64, Y:-12.72, Z:-3.91 [[ 9.90373162e-01 1.37115926e-01 1.89795330e-02 1.32644286e+02] [-1.37088736e-01 9.90555002e-01 -2.73250640e-03 -1.27225961e+01] [-1.91749415e-02 1.04320812e-04 9.99816138e-01 -3.90991708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.67, Y:-12.73, Z:-3.92 [[ 9.90619645e-01 1.35318410e-01 1.90170205e-02 1.32671210e+02] [-1.35290796e-01 9.90802154e-01 -2.73711108e-03 -1.27318362e+01] [-1.92124864e-02 1.38608172e-04 9.99815414e-01 -3.91644168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.70, Y:-12.74, Z:-3.91 [[ 9.91068081e-01 1.32058575e-01 1.85631603e-02 1.32700036e+02] [-1.32031714e-01 9.91241895e-01 -2.67058152e-03 -1.27355439e+01] [-1.87532554e-02 1.95802226e-04 9.99824123e-01 -3.91166886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23587156000002 meters Centerline goodness [0,1] 0.9997220618733029 Centerline is valid? [True, True] Translation: X:132.73, Y:-12.74, Z:-3.91 [[ 9.91228463e-01 1.30886997e-01 1.82955755e-02 1.32727482e+02] [-1.30860720e-01 9.91397271e-01 -2.63134765e-03 -1.27418860e+01] [-1.84825928e-02 2.14094512e-04 9.99829159e-01 -3.91348567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.76, Y:-12.75, Z:-3.91 [[ 9.91325648e-01 1.30206182e-01 1.78832121e-02 1.32756095e+02] [-1.30180986e-01 9.91486914e-01 -2.57083569e-03 -1.27451573e+01] [-1.80657094e-02 2.20481172e-04 9.99836777e-01 -3.91493625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.78, Y:-12.75, Z:-3.92 [[ 9.91422400e-01 1.29584773e-01 1.70120852e-02 1.32783230e+02] [-1.29561891e-01 9.91568323e-01 -2.44500430e-03 -1.27496152e+01] [-1.71854802e-02 2.19914089e-04 9.99852295e-01 -3.91760629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.81, Y:-12.75, Z:-3.92 [[ 9.91478822e-01 1.29186082e-01 1.67541747e-02 1.32812234e+02] [-1.29163851e-01 9.91620344e-01 -2.40679951e-03 -1.27514066e+01] [-1.69247055e-02 2.22257017e-04 9.99856742e-01 -3.91823727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.84, Y:-12.75, Z:-3.92 [[ 9.91460565e-01 1.29260367e-01 1.72541516e-02 1.32841456e+02] [-1.29236818e-01 9.91610663e-01 -2.47760568e-03 -1.27544326e+01] [-1.74296569e-02 2.26576676e-04 9.99848066e-01 -3.91743743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.87, Y:-12.76, Z:-3.92 [[ 9.91441578e-01 1.29351035e-01 1.76608689e-02 1.32869300e+02] [-1.29326384e-01 9.91598839e-01 -2.53563409e-03 -1.27580250e+01] [-1.78404840e-02 2.29916748e-04 9.99840819e-01 -3.91819223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.90, Y:-12.76, Z:-3.92 [[ 9.91371061e-01 1.29933687e-01 1.73394749e-02 1.32897699e+02] [-1.29910035e-01 9.91522663e-01 -2.48831969e-03 -1.27607768e+01] [-1.75157989e-02 2.14276336e-04 9.99846564e-01 -3.91959363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44587156000003 meters Centerline goodness [0,1] 0.999870867768595 Centerline is valid? [True, True] Translation: X:132.93, Y:-12.76, Z:-3.92 [[ 9.91267989e-01 1.30678085e-01 1.76355174e-02 1.32926180e+02] [-1.30653751e-01 9.91424832e-01 -2.52993350e-03 -1.27627851e+01] [-1.78148968e-02 2.03695579e-04 9.99841281e-01 -3.91928516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.95, Y:-12.77, Z:-3.92 [[ 9.91134470e-01 1.31606610e-01 1.82253285e-02 1.32953523e+02] [-1.31580793e-01 9.91302004e-01 -2.61375088e-03 -1.27650306e+01] [-1.84107915e-02 1.92475413e-04 9.99830488e-01 -3.92077450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.98, Y:-12.77, Z:-3.92 [[ 9.91070005e-01 1.32088069e-01 1.82479532e-02 1.32981467e+02] [-1.32062290e-01 9.91237968e-01 -2.61587854e-03 -1.27678845e+01] [-1.84335904e-02 1.82652265e-04 9.99830070e-01 -3.92227581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.01, Y:-12.77, Z:-3.92 [[ 9.91018663e-01 1.32451126e-01 1.84040297e-02 1.33009045e+02] [-1.32424988e-01 9.91189522e-01 -2.63715286e-03 -1.27709890e+01] [-1.85911753e-02 1.76314291e-04 9.99827154e-01 -3.92363557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.04, Y:-12.77, Z:-3.92 [[ 9.91025787e-01 1.32362148e-01 1.86588061e-02 1.33038309e+02] [-1.32335287e-01 9.91201407e-01 -2.67246175e-03 -1.27737479e+01] [-1.88483677e-02 1.79260041e-04 9.99822338e-01 -3.92237365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59587156000003 meters Centerline goodness [0,1] 0.9998475211292149 Centerline is valid? [True, True] Translation: X:133.07, Y:-12.78, Z:-3.92 [[ 9.91138502e-01 1.31509726e-01 1.86992634e-02 1.33067093e+02] [-1.31482614e-01 9.91314861e-01 -2.67736603e-03 -1.27779321e+01] [-1.88889574e-02 1.95012520e-04 9.99821569e-01 -3.92179515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.09, Y:-12.78, Z:-3.93 [[ 9.91217794e-01 1.30941471e-01 1.84828710e-02 1.33094361e+02] [-1.30914898e-01 9.91390080e-01 -2.64563475e-03 -1.27833316e+01] [-1.86701583e-02 2.02717058e-04 9.99825677e-01 -3.92504891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.12, Y:-12.79, Z:-3.93 [[ 9.91341964e-01 1.30042665e-01 1.81663245e-02 1.33122429e+02] [-1.30016866e-01 9.91508376e-01 -2.59908993e-03 -1.27885321e+01] [-1.83500555e-02 2.14658337e-04 9.99831601e-01 -3.92611469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.15, Y:-12.79, Z:-3.93 [[ 9.91484217e-01 1.28901797e-01 1.85303753e-02 1.33149538e+02] [-1.28874769e-01 9.91657335e-01 -2.65040230e-03 -1.27947390e+01] [-1.87174242e-02 2.39734208e-04 9.99824785e-01 -3.92756513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:-12.80, Z:-3.93 [[ 9.91709903e-01 1.27283074e-01 1.76206487e-02 1.33176657e+02] [-1.27258396e-01 9.91866399e-01 -2.51933855e-03 -1.28019004e+01] [-1.77979986e-02 2.56077489e-04 9.99841570e-01 -3.93002106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74587156 meters Centerline goodness [0,1] 0.9997650275558594 Centerline is valid? [True, True] Translation: X:133.20, Y:-12.81, Z:-3.93 [[ 9.91804170e-01 1.26614372e-01 1.71256680e-02 1.33204788e+02] [-1.26590981e-01 9.91951981e-01 -2.44746317e-03 -1.28065949e+01] [-1.72977243e-02 2.59449075e-04 9.99850350e-01 -3.93119346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.23, Y:-12.81, Z:-3.93 [[ 9.91889269e-01 1.26000284e-01 1.67214481e-02 1.33233268e+02] [-1.25977909e-01 9.92030171e-01 -2.38897753e-03 -1.28105690e+01] [-1.68891929e-02 2.63068099e-04 9.99857333e-01 -3.93219076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80587156 meters Centerline goodness [0,1] 0.9998704047691045 Centerline is valid? [True, True] Translation: X:133.26, Y:-12.82, Z:-3.93 [[ 9.92004471e-01 1.25045376e-01 1.70523849e-02 1.33261492e+02] [-1.25021980e-01 9.92150983e-01 -2.43542051e-03 -1.28186918e+01] [-1.72230786e-02 2.84025104e-04 9.99851631e-01 -3.93221983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83587156000002 meters Centerline goodness [0,1] 0.9997210779265362 Centerline is valid? [True, True] Translation: X:133.29, Y:-12.83, Z:-3.94 [[ 9.92037267e-01 1.24854812e-01 1.65329250e-02 1.33288049e+02] [-1.24832803e-01 9.92174984e-01 -2.36064601e-03 -1.28256777e+01] [-1.66982926e-02 2.77997445e-04 9.99860535e-01 -3.93546394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.32, Y:-12.83, Z:-3.94 [[ 9.92034086e-01 1.24902527e-01 1.63624872e-02 1.33316678e+02] [-1.24880994e-01 9.92168980e-01 -2.33521252e-03 -1.28284538e+01] [-1.65260262e-02 2.73246743e-04 9.99863399e-01 -3.93542089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:-12.83, Z:-3.94 [[ 9.92051606e-01 1.24770245e-01 1.63093932e-02 1.33345573e+02] [-1.24748846e-01 9.92185623e-01 -2.32688788e-03 -1.28326779e+01] [-1.64722718e-02 2.73814889e-04 9.99864285e-01 -3.93527576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92587156000002 meters Centerline goodness [0,1] 0.9999570308303792 Centerline is valid? [True, True] Translation: X:133.37, Y:-12.84, Z:-3.93 [[ 9.91974517e-01 1.25262926e-01 1.71975701e-02 1.33373020e+02] [-1.25239221e-01 9.92123541e-01 -2.45282972e-03 -1.28401682e+01] [-1.73693628e-02 2.79334292e-04 9.99849102e-01 -3.93484220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95587156000002 meters Centerline goodness [0,1] 0.9999354921945556 Centerline is valid? [True, True] Translation: X:133.40, Y:-12.84, Z:-3.94 [[ 9.91932617e-01 1.25572325e-01 1.73572764e-02 1.33401964e+02] [-1.25548246e-01 9.92084430e-01 -2.47436686e-03 -1.28439851e+01] [-1.75305957e-02 2.75229587e-04 9.99846289e-01 -3.93523799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:-12.85, Z:-3.94 [[ 9.91877890e-01 1.26030588e-01 1.71622291e-02 1.33430581e+02] [-1.26007130e-01 9.92026321e-01 -2.44574836e-03 -1.28484148e+01] [-1.73336221e-02 2.63320493e-04 9.99849727e-01 -3.93699930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.46, Y:-12.86, Z:-3.94 [[ 9.91756334e-01 1.26919984e-01 1.76264368e-02 1.33458845e+02] [-1.26895402e-01 9.91912926e-01 -2.51068577e-03 -1.28556266e+01] [-1.78025467e-02 2.53274731e-04 9.99841490e-01 -3.93740890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:-12.86, Z:-3.94 [[ 9.91682700e-01 1.27512837e-01 1.74899484e-02 1.33487792e+02] [-1.27488728e-01 9.91836891e-01 -2.49118035e-03 -1.28598811e+01] [-1.76648335e-02 2.40689186e-04 9.99843936e-01 -3.93764570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.52, Y:-12.86, Z:-3.94 [[ 9.91570444e-01 1.28372391e-01 1.75665531e-02 1.33515416e+02] [-1.28348217e-01 9.91726010e-01 -2.50137722e-03 -1.28645305e+01] [-1.77423154e-02 2.25655962e-04 9.99842567e-01 -3.93873134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.54, Y:-12.87, Z:-3.94 [[ 9.91463710e-01 1.29133823e-01 1.80046370e-02 1.33543786e+02] [-1.29108577e-01 9.91627152e-01 -2.56248231e-03 -1.28692341e+01] [-1.81847900e-02 2.16055164e-04 9.99834620e-01 -3.93933370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.57, Y:-12.87, Z:-3.94 [[ 9.91392022e-01 1.29623017e-01 1.84318331e-02 1.33572611e+02] [-1.29596659e-01 9.91563326e-01 -2.62238028e-03 -1.28742975e+01] [-1.86162505e-02 2.11102893e-04 9.99826680e-01 -3.93901881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16587156000003 meters Centerline goodness [0,1] 0.9999353991257348 Centerline is valid? [True, True] Translation: X:133.60, Y:-12.88, Z:-3.94 [[ 9.91177272e-01 1.31290517e-01 1.81773410e-02 1.33601472e+02] [-1.31265178e-01 9.91343921e-01 -2.58532681e-03 -1.28792536e+01] [-1.83594254e-02 1.76465263e-04 9.99831436e-01 -3.93966525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.63, Y:-12.88, Z:-3.94 [[ 9.91043321e-01 1.32377206e-01 1.75900943e-02 1.33629281e+02] [-1.32353661e-01 9.91199401e-01 -2.50118020e-03 -1.28837683e+01] [-1.77663901e-02 1.50664557e-04 9.99842154e-01 -3.94283564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.66, Y:-12.89, Z:-3.94 [[ 9.90925980e-01 1.33281477e-01 1.73709638e-02 1.33658284e+02] [-1.33258677e-01 9.91078216e-01 -2.46867007e-03 -1.28874538e+01] [-1.75450118e-02 1.31437652e-04 9.99846066e-01 -3.94402030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.69, Y:-12.89, Z:-3.94 [[ 9.90813177e-01 1.34139130e-01 1.72029882e-02 1.33686283e+02] [-1.34116912e-01 9.90962502e-01 -2.44401699e-03 -1.28922240e+01] [-1.73753545e-02 1.14352584e-04 9.99849031e-01 -3.94393680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28587156000003 meters Centerline goodness [0,1] 0.9999567726457302 Centerline is valid? [True, True] Translation: X:133.71, Y:-12.90, Z:-3.95 [[ 9.90682270e-01 1.35120121e-01 1.70643662e-02 1.33712606e+02] [-1.35098417e-01 9.90829220e-01 -2.42363616e-03 -1.29007599e+01] [-1.72353547e-02 9.56845205e-05 9.99851456e-01 -3.94693321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.74, Y:-12.90, Z:-3.95 [[ 9.90618872e-01 1.35483633e-01 1.78447635e-02 1.33741495e+02] [-1.35459982e-01 9.90779580e-01 -2.53311672e-03 -1.29047338e+01] [-1.80234231e-02 9.21018948e-05 9.99837561e-01 -3.94579915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34587156000003 meters Centerline goodness [0,1] 0.9999352848544988 Centerline is valid? [True, True] Translation: X:133.77, Y:-12.91, Z:-3.95 [[ 9.90554188e-01 1.35897520e-01 1.82829165e-02 1.33770542e+02] [-1.35872780e-01 9.90722896e-01 -2.59439406e-03 -1.29088237e+01] [-1.84658757e-02 8.57372075e-05 9.99829488e-01 -3.94515157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:-12.91, Z:-3.95 [[ 9.90446017e-01 1.36652064e-01 1.85175706e-02 1.33798287e+02] [-1.36626832e-01 9.90619103e-01 -2.62691340e-03 -1.29135918e+01] [-1.87028323e-02 7.18189160e-05 9.99825084e-01 -3.94691305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.83, Y:-12.92, Z:-3.95 [[ 9.90337190e-01 1.37457826e-01 1.83738002e-02 1.33826536e+02] [-1.37433146e-01 9.90507619e-01 -2.60528617e-03 -1.29185248e+01] [-1.85575061e-02 5.49426308e-05 9.99827793e-01 -3.94730751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.85, Y:-12.92, Z:-3.95 [[ 9.89970535e-01 1.40136241e-01 1.78933971e-02 1.33854151e+02] [-1.40113284e-01 9.90132231e-01 -2.53647564e-03 -1.29227104e+01] [-1.80722814e-02 3.93350857e-06 9.99836683e-01 -3.94961535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:-12.93, Z:-3.95 [[ 9.89720795e-01 1.41927358e-01 1.75889877e-02 1.33883201e+02] [-1.41905479e-01 9.89877075e-01 -2.49212245e-03 -1.29251672e+01] [-1.77646361e-02 -2.94683198e-05 9.99842196e-01 -3.95058105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.91, Y:-12.93, Z:-3.95 [[ 9.89205492e-01 1.45434819e-01 1.79223035e-02 1.33912159e+02] [-1.45412694e-01 9.89367831e-01 -2.53848274e-03 -1.29261754e+01] [-1.81009343e-02 -9.50493788e-05 9.99836160e-01 -3.95089121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.94, Y:-12.93, Z:-3.95 [[ 9.88968242e-01 1.46986777e-01 1.83494662e-02 1.33939511e+02] [-1.46963866e-01 9.89138449e-01 -2.59820588e-03 -1.29283246e+01] [-1.85320645e-02 -1.27165402e-04 9.99828258e-01 -3.95097984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.97, Y:-12.93, Z:-3.95 [[ 9.88782201e-01 1.48174156e-01 1.88196370e-02 1.33968481e+02] [-1.48150296e-01 9.88961271e-01 -2.66346320e-03 -1.29312716e+01] [-1.90065486e-02 -1.54549794e-04 9.99819347e-01 -3.95120069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.00, Y:-12.93, Z:-3.95 [[ 9.88608980e-01 1.49350423e-01 1.86208595e-02 1.33996696e+02] [-1.49327290e-01 9.88784314e-01 -2.63446166e-03 -1.29343776e+01] [-1.88054718e-02 -1.76150038e-04 9.99823146e-01 -3.95245762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.03, Y:-12.94, Z:-3.95 [[ 9.88307351e-01 1.51391322e-01 1.81451582e-02 1.34025433e+02] [-1.51369715e-01 9.88473886e-01 -2.56634110e-03 -1.29370798e+01] [-1.83245368e-02 -2.10293643e-04 9.99832069e-01 -3.95475127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.05, Y:-12.94, Z:-3.95 [[ 9.88148689e-01 1.52435731e-01 1.80420619e-02 1.34054339e+02] [-1.52414558e-01 9.88313359e-01 -2.55093199e-03 -1.29418641e+01] [-1.82200640e-02 -2.29172782e-04 9.99833975e-01 -3.95395164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.08, Y:-12.94, Z:-3.96 [[ 9.88006231e-01 1.53311087e-01 1.84227422e-02 1.34082070e+02] [-1.53289178e-01 9.88177943e-01 -2.60393598e-03 -1.29426126e+01] [-1.86041597e-02 -2.51302038e-04 9.99826896e-01 -3.95623984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.11, Y:-12.94, Z:-3.96 [[ 9.87861726e-01 1.54236921e-01 1.84440178e-02 1.34109956e+02] [-1.54215145e-01 9.88033855e-01 -2.60574066e-03 -1.29441266e+01] [-1.86252154e-02 -2.70235406e-04 9.99826499e-01 -3.95813972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.14, Y:-12.95, Z:-3.96 [[ 9.87614150e-01 1.55889008e-01 1.78019076e-02 1.34138678e+02] [-1.55869010e-01 9.87774535e-01 -2.51392936e-03 -1.29493914e+01] [-1.79761649e-02 -2.91973491e-04 9.99838373e-01 -3.95657537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.17, Y:-12.95, Z:-3.96 [[ 9.87532959e-01 1.56404041e-01 1.77885188e-02 1.34166150e+02] [-1.56384170e-01 9.87693113e-01 -2.51129049e-03 -1.29517958e+01] [-1.79623735e-02 -3.01860620e-04 9.99838618e-01 -3.95757664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79587156000002 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:134.19, Y:-12.95, Z:-3.96 [[ 9.87429828e-01 1.57011750e-01 1.81561223e-02 1.34193569e+02] [-1.56991174e-01 9.87596683e-01 -2.56201401e-03 -1.29539169e+01] [-1.83331924e-02 -3.20541887e-04 9.99831882e-01 -3.95816551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.22, Y:-12.96, Z:-3.96 [[ 9.87138898e-01 1.58801304e-01 1.84103742e-02 1.34222341e+02] [-1.58780483e-01 9.87310496e-01 -2.59658203e-03 -1.29555554e+01] [-1.85890963e-02 -3.60020983e-04 9.99827143e-01 -3.95767955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85587156000003 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:134.25, Y:-12.95, Z:-3.96 [[ 9.86951303e-01 1.59925378e-01 1.87349598e-02 1.34250380e+02] [-1.59904030e-01 9.87129030e-01 -2.64173005e-03 -1.29536181e+01] [-1.89163023e-02 -3.88536654e-04 9.99820995e-01 -3.96006884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88587156000003 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:134.28, Y:-12.96, Z:-3.96 [[ 9.86744822e-01 1.61211223e-01 1.85902380e-02 1.34278277e+02] [-1.61190462e-01 9.86919841e-01 -2.61970095e-03 -1.29588059e+01] [-1.87693999e-02 -4.11592691e-04 9.99823755e-01 -3.95914044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.31, Y:-12.96, Z:-3.96 [[ 9.86419842e-01 1.63278565e-01 1.77765620e-02 1.34307139e+02] [-1.63259938e-01 9.86579912e-01 -2.50386760e-03 -1.29556129e+01] [-1.79468269e-02 -4.32335736e-04 9.99838849e-01 -3.96273913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.34, Y:-12.96, Z:-3.96 [[ 9.86279809e-01 1.64119376e-01 1.78036093e-02 1.34335758e+02] [-1.64100845e-01 9.86440383e-01 -2.50679669e-03 -1.29585154e+01] [-1.79736131e-02 -4.49184363e-04 9.99838361e-01 -3.96316206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97587156000003 meters Centerline goodness [0,1] 0.999956917907072 Centerline is valid? [True, True] Translation: X:134.36, Y:-12.96, Z:-3.96 [[ 9.86169199e-01 1.64803440e-01 1.76106887e-02 1.34363541e+02] [-1.64785429e-01 9.86326324e-01 -2.47893040e-03 -1.29592666e+01] [-1.77784221e-02 -4.57340087e-04 9.99841847e-01 -3.96433321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00587156000003 meters Centerline goodness [0,1] 0.999956917907072 Centerline is valid? [True, True] Translation: X:134.39, Y:-12.96, Z:-3.97 [[ 9.86181005e-01 1.64732768e-01 1.76108171e-02 1.34390779e+02] [-1.64714763e-01 9.86338130e-01 -2.47801738e-03 -1.29629626e+01] [-1.77784311e-02 -4.56987902e-04 9.99841847e-01 -3.96516280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03587156000003 meters Centerline goodness [0,1] 0.9999358796246821 Centerline is valid? [True, True] Translation: X:134.42, Y:-12.96, Z:-3.97 [[ 9.86148671e-01 1.64932213e-01 1.75545953e-02 1.34418936e+02] [-1.64914380e-01 9.86304797e-01 -2.46867672e-03 -1.29638493e+01] [-1.77213459e-02 -4.60522934e-04 9.99842859e-01 -3.96652173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.45, Y:-12.96, Z:-3.97 [[ 9.86139513e-01 1.64949339e-01 1.79046586e-02 1.34448034e+02] [-1.64930813e-01 9.86301928e-01 -2.51663828e-03 -1.29637499e+01] [-1.80745171e-02 -4.71273446e-04 9.99836532e-01 -3.96679327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09587156000003 meters Centerline goodness [0,1] 0.9998707899043845 Centerline is valid? [True, True] Translation: X:134.48, Y:-12.96, Z:-3.97 [[ 9.86188662e-01 1.64657516e-01 1.78836541e-02 1.34475612e+02] [-1.64638985e-01 9.86350691e-01 -2.51370776e-03 -1.29647149e+01] [-1.80534555e-02 -4.65356567e-04 9.99836915e-01 -3.96768330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12587156000004 meters Centerline goodness [0,1] 0.9999787378805919 Centerline is valid? [True, True] Translation: X:134.50, Y:-12.97, Z:-3.97 [[ 9.86252345e-01 1.64252707e-01 1.80930758e-02 1.34504139e+02] [-1.64233728e-01 9.86418183e-01 -2.54001917e-03 -1.29667346e+01] [-1.82645439e-02 -4.66393428e-04 9.99833081e-01 -3.96858178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15587156000004 meters Centerline goodness [0,1] 0.9999153098600495 Centerline is valid? [True, True] Translation: X:134.53, Y:-12.96, Z:-3.97 [[ 9.86323226e-01 1.63845132e-01 1.79238878e-02 1.34532886e+02] [-1.63826452e-01 9.86485968e-01 -2.51555949e-03 -1.29635621e+01] [-1.80938260e-02 -4.55252200e-04 9.99836190e-01 -3.97136000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18587156000004 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:134.56, Y:-12.97, Z:-3.97 [[ 9.86563903e-01 1.62448206e-01 1.73852318e-02 1.34561726e+02] [-1.62430427e-01 9.86716984e-01 -2.43926852e-03 -1.29685663e+01] [-1.75505583e-02 -4.17396352e-04 9.99845890e-01 -3.97115718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.59, Y:-12.97, Z:-3.97 [[ 9.86708365e-01 1.61588272e-01 1.71997947e-02 1.34590688e+02] [-1.61570772e-01 9.86858182e-01 -2.41139084e-03 -1.29712785e+01] [-1.73634106e-02 -3.99644597e-04 9.99849165e-01 -3.97220102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24587156 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:134.62, Y:-12.97, Z:-3.97 [[ 9.86868577e-01 1.60647760e-01 1.68139696e-02 1.34619659e+02] [-1.60630914e-01 9.87011731e-01 -2.35652736e-03 -1.29741380e+01] [-1.69741561e-02 -3.75260501e-04 9.99855858e-01 -3.97328404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.65, Y:-12.98, Z:-3.97 [[ 9.87397138e-01 1.57395635e-01 1.65379885e-02 1.34648070e+02] [-1.57378894e-01 9.87535577e-01 -2.31707692e-03 -1.29778373e+01] [-1.66965498e-02 -3.14855212e-04 9.99860553e-01 -3.97469912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.68, Y:-12.98, Z:-3.98 [[ 9.87796543e-01 1.54869204e-01 1.65384028e-02 1.34675737e+02] [-1.54852121e-01 9.87934945e-01 -2.31632829e-03 -1.29833416e+01] [-1.66975940e-02 -2.72945671e-04 9.99860548e-01 -3.97619647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.70, Y:-12.99, Z:-3.98 [[ 9.88205970e-01 1.52246115e-01 1.64341287e-02 1.34703804e+02] [-1.52228897e-01 9.88342587e-01 -2.30095932e-03 -1.29908408e+01] [-1.65928614e-02 -2.27927546e-04 9.99862303e-01 -3.97601768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.73, Y:-13.00, Z:-3.98 [[ 9.88633690e-01 1.49428066e-01 1.65734901e-02 1.34731793e+02] [-1.49410173e-01 9.88772582e-01 -2.31965339e-03 -1.29973667e+01] [-1.67340340e-02 -1.82960535e-04 9.99859960e-01 -3.97567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.76, Y:-13.00, Z:-3.98 [[ 9.89041319e-01 1.46677293e-01 1.68238262e-02 1.34759755e+02] [-1.46658472e-01 9.89184387e-01 -2.35381455e-03 -1.30018827e+01] [-1.69871174e-02 -1.39336791e-04 9.99855699e-01 -3.97642446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.79, Y:-13.01, Z:-3.98 [[ 9.89708639e-01 1.42037338e-01 1.73840532e-02 1.34787051e+02] [-1.42016540e-01 9.89861299e-01 -2.43141548e-03 -1.30072527e+01] [-1.75531533e-02 -6.24301857e-05 9.99845930e-01 -3.97750541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.82, Y:-13.01, Z:-3.98 [[ 9.90014958e-01 1.39857113e-01 1.76173507e-02 1.34815168e+02] [-1.39835430e-01 9.90171696e-01 -2.46276218e-03 -1.30122838e+01] [-1.77886368e-02 -2.53584100e-05 9.99841769e-01 -3.97783753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48587156000002 meters Centerline goodness [0,1] 0.9998077662437524 Centerline is valid? [True, True] Translation: X:134.84, Y:-13.02, Z:-3.98 [[ 9.90294102e-01 1.37866032e-01 1.76223955e-02 1.34843978e+02] [-1.37844036e-01 9.90450886e-01 -2.46263674e-03 -1.30173292e+01] [-1.77936312e-02 9.59252769e-06 9.99841681e-01 -3.97808958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.87, Y:-13.02, Z:-3.98 [[ 9.90575841e-01 1.35840461e-01 1.75177626e-02 1.34872207e+02] [-1.35818423e-01 9.90730724e-01 -2.44721083e-03 -1.30223864e+01] [-1.76878159e-02 4.49130323e-05 9.99843557e-01 -3.97799941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54587156000002 meters Centerline goodness [0,1] 0.9998928004802539 Centerline is valid? [True, True] Translation: X:134.90, Y:-13.03, Z:-3.98 [[ 9.90834176e-01 1.33920289e-01 1.76915627e-02 1.34899868e+02] [-1.33897519e-01 9.90992104e-01 -2.47074715e-03 -1.30282003e+01] [-1.78630821e-02 7.92443734e-05 9.99840439e-01 -3.98013258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.93, Y:-13.03, Z:-3.98 [[ 9.91357596e-01 1.30093028e-01 1.69092082e-02 1.34927812e+02] [-1.30071689e-01 9.91501782e-01 -2.36038550e-03 -1.30342811e+01] [-1.70725798e-02 1.40576815e-04 9.99854243e-01 -3.98022620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60587156000003 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:134.96, Y:-13.04, Z:-3.98 [[ 9.91584463e-01 1.28324505e-01 1.71193936e-02 1.34956556e+02] [-1.28302383e-01 9.91732218e-01 -2.38886209e-03 -1.30394323e+01] [-1.72844037e-02 1.72299531e-04 9.99850599e-01 -3.98095419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63587156000003 meters Centerline goodness [0,1] 0.9999141446662374 Centerline is valid? [True, True] Translation: X:134.98, Y:-13.05, Z:-3.98 [[ 9.91823430e-01 1.26494640e-01 1.68935031e-02 1.34983251e+02] [-1.26472841e-01 9.91967271e-01 -2.35684104e-03 -1.30455532e+01] [-1.70559299e-02 2.01000830e-04 9.99854517e-01 -3.98295171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.01, Y:-13.05, Z:-3.98 [[ 9.92288742e-01 1.22934760e-01 1.58144790e-02 1.35012471e+02] [-1.22915233e-01 9.92414724e-01 -2.20459679e-03 -1.30526099e+01] [-1.59655434e-02 2.43756206e-04 9.99872513e-01 -3.98476281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69587156000003 meters Centerline goodness [0,1] 0.9999784515267093 Centerline is valid? [True, True] Translation: X:135.04, Y:-13.06, Z:-3.99 [[ 9.92499494e-01 1.21197601e-01 1.59967723e-02 1.35039245e+02] [-1.21177393e-01 9.92628362e-01 -2.23011044e-03 -1.30595131e+01] [-1.61491340e-02 2.74936314e-04 9.99869556e-01 -3.98626786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.07, Y:-13.07, Z:-3.99 [[ 9.92684702e-01 1.19587146e-01 1.66131573e-02 1.35067166e+02] [-1.19565147e-01 9.92823659e-01 -2.31479671e-03 -1.30660583e+01] [-1.67707556e-02 3.11508691e-04 9.99859312e-01 -3.98593322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.10, Y:-13.07, Z:-3.99 [[ 9.92836256e-01 1.18324066e-01 1.66007469e-02 1.35095945e+02] [-1.18301941e-01 9.92974977e-01 -2.31196848e-03 -1.30719459e+01] [-1.67576877e-02 3.31505555e-04 9.99859525e-01 -3.98625735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78587156000003 meters Centerline goodness [0,1] 0.9998498723915328 Centerline is valid? [True, True] Translation: X:135.12, Y:-13.08, Z:-3.99 [[ 9.93054248e-01 1.16511187e-01 1.63830665e-02 1.35123328e+02] [-1.16489393e-01 9.93189315e-01 -2.28159172e-03 -1.30792000e+01] [-1.65373176e-02 3.57290878e-04 9.99863185e-01 -3.98775501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81587156000003 meters Centerline goodness [0,1] 0.9998497241364505 Centerline is valid? [True, True] Translation: X:135.15, Y:-13.08, Z:-3.99 [[ 9.93116948e-01 1.15952224e-01 1.65471830e-02 1.35151676e+02] [-1.15929927e-01 9.93254723e-01 -2.30364142e-03 -1.30824689e+01] [-1.67026800e-02 3.69471624e-04 9.99860432e-01 -3.98750398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.18, Y:-13.09, Z:-3.99 [[ 9.93185015e-01 1.15299637e-01 1.70152763e-02 1.35180174e+02] [-1.15275985e-01 9.93330681e-01 -2.36768420e-03 -1.30889220e+01] [-1.71747891e-02 3.90095742e-04 9.99852426e-01 -3.98870796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87587156000004 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:135.21, Y:-13.09, Z:-3.99 [[ 9.93257749e-01 1.14693082e-01 1.68683383e-02 1.35208929e+02] [-1.14669757e-01 9.93400896e-01 -2.34675532e-03 -1.30947026e+01] [-1.70261790e-02 3.96644647e-04 9.99854965e-01 -3.98932824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.24, Y:-13.10, Z:-3.99 [[ 9.93306157e-01 1.14253787e-01 1.69985246e-02 1.35238467e+02] [-1.14230043e-01 9.93451512e-01 -2.36446240e-03 -1.30999911e+01] [-1.71573588e-02 4.06892865e-04 9.99852719e-01 -3.98998750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93587156000004 meters Centerline goodness [0,1] 0.9998488675864153 Centerline is valid? [True, True] Translation: X:135.27, Y:-13.10, Z:-3.99 [[ 9.93291631e-01 1.14336418e-01 1.72892879e-02 1.35266591e+02] [-1.14311872e-01 9.93442003e-01 -2.40463126e-03 -1.31043624e+01] [-1.74508418e-02 4.12129235e-04 9.99847638e-01 -3.99027393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.29, Y:-13.11, Z:-3.99 [[ 9.93268073e-01 1.14548493e-01 1.72388662e-02 1.35294446e+02] [-1.14524135e-01 9.93417575e-01 -2.39686410e-03 -1.31103792e+01] [-1.73999499e-02 4.06462344e-04 9.99848527e-01 -3.99155775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99587156 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:135.32, Y:-13.12, Z:-3.99 [[ 9.93195521e-01 1.15212581e-01 1.69917031e-02 1.35323203e+02] [-1.15189020e-01 9.93340782e-01 -2.36208555e-03 -1.31164816e+01] [-1.71506936e-02 3.88755159e-04 9.99852840e-01 -3.99252529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02587156 meters Centerline goodness [0,1] 0.9999570474411013 Centerline is valid? [True, True] Translation: X:135.35, Y:-13.12, Z:-3.99 [[ 9.93154199e-01 1.15600020e-01 1.67741428e-02 1.35352208e+02] [-1.15577121e-01 9.93295773e-01 -2.33146158e-03 -1.31200127e+01] [-1.69312021e-02 3.76793727e-04 9.99856586e-01 -3.99332934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05587156 meters Centerline goodness [0,1] 0.9999567829206102 Centerline is valid? [True, True] Translation: X:135.38, Y:-13.12, Z:-3.99 [[ 9.93126634e-01 1.15880669e-01 1.64669239e-02 1.35381777e+02] [-1.15858649e-01 9.93263076e-01 -2.28822482e-03 -1.31247604e+01] [-1.66211485e-02 3.64661453e-04 9.99861793e-01 -3.99479621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.41, Y:-13.13, Z:-4.00 [[ 9.93131838e-01 1.15905158e-01 1.59733262e-02 1.35409736e+02] [-1.15884438e-01 9.93260222e-01 -2.21978891e-03 -1.31317266e+01] [-1.61229545e-02 3.53483104e-04 9.99869954e-01 -3.99695914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.44, Y:-13.14, Z:-4.00 [[ 9.93018401e-01 1.16826449e-01 1.63106193e-02 1.35438826e+02] [-1.16804982e-01 9.93152285e-01 -2.26589311e-03 -1.31362320e+01] [-1.64636451e-02 3.44911962e-04 9.99864406e-01 -3.99531758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.47, Y:-13.14, Z:-4.00 [[ 9.92878655e-01 1.17951391e-01 1.67166085e-02 1.35466601e+02] [-1.17929006e-01 9.93019314e-01 -2.32202227e-03 -1.31422877e+01] [-1.68738009e-02 3.34113322e-04 9.99857571e-01 -3.99677568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17587156000002 meters Centerline goodness [0,1] 0.9999785255653145 Centerline is valid? [True, True] Translation: X:135.50, Y:-13.15, Z:-4.00 [[ 9.92714902e-01 1.19308444e-01 1.68112560e-02 1.35496264e+02] [-1.19286013e-01 9.92857189e-01 -2.33436680e-03 -1.31464170e+01] [-1.69696860e-02 3.12013009e-04 9.99855956e-01 -3.99714992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.53, Y:-13.15, Z:-4.00 [[ 9.92483914e-01 1.21163433e-01 1.71785775e-02 1.35526016e+02] [-1.21140296e-01 9.92632531e-01 -2.38495134e-03 -1.31491790e+01] [-1.73409838e-02 2.86007870e-04 9.99849593e-01 -3.99695540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.56, Y:-13.15, Z:-4.00 [[ 9.91933427e-01 1.25500402e-01 1.78248340e-02 1.35555556e+02] [-1.25476199e-01 9.92093545e-01 -2.47420835e-03 -1.31510559e+01] [-1.79944169e-02 2.17657544e-04 9.99838064e-01 -3.99613198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.58, Y:-13.15, Z:-4.00 [[ 9.91651917e-01 1.27640375e-01 1.82868806e-02 1.35583918e+02] [-1.27615271e-01 9.91820498e-01 -2.53801121e-03 -1.31547988e+01] [-1.84612557e-02 1.83138457e-04 9.99829560e-01 -3.99775185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.61, Y:-13.16, Z:-4.00 [[ 9.91192708e-01 1.31187817e-01 1.80768201e-02 1.35612899e+02] [-1.31163885e-01 9.91357526e-01 -2.50833722e-03 -1.31584522e+01] [-1.82496549e-02 1.15219613e-04 9.99833455e-01 -3.99832269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.64, Y:-13.16, Z:-4.00 [[ 9.90972362e-01 1.32844682e-01 1.80573364e-02 1.35640216e+02] [-1.32821091e-01 9.91136864e-01 -2.50490965e-03 -1.31628648e+01] [-1.82300557e-02 8.39011165e-05 9.99833815e-01 -3.99931428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35587156000003 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:135.67, Y:-13.17, Z:-4.00 [[ 9.90718120e-01 1.34688025e-01 1.83505672e-02 1.35669301e+02] [-1.34664000e-01 9.90888053e-01 -2.54432192e-03 -1.31663949e+01] [-1.85260475e-02 4.95450387e-05 9.99828377e-01 -3.99961420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.70, Y:-13.17, Z:-4.00 [[ 9.90480390e-01 1.36423155e-01 1.83662756e-02 1.35697794e+02] [-1.36399404e-01 9.90650656e-01 -2.54562111e-03 -1.31688857e+01] [-1.85418446e-02 1.62387401e-05 9.99828085e-01 -3.99970197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.73, Y:-13.17, Z:-4.00 [[ 9.89919052e-01 1.40362955e-01 1.89344150e-02 1.35725689e+02] [-1.40338447e-01 9.90100115e-01 -2.62353872e-03 -1.31699683e+01] [-1.91152142e-02 -6.01354379e-05 9.99817286e-01 -4.00034831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.75, Y:-13.17, Z:-4.00 [[ 9.89609665e-01 1.42551198e-01 1.87581090e-02 1.35754351e+02] [-1.42527561e-01 9.89787424e-01 -2.59787049e-03 -1.31718438e+01] [-1.89368699e-02 -1.02669787e-04 9.99820676e-01 -4.00106580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.78, Y:-13.17, Z:-4.00 [[ 9.89253734e-01 1.44997201e-01 1.87845969e-02 1.35782786e+02] [-1.44973952e-01 9.89432054e-01 -2.60077358e-03 -1.31730023e+01] [-1.89631872e-02 -1.50452275e-04 9.99820171e-01 -4.00215713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50587156000003 meters Centerline goodness [0,1] 0.999978681220287 Centerline is valid? [True, True] Translation: X:135.81, Y:-13.17, Z:-4.00 [[ 9.88843868e-01 1.47810599e-01 1.84345032e-02 1.35811251e+02] [-1.47788718e-01 9.89015665e-01 -2.55121541e-03 -1.31725627e+01] [-1.86091091e-02 -2.01657876e-04 9.99826815e-01 -4.00410148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.84, Y:-13.17, Z:-4.01 [[ 9.88010510e-01 1.53415533e-01 1.72889274e-02 1.35841060e+02] [-1.53397166e-01 9.88161723e-01 -2.39146014e-03 -1.31703882e+01] [-1.74511435e-02 -2.89284724e-04 9.99847675e-01 -4.00561997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56587156000003 meters Centerline goodness [0,1] 0.9999574748570093 Centerline is valid? [True, True] Translation: X:135.87, Y:-13.17, Z:-4.01 [[ 9.87544518e-01 1.56414121e-01 1.70424986e-02 1.35870294e+02] [-1.56396730e-01 9.87691505e-01 -2.35674696e-03 -1.31682264e+01] [-1.72013596e-02 -3.37998515e-04 9.99851989e-01 -4.00754845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59587156000003 meters Centerline goodness [0,1] 0.9999358151476252 Centerline is valid? [True, True] Translation: X:135.90, Y:-13.16, Z:-4.01 [[ 9.87099624e-01 1.59191180e-01 1.71026712e-02 1.35899918e+02] [-1.59174094e-01 9.87247698e-01 -2.36441018e-03 -1.31641477e+01] [-1.72609660e-02 -3.88393787e-04 9.99850943e-01 -4.01024925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62587156000004 meters Centerline goodness [0,1] 0.9999362624288264 Centerline is valid? [True, True] Translation: X:135.93, Y:-13.17, Z:-4.01 [[ 9.86717129e-01 1.61535235e-01 1.71952140e-02 1.35929929e+02] [-1.61518333e-01 9.86866851e-01 -2.37642542e-03 -1.31657327e+01] [-1.73532631e-02 -4.32482624e-04 9.99849327e-01 -4.00925937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65587156000004 meters Centerline goodness [0,1] 0.9998715835883826 Centerline is valid? [True, True] Translation: X:135.96, Y:-13.16, Z:-4.01 [[ 9.86099602e-01 1.65239330e-01 1.74223456e-02 1.35960210e+02] [-1.65222563e-01 9.86253370e-01 -2.40739810e-03 -1.31645248e+01] [-1.75806439e-02 -5.04630285e-04 9.99845321e-01 -4.00811152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68587156000004 meters Centerline goodness [0,1] 0.9996158852777363 Centerline is valid? [True, True] Translation: X:135.99, Y:-13.16, Z:-4.01 [[ 9.85890007e-01 1.66450900e-01 1.77480263e-02 1.35988041e+02] [-1.66433687e-01 9.86049599e-01 -2.45286959e-03 -1.31622228e+01] [-1.79087165e-02 -5.35609844e-04 9.99839483e-01 -4.00981771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71587156 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:136.02, Y:-13.17, Z:-4.01 [[ 9.85787293e-01 1.67062209e-01 1.77096270e-02 1.36016896e+02] [-1.67045213e-01 9.85946204e-01 -2.44516027e-03 -1.31651271e+01] [-1.78692334e-02 -5.47900491e-04 9.99840182e-01 -4.00938808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74587156 meters Centerline goodness [0,1] 0.9998927751924686 Centerline is valid? [True, True] Translation: X:136.05, Y:-13.16, Z:-4.01 [[ 9.85884842e-01 1.66461868e-01 1.79310952e-02 1.36045569e+02] [-1.66444358e-01 9.86047742e-01 -2.47497395e-03 -1.31623234e+01] [-1.80929048e-02 -5.44490339e-04 9.99836162e-01 -4.01205502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77587156 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:136.07, Y:-13.17, Z:-4.01 [[ 9.86093265e-01 1.65249189e-01 1.76855119e-02 1.36073387e+02] [-1.65231982e-01 9.86251712e-01 -2.43987667e-03 -1.31714426e+01] [-1.78455540e-02 -5.16266238e-04 9.99840622e-01 -4.01190840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80587156 meters Centerline goodness [0,1] 0.9998721718010993 Centerline is valid? [True, True] Translation: X:136.10, Y:-13.17, Z:-4.02 [[ 9.86386667e-01 1.63546836e-01 1.71398863e-02 1.36101560e+02] [-1.63530432e-01 9.86535458e-01 -2.36378119e-03 -1.31731203e+01] [-1.72956946e-02 -4.71290756e-04 9.99850307e-01 -4.01509933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.13, Y:-13.18, Z:-4.02 [[ 9.86759570e-01 1.61348245e-01 1.65013334e-02 1.36129849e+02] [-1.61332746e-01 9.86897446e-01 -2.27494136e-03 -1.31798533e+01] [-1.66521816e-02 -4.17385284e-04 9.99861256e-01 -4.01640085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86587156000002 meters Centerline goodness [0,1] 0.9999147666737694 Centerline is valid? [True, True] Translation: X:136.16, Y:-13.18, Z:-4.02 [[ 9.87574213e-01 1.56311366e-01 1.62459196e-02 1.36158016e+02] [-1.56295680e-01 9.87707775e-01 -2.23858889e-03 -1.31837496e+01] [-1.63961380e-02 -3.28394387e-04 9.99865520e-01 -4.02043409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89587156000002 meters Centerline goodness [0,1] 0.9999147666737694 Centerline is valid? [True, True] Translation: X:136.19, Y:-13.19, Z:-4.02 [[ 9.87585053e-01 1.56242872e-01 1.62458849e-02 1.36185261e+02] [-1.56227173e-01 9.87718613e-01 -2.23884079e-03 -1.31873614e+01] [-1.63961659e-02 -3.27002979e-04 9.99865520e-01 -4.02126347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92587156000002 meters Centerline goodness [0,1] 0.9999142899997857 Centerline is valid? [True, True] Translation: X:136.21, Y:-13.20, Z:-4.02 [[ 9.87956549e-01 1.53869193e-01 1.63134623e-02 1.36212764e+02] [-1.53853064e-01 9.88091184e-01 -2.24670330e-03 -1.31969335e+01] [-1.64648867e-02 -2.90230916e-04 9.99864402e-01 -4.01996945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95587156000002 meters Centerline goodness [0,1] 0.9999361035973675 Centerline is valid? [True, True] Translation: X:136.24, Y:-13.20, Z:-4.02 [[ 9.88334866e-01 1.51384022e-01 1.66454657e-02 1.36239839e+02] [-1.51366888e-01 9.88474994e-01 -2.29173179e-03 -1.32017309e+01] [-1.68005582e-02 -2.54573912e-04 9.99858828e-01 -4.02109230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.27, Y:-13.21, Z:-4.02 [[ 9.88640865e-01 1.49349547e-01 1.68509020e-02 1.36268263e+02] [-1.49331714e-01 9.88784437e-01 -2.31878268e-03 -1.32066572e+01] [-1.70082188e-02 -2.23930757e-04 9.99855325e-01 -4.02129044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01587156000002 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:136.30, Y:-13.21, Z:-4.02 [[ 9.89071352e-01 1.46471927e-01 1.68474133e-02 1.36296782e+02] [-1.46453697e-01 9.89214812e-01 -2.31749868e-03 -1.32099172e+01] [-1.70051593e-02 -1.75194419e-04 9.99855386e-01 -4.02188000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.32, Y:-13.21, Z:-4.02 [[ 9.89251751e-01 1.45210033e-01 1.71761367e-02 1.36324700e+02] [-1.45190902e-01 9.89400840e-01 -2.36227816e-03 -1.32128283e+01] [-1.73371106e-02 -1.56930980e-04 9.99849689e-01 -4.02282988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07587156000002 meters Centerline goodness [0,1] 0.9999145919631037 Centerline is valid? [True, True] Translation: X:136.35, Y:-13.22, Z:-4.02 [[ 9.89350588e-01 1.44507697e-01 1.74051288e-02 1.36353291e+02] [-1.44487976e-01 9.89503665e-01 -2.39193223e-03 -1.32165692e+01] [-1.75680914e-02 -1.48372282e-04 9.99845658e-01 -4.02224659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.38, Y:-13.22, Z:-4.02 [[ 9.89636801e-01 1.42483118e-01 1.78203273e-02 1.36381594e+02] [-1.42462130e-01 9.89797226e-01 -2.44823128e-03 -1.32181001e+01] [-1.79873422e-02 -1.15862019e-04 9.99838208e-01 -4.02253695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13587156000003 meters Centerline goodness [0,1] 0.999871418468594 Centerline is valid? [True, True] Translation: X:136.41, Y:-13.22, Z:-4.02 [[ 9.89786955e-01 1.41366073e-01 1.83689030e-02 1.36410037e+02] [-1.41343605e-01 9.89957385e-01 -2.52229138e-03 -1.32223144e+01] [-1.85409976e-02 -9.97958673e-05 9.99828096e-01 -4.02292568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16587156000003 meters Centerline goodness [0,1] 0.9999571569341502 Centerline is valid? [True, True] Translation: X:136.44, Y:-13.23, Z:-4.02 [[ 9.89959101e-01 1.40147683e-01 1.84283978e-02 1.36438940e+02] [-1.40124874e-01 9.90130608e-01 -2.52956475e-03 -1.32268968e+01] [-1.86010334e-02 -7.81112830e-05 9.99826983e-01 -4.02369123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.47, Y:-13.23, Z:-4.03 [[ 9.90482687e-01 1.36460061e-01 1.79638377e-02 1.36466363e+02] [-1.36437794e-01 9.90645573e-01 -2.46510756e-03 -1.32337403e+01] [-1.81321851e-02 -9.30002938e-06 9.99835598e-01 -4.02582230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.49, Y:-13.24, Z:-4.03 [[ 9.90763006e-01 1.34410193e-01 1.79601506e-02 1.36494280e+02] [-1.34387620e-01 9.90925779e-01 -2.46336644e-03 -1.32390053e+01] [-1.81282778e-02 2.69904405e-05 9.99835669e-01 -4.02592371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.52, Y:-13.24, Z:-4.02 [[ 9.91061248e-01 1.32163516e-01 1.81771388e-02 1.36523256e+02] [-1.32140032e-01 9.91227926e-01 -2.49227150e-03 -1.32438195e+01] [-1.83470750e-02 6.80659976e-05 9.99831676e-01 -4.02484526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.55, Y:-13.25, Z:-4.03 [[ 9.91365256e-01 1.29815347e-01 1.85176882e-02 1.36551473e+02] [-1.29790583e-01 9.91538180e-01 -2.53802389e-03 -1.32496774e+01] [-1.86904693e-02 1.12687160e-04 9.99825312e-01 -4.02570336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.58, Y:-13.26, Z:-4.03 [[ 9.92012757e-01 1.24819491e-01 1.81874604e-02 1.36578485e+02] [-1.24794781e-01 9.92179446e-01 -2.49175301e-03 -1.32607254e+01] [-1.83562438e-02 2.02150626e-04 9.99831490e-01 -4.02818721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.61, Y:-13.27, Z:-4.03 [[ 9.92330183e-01 1.22313385e-01 1.78953516e-02 1.36606783e+02] [-1.22289064e-01 9.92491499e-01 -2.45123007e-03 -1.32684343e+01] [-1.80608026e-02 2.44023795e-04 9.99836861e-01 -4.02979394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.63, Y:-13.28, Z:-4.03 [[ 9.92584333e-01 1.20286307e-01 1.75370156e-02 1.36634432e+02] [-1.20262651e-01 9.92739205e-01 -2.40119448e-03 -1.32764393e+01] [-1.76985137e-02 2.74340027e-04 9.99843331e-01 -4.03178779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.66, Y:-13.28, Z:-4.03 [[ 9.92964952e-01 1.17083685e-01 1.76639169e-02 1.36662914e+02] [-1.17059192e-01 9.93121996e-01 -2.41779592e-03 -1.32830910e+01] [-1.78255088e-02 3.33062779e-04 9.99841058e-01 -4.03057631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:-13.29, Z:-4.03 [[ 9.93034999e-01 1.16407420e-01 1.81880220e-02 1.36690921e+02] [-1.16381345e-01 9.93201483e-01 -2.48921220e-03 -1.32883945e+01] [-1.83541332e-02 3.55128373e-04 9.99831486e-01 -4.03073558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46587156 meters Centerline goodness [0,1] 0.9999785995548708 Centerline is valid? [True, True] Translation: X:136.72, Y:-13.29, Z:-4.03 [[ 9.93048391e-01 1.16298434e-01 1.81539940e-02 1.36719192e+02] [-1.16272450e-01 9.93214251e-01 -2.48388570e-03 -1.32938426e+01] [-1.83196776e-02 3.55809341e-04 9.99832117e-01 -4.03143309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49587156 meters Centerline goodness [0,1] 0.9998041860667508 Centerline is valid? [True, True] Translation: X:136.75, Y:-13.30, Z:-4.03 [[ 9.92987003e-01 1.16814889e-01 1.81959896e-02 1.36748875e+02] [-1.16788886e-01 9.93153645e-01 -2.48884157e-03 -1.32967964e+01] [-1.83621471e-02 3.46297986e-04 9.99831342e-01 -4.03209898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52587156 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:136.78, Y:-13.30, Z:-4.03 [[ 9.92756632e-01 1.18716237e-01 1.84587417e-02 1.36778860e+02] [-1.18689814e-01 9.92928173e-01 -2.52432148e-03 -1.32986936e+01] [-1.86278826e-02 3.15172274e-04 9.99826436e-01 -4.03246132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55587156 meters Centerline goodness [0,1] 0.999978369492332 Centerline is valid? [True, True] Translation: X:136.81, Y:-13.30, Z:-4.03 [[ 9.92604862e-01 1.19905763e-01 1.89260473e-02 1.36808385e+02] [-1.19878211e-01 9.92785233e-01 -2.58775003e-03 -1.33018186e+01] [-1.90997864e-02 2.99792586e-04 9.99817537e-01 -4.03338153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.84, Y:-13.31, Z:-4.03 [[ 9.92454011e-01 1.21174798e-01 1.87537679e-02 1.36836893e+02] [-1.21147975e-01 9.92631147e-01 -2.56401569e-03 -1.33054192e+01] [-1.89262682e-02 2.72686653e-04 9.99820845e-01 -4.03466072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61587156000002 meters Centerline goodness [0,1] 0.9998706366831246 Centerline is valid? [True, True] Translation: X:136.86, Y:-13.31, Z:-4.04 [[ 9.92182974e-01 1.23519840e-01 1.77706442e-02 1.36864418e+02] [-1.23496144e-01 9.92342079e-01 -2.42896240e-03 -1.33083503e+01] [-1.79345831e-02 2.15369106e-04 9.99839139e-01 -4.03668252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64587156000002 meters Centerline goodness [0,1] 0.9998919923098525 Centerline is valid? [True, True] Translation: X:136.89, Y:-13.31, Z:-4.04 [[ 9.92064176e-01 1.24473921e-01 1.77458056e-02 1.36892291e+02] [-1.24450463e-01 9.92222860e-01 -2.42448702e-03 -1.33120226e+01] [-1.79095794e-02 1.96773000e-04 9.99839591e-01 -4.03825542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67587156000002 meters Centerline goodness [0,1] 0.9999569707401033 Centerline is valid? [True, True] Translation: X:136.92, Y:-13.32, Z:-4.04 [[ 9.91986091e-01 1.25133732e-01 1.74683686e-02 1.36921153e+02] [-1.25111124e-01 9.92139867e-01 -2.38540574e-03 -1.33157491e+01] [-1.76295597e-02 1.80802069e-04 9.99844571e-01 -4.03967299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70587156000002 meters Centerline goodness [0,1] 0.9998282561559434 Centerline is valid? [True, True] Translation: X:136.95, Y:-13.32, Z:-4.04 [[ 9.91885450e-01 1.25957749e-01 1.72597649e-02 1.36949518e+02] [-1.25935817e-01 9.92035593e-01 -2.35612935e-03 -1.33187932e+01] [-1.74190739e-02 1.63387820e-04 9.99848263e-01 -4.04032166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.98, Y:-13.32, Z:-4.04 [[ 9.91695101e-01 1.27333313e-01 1.80846617e-02 1.36978040e+02] [-1.27309479e-01 9.91859973e-01 -2.46780262e-03 -1.33210742e+01] [-1.82516856e-02 1.44958906e-04 9.99833414e-01 -4.04031779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.01, Y:-13.32, Z:-4.04 [[ 9.91586294e-01 1.28094292e-01 1.86674598e-02 1.37006890e+02] [-1.28069049e-01 9.91761985e-01 -2.54641590e-03 -1.33247002e+01] [-1.88398583e-02 1.34267282e-04 9.99822505e-01 -4.03939732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.03, Y:-13.33, Z:-4.04 [[ 9.91465280e-01 1.28992869e-01 1.89060538e-02 1.37033949e+02] [-1.28967156e-01 9.91645514e-01 -2.57814309e-03 -1.33300401e+01] [-1.90806655e-02 1.17879376e-04 9.99817941e-01 -4.04128719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.06, Y:-13.33, Z:-4.04 [[ 9.91382323e-01 1.29598373e-01 1.91141727e-02 1.37062167e+02] [-1.29572229e-01 9.91566564e-01 -2.60518455e-03 -1.33343189e+01] [-1.92906022e-02 1.06067953e-04 9.99813913e-01 -4.04160806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.09, Y:-13.34, Z:-4.04 [[ 9.91123588e-01 1.31511313e-01 1.94629667e-02 1.37090192e+02] [-1.31484591e-01 9.91314667e-01 -2.65190418e-03 -1.33363444e+01] [-1.96426798e-02 6.92845772e-05 9.99807062e-01 -4.04126460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.12, Y:-13.34, Z:-4.04 [[ 9.91011928e-01 1.32383205e-01 1.92365621e-02 1.37118796e+02] [-1.32357288e-01 9.91198610e-01 -2.61985671e-03 -1.33384718e+01] [-1.94140786e-02 5.02100480e-05 9.99811528e-01 -4.04141892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.15, Y:-13.34, Z:-4.04 [[ 9.90896418e-01 1.33310624e-01 1.87767744e-02 1.37145992e+02] [-1.33286112e-01 9.91074304e-01 -2.55647845e-03 -1.33414722e+01] [-1.89499843e-02 3.05220839e-05 9.99820432e-01 -4.04471686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.17, Y:-13.34, Z:-4.05 [[ 9.90662810e-01 1.35190848e-01 1.76247701e-02 1.37173567e+02] [-1.35169568e-01 9.90819577e-01 -2.39860660e-03 -1.33430278e+01] [-1.77872370e-02 -6.12220834e-06 9.99841795e-01 -4.04746532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.20, Y:-13.35, Z:-4.05 [[ 9.90527830e-01 1.36212497e-01 1.73427991e-02 1.37201316e+02] [-1.36192066e-01 9.90679643e-01 -2.35925793e-03 -1.33453627e+01] [-1.75025185e-02 -2.50410085e-05 9.99846819e-01 -4.04935350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00587156000003 meters Centerline goodness [0,1] 0.9998928464274999 Centerline is valid? [True, True] Translation: X:137.23, Y:-13.35, Z:-4.05 [[ 9.90405585e-01 1.37102475e-01 1.73115086e-02 1.37229580e+02] [-1.37082273e-01 9.90556868e-01 -2.35386844e-03 -1.33480779e+01] [-1.74707549e-02 -4.18164976e-05 9.99847374e-01 -4.05018179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03587156000003 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:137.26, Y:-13.35, Z:-4.05 [[ 9.90203444e-01 1.38551091e-01 1.73417034e-02 1.37257511e+02] [-1.38531052e-01 9.90355285e-01 -2.35731712e-03 -1.33490180e+01] [-1.75010564e-02 -6.81408849e-05 9.99846842e-01 -4.05101590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.29, Y:-13.35, Z:-4.05 [[ 9.90105749e-01 1.39271001e-01 1.71520863e-02 1.37286268e+02] [-1.39251526e-01 9.90254302e-01 -2.33043711e-03 -1.33512887e+01] [-1.73094896e-02 -8.10750056e-05 9.99850176e-01 -4.05242744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09587156000003 meters Centerline goodness [0,1] 0.9998928418345477 Centerline is valid? [True, True] Translation: X:137.31, Y:-13.35, Z:-4.05 [[ 9.90031559e-01 1.39829677e-01 1.68870828e-02 1.37314671e+02] [-1.39810892e-01 9.90175567e-01 -2.29372088e-03 -1.33549351e+01] [-1.70419070e-02 -9.01420491e-05 9.99854772e-01 -4.05144976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12587156000004 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:137.34, Y:-13.36, Z:-4.05 [[ 9.89955200e-01 1.40368672e-01 1.68919778e-02 1.37342834e+02] [-1.40349965e-01 9.90099301e-01 -2.29372180e-03 -1.33575477e+01] [-1.70467021e-02 -1.00106681e-04 9.99854689e-01 -4.05311504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15587156000004 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:137.37, Y:-13.36, Z:-4.06 [[ 9.89828341e-01 1.41255032e-01 1.69372879e-02 1.37371098e+02] [-1.41236373e-01 9.89973233e-01 -2.29883939e-03 -1.33579293e+01] [-1.70921843e-02 -1.16704733e-04 9.99853911e-01 -4.05644116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.40, Y:-13.36, Z:-4.05 [[ 9.89805579e-01 1.41362693e-01 1.73639088e-02 1.37399332e+02] [-1.41343120e-01 9.89957865e-01 -2.35552980e-03 -1.33623977e+01] [-1.75225221e-02 -1.22752503e-04 9.99846461e-01 -4.05425076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21587156 meters Centerline goodness [0,1] 0.9998926139902493 Centerline is valid? [True, True] Translation: X:137.43, Y:-13.37, Z:-4.05 [[ 9.89853665e-01 1.40969650e-01 1.78123667e-02 1.37427652e+02] [-1.40949005e-01 9.90013911e-01 -2.41548156e-03 -1.33665590e+01] [-1.79750004e-02 -1.19662083e-04 9.99838429e-01 -4.05354101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24587156 meters Centerline goodness [0,1] 0.9997837229924087 Centerline is valid? [True, True] Translation: X:137.46, Y:-13.37, Z:-4.05 [[ 9.89947530e-01 1.40293681e-01 1.79324187e-02 1.37456499e+02] [-1.40272662e-01 9.90109929e-01 -2.43088376e-03 -1.33709072e+01] [-1.80961034e-02 -1.08980724e-04 9.99836246e-01 -4.05354049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27587156 meters Centerline goodness [0,1] 0.9998929359114366 Centerline is valid? [True, True] Translation: X:137.48, Y:-13.38, Z:-4.05 [[ 9.90190084e-01 1.38491601e-01 1.85384545e-02 1.37483672e+02] [-1.38468836e-01 9.90363605e-01 -2.51221809e-03 -1.33752920e+01] [-1.87077317e-02 -7.94247686e-05 9.99824992e-01 -4.05423568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.51, Y:-13.38, Z:-4.05 [[ 9.90354758e-01 1.37232968e-01 1.90936215e-02 1.37510864e+02] [-1.37208608e-01 9.90538797e-01 -2.58624498e-03 -1.33793985e+01] [-1.92678909e-02 -5.85092129e-05 9.99814355e-01 -4.05470392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33587156000002 meters Centerline goodness [0,1] 0.9999357298941686 Centerline is valid? [True, True] Translation: X:137.54, Y:-13.38, Z:-4.05 [[ 9.90514708e-01 1.36033803e-01 1.93756957e-02 1.37539636e+02] [-1.36008517e-01 9.90704195e-01 -2.62305843e-03 -1.33847238e+01] [-1.95524077e-02 -3.70816863e-05 9.99808833e-01 -4.05471673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.57, Y:-13.39, Z:-4.06 [[ 9.90923185e-01 1.33075751e-01 1.90285622e-02 1.37567504e+02] [-1.33050833e-01 9.91105869e-01 -2.57519598e-03 -1.33930088e+01] [-1.92020159e-02 2.00553495e-05 9.99815624e-01 -4.05667792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39587156000002 meters Centerline goodness [0,1] 0.9998705529546288 Centerline is valid? [True, True] Translation: X:137.60, Y:-13.40, Z:-4.06 [[ 9.91164309e-01 1.31334030e-01 1.85657029e-02 1.37595892e+02] [-1.31310020e-01 9.91338171e-01 -2.51170307e-03 -1.33993740e+01] [-1.87347620e-02 5.16476203e-05 9.99824488e-01 -4.05768383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.62, Y:-13.41, Z:-4.06 [[ 9.91388331e-01 1.29589929e-01 1.88580677e-02 1.37623226e+02] [-1.29564856e-01 9.91567669e-01 -2.55051410e-03 -1.34051627e+01] [-1.90295711e-02 8.52070957e-05 9.99818918e-01 -4.05947262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.65, Y:-13.41, Z:-4.06 [[ 9.91604504e-01 1.27915831e-01 1.89221501e-02 1.37651160e+02] [-1.27890309e-01 9.91785020e-01 -2.55775924e-03 -1.34106028e+01] [-1.90938829e-02 1.16325964e-04 9.99817688e-01 -4.06000541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48587156000002 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:137.68, Y:-13.42, Z:-4.06 [[ 9.92039443e-01 1.24428042e-01 1.93754095e-02 1.37678504e+02] [-1.24400639e-01 9.92228616e-01 -2.61794384e-03 -1.34222033e+01] [-1.95505814e-02 1.86790225e-04 9.99808852e-01 -4.06313917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.71, Y:-13.42, Z:-4.06 [[ 9.92186287e-01 1.23157656e-01 1.99640445e-02 1.37707642e+02] [-1.23128317e-01 9.92387094e-01 -2.69686772e-03 -1.34246855e+01] [-2.01442000e-02 2.17655965e-04 9.99797061e-01 -4.05986844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54587156000002 meters Centerline goodness [0,1] 0.9998509052183173 Centerline is valid? [True, True] Translation: X:137.74, Y:-13.43, Z:-4.06 [[ 9.92339879e-01 1.21964547e-01 1.96523003e-02 1.37735839e+02] [-1.21935904e-01 9.92534429e-01 -2.65370548e-03 -1.34315615e+01] [-1.98292427e-02 2.37056759e-04 9.99803353e-01 -4.06132398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57587156000002 meters Centerline goodness [0,1] 0.9997647914127483 Centerline is valid? [True, True] Translation: X:137.77, Y:-13.44, Z:-4.06 [[ 9.92432713e-01 1.21218661e-01 1.95792560e-02 1.37765330e+02] [-1.21190102e-01 9.92625797e-01 -2.64301251e-03 -1.34364972e+01] [-1.97552571e-02 2.50200042e-04 9.99804815e-01 -4.06172071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60587156000003 meters Centerline goodness [0,1] 0.9998498917075891 Centerline is valid? [True, True] Translation: X:137.79, Y:-13.44, Z:-4.06 [[ 9.92541738e-01 1.20301336e-01 1.97100948e-02 1.37794292e+02] [-1.20272223e-01 9.92737385e-01 -2.66019895e-03 -1.34429952e+01] [-1.98869734e-02 2.69781585e-04 9.99802198e-01 -4.06330018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63587156000003 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:137.82, Y:-13.45, Z:-4.06 [[ 9.92592291e-01 1.19866892e-01 1.98109208e-02 1.37823261e+02] [-1.19837404e-01 9.92789932e-01 -2.67333189e-03 -1.34478907e+01] [-1.99885267e-02 2.79439320e-04 9.99800170e-01 -4.06454843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66587156000003 meters Centerline goodness [0,1] 0.9998928533161898 Centerline is valid? [True, True] Translation: X:137.85, Y:-13.45, Z:-4.07 [[ 9.92639223e-01 1.19522608e-01 1.95376323e-02 1.37851642e+02] [-1.19493869e-01 9.92831439e-01 -2.63602598e-03 -1.34530942e+01] [-1.97126403e-02 2.81995505e-04 9.99805647e-01 -4.06599533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.88, Y:-13.46, Z:-4.07 [[ 9.92780438e-01 1.18524670e-01 1.84093864e-02 1.37881637e+02] [-1.18498997e-01 9.92951067e-01 -2.48305246e-03 -1.34596474e+01] [-1.85739228e-02 2.83632091e-04 9.99827450e-01 -4.07005572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72587156000003 meters Centerline goodness [0,1] 0.9998072557502035 Centerline is valid? [True, True] Translation: X:137.91, Y:-13.47, Z:-4.07 [[ 9.92877814e-01 1.17716017e-01 1.83462463e-02 1.37910382e+02] [-1.17690377e-01 9.93047255e-01 -2.47480773e-03 -1.34659954e+01] [-1.85100140e-02 2.98005051e-04 9.99828631e-01 -4.07115922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.94, Y:-13.47, Z:-4.07 [[ 9.92943398e-01 1.17070170e-01 1.89204812e-02 1.37938031e+02] [-1.17042789e-01 9.93123594e-01 -2.55192937e-03 -1.34724974e+01] [-1.90891311e-02 3.19415541e-04 9.99817735e-01 -4.07207377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.97, Y:-13.48, Z:-4.07 [[ 9.92994688e-01 1.16527080e-01 1.95701060e-02 1.37968076e+02] [-1.16497702e-01 9.93187457e-01 -2.63846131e-03 -1.34758672e+01] [-1.97442360e-02 3.40105689e-04 9.99805006e-01 -4.07023160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.00, Y:-13.48, Z:-4.07 [[ 9.92994688e-01 1.16527080e-01 1.95701060e-02 1.37997799e+02] [-1.16497702e-01 9.93187457e-01 -2.63846131e-03 -1.34798746e+01] [-1.97442360e-02 3.40105689e-04 9.99805006e-01 -4.07113665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84587156000003 meters Centerline goodness [0,1] 0.9997659425069685 Centerline is valid? [True, True] Translation: X:138.03, Y:-13.49, Z:-4.07 [[ 9.93075639e-01 1.15719941e-01 2.02403441e-02 1.38027242e+02] [-1.15688350e-01 9.93281813e-01 -2.72870540e-03 -1.34895203e+01] [-2.04201313e-02 3.68238832e-04 9.99791420e-01 -4.07069161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87587156000004 meters Centerline goodness [0,1] 0.9999785223367698 Centerline is valid? [True, True] Translation: X:138.06, Y:-13.49, Z:-4.07 [[ 9.93077986e-01 1.15562650e-01 2.10092247e-02 1.38058511e+02] [-1.15528575e-01 9.93300118e-01 -2.83252470e-03 -1.34929724e+01] [-2.11957995e-02 3.85752122e-04 9.99775269e-01 -4.07042123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90587156000004 meters Centerline goodness [0,1] 0.999956870525317 Centerline is valid? [True, True] Translation: X:138.09, Y:-13.50, Z:-4.07 [[ 9.93061474e-01 1.15676906e-01 2.11604063e-02 1.38088671e+02] [-1.15642351e-01 9.93286819e-01 -2.85353732e-03 -1.34994465e+01] [-2.13484410e-02 3.86698848e-04 9.99772021e-01 -4.07144160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.12, Y:-13.50, Z:-4.07 [[ 9.93006774e-01 1.16118384e-01 2.13088475e-02 1.38119743e+02] [-1.16083442e-01 9.93235308e-01 -2.87371295e-03 -1.35033159e+01] [-2.14983906e-02 3.80012083e-04 9.99768811e-01 -4.07232883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.15, Y:-13.51, Z:-4.07 [[ 9.92851268e-01 1.17492198e-01 2.10224518e-02 1.38149725e+02] [-1.17458493e-01 9.93073745e-01 -2.83523542e-03 -1.35081918e+01] [-2.12099629e-02 3.45701581e-04 9.99774984e-01 -4.07397547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99587156 meters Centerline goodness [0,1] 0.9997857938479993 Centerline is valid? [True, True] Translation: X:138.18, Y:-13.51, Z:-4.07 [[ 9.92710720e-01 1.18670508e-01 2.10413072e-02 1.38180093e+02] [-1.18636971e-01 9.92933636e-01 -2.83948707e-03 -1.35133423e+01] [-2.12295850e-02 3.22512301e-04 9.99774575e-01 -4.07476685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.21, Y:-13.52, Z:-4.08 [[ 9.92550136e-01 1.19886199e-01 2.17146692e-02 1.38210026e+02] [-1.19850757e-01 9.92787593e-01 -2.93099984e-03 -1.35177941e+01] [-2.19094406e-02 3.06644749e-04 9.99759912e-01 -4.07632344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.24, Y:-13.52, Z:-4.08 [[ 9.92352179e-01 1.21513033e-01 2.17194778e-02 1.38240952e+02] [-1.21477960e-01 9.92589799e-01 -2.93190743e-03 -1.35208213e+01] [-2.19147971e-02 2.71046884e-04 9.99759805e-01 -4.07659523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08587156000002 meters Centerline goodness [0,1] 0.9999361022364217 Centerline is valid? [True, True] Translation: X:138.27, Y:-13.52, Z:-4.08 [[ 9.91821149e-01 1.25900546e-01 2.09728683e-02 1.38270991e+02] [-1.25868815e-01 9.92042854e-01 -2.83146617e-03 -1.35215397e+01] [-2.11624672e-02 1.68477948e-04 9.99776036e-01 -4.07828180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11587156000002 meters Centerline goodness [0,1] 0.9998711948821433 Centerline is valid? [True, True] Translation: X:138.30, Y:-13.52, Z:-4.08 [[ 9.91521510e-01 1.28305121e-01 2.05642952e-02 1.38301555e+02] [-1.28275132e-01 9.91734734e-01 -2.77630629e-03 -1.35235076e+01] [-2.07505401e-02 1.14879732e-04 9.99784678e-01 -4.07996517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.33, Y:-13.53, Z:-4.08 [[ 9.91230661e-01 1.30544245e-01 2.04933415e-02 1.38331354e+02] [-1.30514936e-01 9.91442482e-01 -2.76694876e-03 -1.35251861e+01] [-2.06791786e-02 6.79973031e-05 9.99786161e-01 -4.08262483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.36, Y:-13.53, Z:-4.08 [[ 9.90978951e-01 1.32432651e-01 2.05502066e-02 1.38360521e+02] [-1.32403591e-01 9.91192006e-01 -2.77436143e-03 -1.35271693e+01] [-2.07366165e-02 2.84126417e-05 9.99784973e-01 -4.08340143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.39, Y:-13.53, Z:-4.08 [[ 9.90528716e-01 1.35622158e-01 2.14357936e-02 1.38389705e+02] [-1.35591308e-01 9.90760631e-01 -2.89285338e-03 -1.35271693e+01] [-2.16300754e-02 -4.10529425e-05 9.99766042e-01 -4.08237764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.42, Y:-13.53, Z:-4.08 [[ 9.90372885e-01 1.36691678e-01 2.18388000e-02 1.38417399e+02] [-1.36659939e-01 9.90613638e-01 -2.94625122e-03 -1.35297261e+01] [-2.20365412e-02 -6.66017507e-05 9.99757164e-01 -4.08268426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26587156000002 meters Centerline goodness [0,1] 0.9998719699556162 Centerline is valid? [True, True] Translation: X:138.45, Y:-13.53, Z:-4.08 [[ 9.90270694e-01 1.37404064e-01 2.20017042e-02 1.38445565e+02] [-1.37372056e-01 9.90515076e-01 -2.96688359e-03 -1.35325918e+01] [-2.22006816e-02 -8.44014622e-05 9.99753531e-01 -4.08388194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.47, Y:-13.54, Z:-4.08 [[ 9.90235645e-01 1.37617767e-01 2.22422289e-02 1.38474113e+02] [-1.37585140e-01 9.90485407e-01 -2.99787879e-03 -1.35357334e+01] [-2.24431646e-02 -9.15937547e-05 9.99748116e-01 -4.08441186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.50, Y:-13.54, Z:-4.09 [[ 9.90245411e-01 1.37567075e-01 2.21206915e-02 1.38501669e+02] [-1.37534813e-01 9.90492449e-01 -2.98054776e-03 -1.35390556e+01] [-2.23204031e-02 -9.08914145e-05 9.99750865e-01 -4.08682814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.53, Y:-13.54, Z:-4.09 [[ 9.90313976e-01 1.37109407e-01 2.18915593e-02 1.38529675e+02] [-1.37077728e-01 9.90555906e-01 -2.94831475e-03 -1.35440539e+01] [-2.20890550e-02 -8.10879082e-05 9.99756004e-01 -4.08721104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.56, Y:-13.55, Z:-4.09 [[ 9.90391777e-01 1.36660552e-01 2.11665089e-02 1.38556779e+02] [-1.36630853e-01 9.90617933e-01 -2.84980202e-03 -1.35481256e+01] [-2.13573788e-02 -6.95776670e-05 9.99771903e-01 -4.09029047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.59, Y:-13.55, Z:-4.09 [[ 9.90425095e-01 1.36506963e-01 2.05907737e-02 1.38585067e+02] [-1.36478851e-01 9.90639109e-01 -2.77100171e-03 -1.35523634e+01] [-2.07762867e-02 -6.57355090e-05 9.99784147e-01 -4.09155617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44587156000003 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:138.61, Y:-13.56, Z:-4.09 [[ 9.90400714e-01 1.36690630e-01 2.05449992e-02 1.38614206e+02] [-1.36662703e-01 9.90613783e-01 -2.76386137e-03 -1.35556431e+01] [-2.07299533e-02 -7.04048473e-05 9.99785109e-01 -4.09198222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.64, Y:-13.56, Z:-4.09 [[ 9.90374764e-01 1.36771265e-01 2.12473007e-02 1.38642204e+02] [-1.36741435e-01 9.90602653e-01 -2.85738105e-03 -1.35585281e+01] [-2.14384400e-02 -7.55083021e-05 9.99770167e-01 -4.09217872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.67, Y:-13.56, Z:-4.09 [[ 9.90333680e-01 1.36998291e-01 2.16949579e-02 1.38669692e+02] [-1.36967274e-01 9.90571280e-01 -2.91626081e-03 -1.35606720e+01] [-2.18899250e-02 -8.34279482e-05 9.99760383e-01 -4.09270320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53587156000003 meters Centerline goodness [0,1] 0.9998934719618203 Centerline is valid? [True, True] Translation: X:138.70, Y:-13.56, Z:-4.09 [[ 9.90267551e-01 1.37400465e-01 2.21650457e-02 1.38698730e+02] [-1.37368222e-01 9.90515574e-01 -2.97801660e-03 -1.35621477e+01] [-2.23640038e-02 -9.57397012e-05 9.99749890e-01 -4.09143874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.73, Y:-13.56, Z:-4.09 [[ 9.90327380e-01 1.36939995e-01 2.23409434e-02 1.38727039e+02] [-1.36907145e-01 9.90579341e-01 -3.00059225e-03 -1.35649493e+01] [-2.25413780e-02 -8.70661115e-05 9.99745907e-01 -4.09283383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59587156000003 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:138.76, Y:-13.57, Z:-4.09 [[ 9.90408145e-01 1.36440459e-01 2.18107314e-02 1.38755117e+02] [-1.36409050e-01 9.90648270e-01 -2.92837110e-03 -1.35692386e+01] [-2.20063117e-02 -7.48985750e-05 9.99757829e-01 -4.09394600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.78, Y:-13.57, Z:-4.10 [[ 9.90566745e-01 1.35308506e-01 2.16594485e-02 1.38782963e+02] [-1.35277284e-01 9.90803515e-01 -2.90703123e-03 -1.35741669e+01] [-2.18536037e-02 -5.04228933e-05 9.99761180e-01 -4.09666304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65587156000004 meters Centerline goodness [0,1] 0.999871668734226 Centerline is valid? [True, True] Translation: X:138.81, Y:-13.58, Z:-4.10 [[ 9.91002677e-01 1.32165045e-01 2.11209550e-02 1.38811347e+02] [-1.32134662e-01 9.91227724e-01 -2.83380125e-03 -1.35815830e+01] [-2.13102056e-02 1.74943669e-05 9.99772912e-01 -4.09684804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.84, Y:-13.59, Z:-4.10 [[ 9.91302484e-01 1.29907040e-01 2.10605282e-02 1.38839425e+02] [-1.29876345e-01 9.91526176e-01 -2.82455957e-03 -1.35883023e+01] [-2.12489952e-02 6.47284840e-05 9.99774213e-01 -4.09901039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.87, Y:-13.60, Z:-4.10 [[ 9.91630968e-01 1.27375700e-01 2.10583536e-02 1.38869419e+02] [-1.27344464e-01 9.91854534e-01 -2.82318263e-03 -1.35966007e+01] [-2.12464283e-02 1.17890580e-04 9.99774262e-01 -4.10031988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.90, Y:-13.60, Z:-4.10 [[ 9.91943937e-01 1.24924282e-01 2.10035735e-02 1.38899360e+02] [-1.24892658e-01 9.92166264e-01 -2.81583855e-03 -1.36048033e+01] [-2.11908037e-02 1.69961845e-04 9.99775435e-01 -4.10107433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.93, Y:-13.61, Z:-4.10 [[ 9.92220610e-01 1.22689671e-01 2.11070107e-02 1.38928709e+02] [-1.22657227e-01 9.92445060e-01 -2.82981217e-03 -1.36113678e+01] [-2.12947372e-02 2.18870553e-04 9.99773217e-01 -4.10130092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.96, Y:-13.62, Z:-4.10 [[ 9.92577360e-01 1.19832832e-01 2.07430949e-02 1.38958405e+02] [-1.19800898e-01 9.92794046e-01 -2.77989648e-03 -1.36202222e+01] [-2.09267439e-02 2.74220929e-04 9.99780974e-01 -4.10283187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83587156000002 meters Centerline goodness [0,1] 0.9999353615444282 Centerline is valid? [True, True] Translation: X:138.99, Y:-13.63, Z:-4.10 [[ 9.92656756e-01 1.19202162e-01 2.05769087e-02 1.38988807e+02] [-1.19170555e-01 9.92869962e-01 -2.75990045e-03 -1.36259405e+01] [-2.07591807e-02 2.87472204e-04 9.99784464e-01 -4.10297101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.02, Y:-13.63, Z:-4.10 [[ 9.92660333e-01 1.19150050e-01 2.07057922e-02 1.39018895e+02] [-1.19118021e-01 9.92876216e-01 -2.77778923e-03 -1.36307883e+01] [-2.08892623e-02 2.90968201e-04 9.99781753e-01 -4.10460400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89587156000002 meters Centerline goodness [0,1] 0.9998500556935995 Centerline is valid? [True, True] Translation: X:139.05, Y:-13.63, Z:-4.10 [[ 9.92572351e-01 1.19794930e-01 2.11967467e-02 1.39050163e+02] [-1.19761508e-01 9.92798617e-01 -2.84380914e-03 -1.36338115e+01] [-2.13847747e-02 2.84131983e-04 9.99771279e-01 -4.10368702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.08, Y:-13.63, Z:-4.10 [[ 9.92315310e-01 1.21821862e-01 2.16739163e-02 1.39080977e+02] [-1.21787387e-01 9.92551950e-01 -2.90844831e-03 -1.36347798e+01] [-2.18668005e-02 2.46488148e-04 9.99760863e-01 -4.10446141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.11, Y:-13.64, Z:-4.10 [[ 9.92147784e-01 1.23110713e-01 2.20573534e-02 1.39112149e+02] [-1.23075319e-01 9.92392918e-01 -2.96025600e-03 -1.36353495e+01] [-2.22540005e-02 2.22295631e-04 9.99752324e-01 -4.10318985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.14, Y:-13.64, Z:-4.10 [[ 9.91975151e-01 1.24361638e-01 2.27921475e-02 1.39142783e+02] [-1.24324176e-01 9.92236939e-01 -3.05887068e-03 -1.36368830e+01] [-2.29956169e-02 2.00708747e-04 9.99735546e-01 -4.10298560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.17, Y:-13.64, Z:-4.10 [[ 9.91682877e-01 1.26545918e-01 2.34777155e-02 1.39173111e+02] [-1.26506777e-01 9.91960739e-01 -3.15095589e-03 -1.36356805e+01] [-2.36877126e-02 1.54658874e-04 9.99719395e-01 -4.10221583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.20, Y:-13.64, Z:-4.10 [[ 9.91627093e-01 1.26905974e-01 2.38868670e-02 1.39203417e+02] [-1.26865570e-01 9.91914740e-01 -3.20550308e-03 -1.36382977e+01] [-2.41005330e-02 1.48242695e-04 9.99709529e-01 -4.10264907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.23, Y:-13.64, Z:-4.10 [[ 9.91648433e-01 1.26711395e-01 2.40334623e-02 1.39232671e+02] [-1.26670435e-01 9.91939614e-01 -3.22524687e-03 -1.36434067e+01] [-2.42484189e-02 1.53981885e-04 9.99705952e-01 -4.10419834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10587156000003 meters Centerline goodness [0,1] 0.9998930366884159 Centerline is valid? [True, True] Translation: X:139.26, Y:-13.65, Z:-4.11 [[ 9.91717698e-01 1.26236880e-01 2.36697769e-02 1.39261371e+02] [-1.26197022e-01 9.92000113e-01 -3.17615571e-03 -1.36496647e+01] [-2.38813693e-02 1.62794476e-04 9.99714786e-01 -4.10514661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13587156000003 meters Centerline goodness [0,1] 0.9998058252427184 Centerline is valid? [True, True] Translation: X:139.29, Y:-13.66, Z:-4.11 [[ 9.91914179e-01 1.24796556e-01 2.30668935e-02 1.39292616e+02] [-1.24758326e-01 9.92182333e-01 -3.09474481e-03 -1.36557920e+01] [-2.32727777e-02 1.91934242e-04 9.99729134e-01 -4.10572555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.32, Y:-13.66, Z:-4.11 [[ 9.91987402e-01 1.24171703e-01 2.32890861e-02 1.39322543e+02] [-1.24132545e-01 9.92260724e-01 -3.12521862e-03 -1.36600669e+01] [-2.34969092e-02 2.09243969e-04 9.99723888e-01 -4.10801283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.35, Y:-13.66, Z:-4.11 [[ 9.92001455e-01 1.24049555e-01 2.33413914e-02 1.39352467e+02] [-1.24010178e-01 9.92276001e-01 -3.13260407e-03 -1.36634417e+01] [-2.35497007e-02 2.12977691e-04 9.99722645e-01 -4.10834244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:-13.67, Z:-4.11 [[ 9.91961153e-01 1.24389470e-01 2.32450261e-02 1.39382422e+02] [-1.24350512e-01 9.92233449e-01 -3.11959134e-03 -1.36680352e+01] [-2.34525367e-02 2.03982519e-04 9.99724931e-01 -4.11043304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.41, Y:-13.67, Z:-4.11 [[ 9.91831485e-01 1.25465520e-01 2.29936658e-02 1.39412863e+02] [-1.25427682e-01 9.92097965e-01 -3.08621216e-03 -1.36697338e+01] [-2.31991823e-02 1.76960184e-04 9.99730847e-01 -4.11099249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.44, Y:-13.67, Z:-4.11 [[ 9.91722500e-01 1.26320576e-01 2.30129319e-02 1.39443166e+02] [-1.26282905e-01 9.91989459e-01 -3.08879805e-03 -1.36710815e+01] [-2.32187646e-02 1.57090643e-04 9.99730396e-01 -4.11108476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.47, Y:-13.67, Z:-4.11 [[ 9.91601985e-01 1.27463114e-01 2.18782544e-02 1.39472381e+02] [-1.27429342e-01 9.91843304e-01 -2.93659963e-03 -1.36725650e+01] [-2.20741082e-02 1.24006460e-04 9.99756329e-01 -4.11382201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.50, Y:-13.68, Z:-4.12 [[ 9.91575422e-01 1.27677730e-01 2.18307209e-02 1.39500942e+02] [-1.27644160e-01 9.91815700e-01 -2.93005937e-03 -1.36756212e+01] [-2.20261550e-02 1.18810816e-04 9.99757388e-01 -4.11502332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.53, Y:-13.68, Z:-4.12 [[ 9.91614108e-01 1.27324566e-01 2.21340350e-02 1.39531497e+02] [-1.27289986e-01 9.91861098e-01 -2.96999865e-03 -1.36801085e+01] [-2.23320420e-02 1.27651561e-04 9.99750601e-01 -4.11572330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.56, Y:-13.69, Z:-4.12 [[ 9.91706893e-01 1.26544862e-01 2.24463200e-02 1.39560757e+02] [-1.26509097e-01 9.91960874e-01 -3.01199002e-03 -1.36859946e+01] [-2.26470231e-02 1.47347591e-04 9.99743512e-01 -4.11680446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43587156000004 meters Centerline goodness [0,1] 0.9998709954848419 Centerline is valid? [True, True] Translation: X:139.59, Y:-13.70, Z:-4.12 [[ 9.92094356e-01 1.23558135e-01 2.19585033e-02 1.39589848e+02] [-1.23523185e-01 9.92337313e-01 -2.94618527e-03 -1.36956437e+01] [-2.21542673e-02 2.10509529e-04 9.99754542e-01 -4.11756569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.62, Y:-13.70, Z:-4.12 [[ 9.92338012e-01 1.21605189e-01 2.18505920e-02 1.39619327e+02] [-1.21570109e-01 9.92578518e-01 -2.93160996e-03 -1.37047191e+01] [-2.20449273e-02 2.52769129e-04 9.99756949e-01 -4.12054224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.65, Y:-13.71, Z:-4.12 [[ 9.92581743e-01 1.19543103e-01 2.21569525e-02 1.39650127e+02] [-1.19506515e-01 9.92828966e-01 -2.97289457e-03 -1.37136803e+01] [-2.23534532e-02 3.02940710e-04 9.99750084e-01 -4.12075264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.68, Y:-13.72, Z:-4.12 [[ 9.92817074e-01 1.17573163e-01 2.21541849e-02 1.39681251e+02] [-1.17536107e-01 9.93064163e-01 -2.97193260e-03 -1.37229625e+01] [-2.23499466e-02 3.46668781e-04 9.99750149e-01 -4.12170656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.71, Y:-13.74, Z:-4.12 [[ 9.93203411e-01 1.14425166e-01 2.13041136e-02 1.39710661e+02] [-1.14390088e-01 9.93431788e-01 -2.86199952e-03 -1.37360903e+01] [-2.14916684e-02 4.05568270e-04 9.99768945e-01 -4.12444643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58587156000002 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:139.74, Y:-13.74, Z:-4.13 [[ 9.93320889e-01 1.13412804e-01 2.12402390e-02 1.39740749e+02] [-1.13377678e-01 9.93547862e-01 -2.85462908e-03 -1.37446839e+01] [-2.14269455e-02 4.27393714e-04 9.99770325e-01 -4.12550779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61587156000002 meters Centerline goodness [0,1] 0.9997857249994643 Centerline is valid? [True, True] Translation: X:139.77, Y:-13.75, Z:-4.12 [[ 9.93352288e-01 1.13122766e-01 2.13183363e-02 1.39772630e+02] [-1.13087248e-01 9.93580922e-01 -2.86819063e-03 -1.37500333e+01] [-2.15059499e-02 4.38291727e-04 9.99768624e-01 -4.12420140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64587156000002 meters Centerline goodness [0,1] 0.9998508226067684 Centerline is valid? [True, True] Translation: X:139.80, Y:-13.76, Z:-4.13 [[ 9.93309495e-01 1.13537444e-01 2.11067574e-02 1.39803262e+02] [-1.13502649e-01 9.93533626e-01 -2.84315522e-03 -1.37612051e+01] [-2.12930777e-02 4.28460211e-04 9.99773185e-01 -4.12606801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67587156000002 meters Centerline goodness [0,1] 0.9999782570881892 Centerline is valid? [True, True] Translation: X:139.84, Y:-13.76, Z:-4.13 [[ 9.93173465e-01 1.14710407e-01 2.11657895e-02 1.39835372e+02] [-1.14675599e-01 9.93398891e-01 -2.85503984e-03 -1.37639266e+01] [-2.13535746e-02 4.08350228e-04 9.99771903e-01 -4.12654768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70587156000002 meters Centerline goodness [0,1] 0.9999782570881892 Centerline is valid? [True, True] Translation: X:139.87, Y:-13.77, Z:-4.13 [[ 9.93151478e-01 1.14900700e-01 2.11653392e-02 1.39867569e+02] [-1.14865864e-01 9.93376899e-01 -2.85837371e-03 -1.37684542e+01] [-2.13535882e-02 4.07623091e-04 9.99771903e-01 -4.12752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.90, Y:-13.77, Z:-4.13 [[ 9.92961169e-01 1.16484571e-01 2.14350603e-02 1.39898722e+02] [-1.16449114e-01 9.93192428e-01 -2.89927103e-03 -1.37739612e+01] [-2.16268599e-02 3.82769776e-04 9.99766039e-01 -4.12817282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:-13.78, Z:-4.13 [[ 9.92743856e-01 1.18243956e-01 2.18632728e-02 1.39931066e+02] [-1.18207391e-01 9.92984512e-01 -2.96187513e-03 -1.37784466e+01] [-2.20601151e-02 3.55982910e-04 9.99756583e-01 -4.12814356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.96, Y:-13.78, Z:-4.13 [[ 9.92203876e-01 1.22546320e-01 2.26686660e-02 1.39961689e+02] [-1.22508091e-01 9.92462758e-01 -3.07277228e-03 -1.37795543e+01] [-2.28743637e-02 2.71721563e-04 9.99738311e-01 -4.12750186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.99, Y:-13.78, Z:-4.13 [[ 9.91882950e-01 1.25082791e-01 2.28584405e-02 1.39992630e+02] [-1.25044610e-01 9.92146284e-01 -3.09776643e-03 -1.37823103e+01] [-2.30663940e-02 2.14296935e-04 9.99733912e-01 -4.12826770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.02, Y:-13.79, Z:-4.13 [[ 9.91581946e-01 1.27391014e-01 2.31683955e-02 1.40023412e+02] [-1.27352336e-01 9.91852561e-01 -3.14336261e-03 -1.37855618e+01] [-2.33800686e-02 1.66352323e-04 9.99726635e-01 -4.12893604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.06, Y:-13.79, Z:-4.13 [[ 9.91316265e-01 1.29450758e-01 2.31206285e-02 1.40055902e+02] [-1.29412709e-01 9.91585844e-01 -3.14071062e-03 -1.37887979e+01] [-2.33326553e-02 1.21334342e-04 9.99727749e-01 -4.12964370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91587156000003 meters Centerline goodness [0,1] 0.9998927682937291 Centerline is valid? [True, True] Translation: X:140.09, Y:-13.79, Z:-4.13 [[ 9.90906850e-01 1.32625204e-01 2.26753115e-02 1.40087465e+02] [-1.32589330e-01 9.91166259e-01 -3.08492274e-03 -1.37917249e+01] [-2.28841422e-02 5.03667084e-05 9.99738122e-01 -4.13096947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.12, Y:-13.80, Z:-4.13 [[ 9.90752920e-01 1.33783661e-01 2.25961155e-02 1.40118385e+02] [-1.33748326e-01 9.91010561e-01 -3.07467821e-03 -1.37951988e+01] [-2.28043308e-02 2.40537797e-05 9.99739947e-01 -4.13265290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.15, Y:-13.80, Z:-4.13 [[ 9.90613879e-01 1.34782847e-01 2.27536173e-02 1.40149524e+02] [-1.34747269e-01 9.90875161e-01 -3.09665523e-03 -1.37989291e+01] [-2.29633702e-02 1.60185240e-06 9.99736307e-01 -4.13308106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.18, Y:-13.80, Z:-4.13 [[ 9.90498115e-01 1.35655644e-01 2.26059717e-02 1.40180919e+02] [-1.35620742e-01 9.90756048e-01 -3.07709787e-03 -1.38028234e+01] [-2.28144288e-02 -1.79790003e-05 9.99739717e-01 -4.13383662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03587156000003 meters Centerline goodness [0,1] 0.9998930344001369 Centerline is valid? [True, True] Translation: X:140.21, Y:-13.81, Z:-4.14 [[ 9.90330611e-01 1.36965804e-01 2.20374658e-02 1.40210927e+02] [-1.36932945e-01 9.90575775e-01 -3.00034197e-03 -1.38074266e+01] [-2.22407240e-02 -4.63246001e-05 9.99752643e-01 -4.13600289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.24, Y:-13.81, Z:-4.14 [[ 9.90256234e-01 1.37437451e-01 2.24396657e-02 1.40240996e+02] [-1.37403494e-01 9.90510446e-01 -3.05547802e-03 -1.38114554e+01] [-2.26466604e-02 -5.75823116e-05 9.99743530e-01 -4.13743412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.27, Y:-13.81, Z:-4.14 [[ 9.90165654e-01 1.38036038e-01 2.27602877e-02 1.40271214e+02] [-1.38001262e-01 9.90427204e-01 -3.09913525e-03 -1.38147612e+01] [-2.29702005e-02 -7.22911470e-05 9.99736148e-01 -4.13684114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.30, Y:-13.82, Z:-4.14 [[ 9.90152111e-01 1.38161137e-01 2.25897747e-02 1.40300512e+02] [-1.38126910e-01 9.90409761e-01 -3.07600621e-03 -1.38179246e+01] [-2.27981179e-02 -7.45417385e-05 9.99740086e-01 -4.13960147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15587156000004 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:140.33, Y:-13.82, Z:-4.14 [[ 9.90164483e-01 1.38136542e-01 2.21944180e-02 1.40330468e+02] [-1.38103505e-01 9.90413192e-01 -3.02181416e-03 -1.38232829e+01] [-2.23990673e-02 -7.30338659e-05 9.99749107e-01 -4.14021628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.36, Y:-13.83, Z:-4.14 [[ 9.90206319e-01 1.37867936e-01 2.19972477e-02 1.40361813e+02] [-1.37835422e-01 9.90450619e-01 -2.99477409e-03 -1.38289034e+01] [-2.22000710e-02 -6.65557059e-05 9.99753546e-01 -4.14118075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.39, Y:-13.83, Z:-4.14 [[ 9.90348673e-01 1.36890035e-01 2.16938677e-02 1.40391811e+02] [-1.36858163e-01 9.90586249e-01 -2.95409887e-03 -1.38339732e+01] [-2.18940337e-02 -4.33949892e-05 9.99760296e-01 -4.14348017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.42, Y:-13.84, Z:-4.14 [[ 9.90475842e-01 1.35967386e-01 2.16904774e-02 1.40421364e+02] [-1.35935295e-01 9.90713313e-01 -2.95400390e-03 -1.38395922e+01] [-2.18906929e-02 -2.26319453e-05 9.99760370e-01 -4.14394189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.45, Y:-13.85, Z:-4.14 [[ 9.90646327e-01 1.34665666e-01 2.20230182e-02 1.40452100e+02] [-1.34632266e-01 9.90891093e-01 -2.99909983e-03 -1.38460065e+01] [-2.22262883e-02 6.03839514e-06 9.99752966e-01 -4.14350690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.48, Y:-13.85, Z:-4.14 [[ 9.90804257e-01 1.33443849e-01 2.23531662e-02 1.40482876e+02] [-1.33409139e-01 9.91056375e-01 -3.04360626e-03 -1.38526365e+01] [-2.25593984e-02 3.35013752e-05 9.99745504e-01 -4.14436601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.51, Y:-13.86, Z:-4.14 [[ 9.91135454e-01 1.30849015e-01 2.30010033e-02 1.40513280e+02] [-1.30811477e-01 9.91402302e-01 -3.13563776e-03 -1.38615334e+01] [-2.32135428e-02 9.90465498e-05 9.99730525e-01 -4.14442630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.55, Y:-13.87, Z:-4.14 [[ 9.91328136e-01 1.29336343e-01 2.32516232e-02 1.40545770e+02] [-1.29297486e-01 9.91600772e-01 -3.17320389e-03 -1.38688418e+01] [-2.34667381e-02 1.39309871e-04 9.99724608e-01 -4.14499686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39587156000002 meters Centerline goodness [0,1] 0.9998069994853319 Centerline is valid? [True, True] Translation: X:140.58, Y:-13.88, Z:-4.14 [[ 9.91521929e-01 1.27782888e-01 2.35753674e-02 1.40577503e+02] [-1.27742391e-01 9.91802148e-01 -3.22203914e-03 -1.38763687e+01] [-2.37938215e-02 1.83148669e-04 9.99716870e-01 -4.14378837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.61, Y:-13.89, Z:-4.15 [[ 9.91862352e-01 1.25035345e-01 2.39841108e-02 1.40608369e+02] [-1.24992528e-01 9.92152255e-01 -3.28203321e-03 -1.38863749e+01] [-2.42062598e-02 2.57490547e-04 9.99706952e-01 -4.14564755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.64, Y:-13.89, Z:-4.15 [[ 9.92004498e-01 1.23945124e-01 2.37630493e-02 1.40639603e+02] [-1.23902685e-01 9.92289033e-01 -3.25574515e-03 -1.38940670e+01] [-2.39833470e-02 2.85408223e-04 9.99712317e-01 -4.14685111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.67, Y:-13.90, Z:-4.15 [[ 9.92142341e-01 1.22788812e-01 2.40100631e-02 1.40669723e+02] [-1.22745046e-01 9.92432771e-01 -3.29375018e-03 -1.39033611e+01] [-2.42328091e-02 3.20752711e-04 9.99706291e-01 -4.14861746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.70, Y:-13.91, Z:-4.15 [[ 9.92255358e-01 1.21907477e-01 2.38300686e-02 1.40701061e+02] [-1.21864025e-01 9.92541409e-01 -3.27265532e-03 -1.39093325e+01] [-2.40512910e-02 3.43281704e-04 9.99710667e-01 -4.14913384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.73, Y:-13.92, Z:-4.15 [[ 9.92480771e-01 1.20156912e-01 2.33288642e-02 1.40732937e+02] [-1.20114699e-01 9.92754839e-01 -3.20750882e-03 -1.39162297e+01] [-2.35452472e-02 3.81251330e-04 9.99722700e-01 -4.14947384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.76, Y:-13.93, Z:-4.15 [[ 9.92543885e-01 1.19664330e-01 2.31750672e-02 1.40763264e+02] [-1.19622431e-01 9.92814329e-01 -3.19087761e-03 -1.39272257e+01] [-2.33903731e-02 3.94828173e-04 9.99726330e-01 -4.15296312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.80, Y:-13.93, Z:-4.15 [[ 9.92580503e-01 1.19473038e-01 2.25862409e-02 1.40795430e+02] [-1.19433156e-01 9.92837369e-01 -3.11138193e-03 -1.39318150e+01] [-2.27961902e-02 3.90751010e-04 9.99740057e-01 -4.15398188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63587156000003 meters Centerline goodness [0,1] 0.9999142753048584 Centerline is valid? [True, True] Translation: X:140.83, Y:-13.94, Z:-4.15 [[ 9.92588886e-01 1.19501206e-01 2.20627529e-02 1.40826806e+02] [-1.19463083e-01 9.92833981e-01 -3.04266270e-03 -1.39395509e+01] [-2.22682527e-02 3.84428694e-04 9.99751958e-01 -4.15482641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66587156000003 meters Centerline goodness [0,1] 0.9998709982584765 Centerline is valid? [True, True] Translation: X:140.86, Y:-13.94, Z:-4.15 [[ 9.92525406e-01 1.20004841e-01 2.21845909e-02 1.40859114e+02] [-1.19966334e-01 9.92773234e-01 -3.06338287e-03 -1.39424508e+01] [-2.23918888e-02 3.79081289e-04 9.99749198e-01 -4.15475628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.89, Y:-13.95, Z:-4.16 [[ 9.92433657e-01 1.20745539e-01 2.22699799e-02 1.40889264e+02] [-1.20706834e-01 9.92683424e-01 -3.07908183e-03 -1.39500476e+01] [-2.24788253e-02 3.67645679e-04 9.99747252e-01 -4.15725049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.92, Y:-13.95, Z:-4.16 [[ 9.92323300e-01 1.21609357e-01 2.24862569e-02 1.40919604e+02] [-1.21570025e-01 9.92577976e-01 -3.11305675e-03 -1.39549552e+01] [-2.26979402e-02 3.55503935e-04 9.99742305e-01 -4.15753943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.95, Y:-13.96, Z:-4.16 [[ 9.92018129e-01 1.24063987e-01 2.25423687e-02 1.40951034e+02] [-1.24025045e-01 9.92274174e-01 -3.12289861e-03 -1.39577683e+01] [-2.27556495e-02 3.02153759e-04 9.99741011e-01 -4.15791791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.98, Y:-13.96, Z:-4.16 [[ 9.91801798e-01 1.25766176e-01 2.26287765e-02 1.40983419e+02] [-1.25727343e-01 9.92059876e-01 -3.13634048e-03 -1.39572466e+01] [-2.28435467e-02 2.65572179e-04 9.99739017e-01 -4.15724827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81587156000003 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:141.01, Y:-13.96, Z:-4.16 [[ 9.91595474e-01 1.27396635e-01 2.25502192e-02 1.41014118e+02] [-1.27358403e-01 9.91851826e-01 -3.12944490e-03 -1.39612797e+01] [-2.27651569e-02 2.31183501e-04 9.99740814e-01 -4.15865102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.05, Y:-13.96, Z:-4.16 [[ 9.91349080e-01 1.29277083e-01 2.26812042e-02 1.41046406e+02] [-1.29238814e-01 9.91608491e-01 -3.15123174e-03 -1.39638405e+01] [-2.28982567e-02 1.92678752e-04 9.99737782e-01 -4.16015851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.08, Y:-13.96, Z:-4.16 [[ 9.90896292e-01 1.32593464e-01 2.33133458e-02 1.41078989e+02] [-1.32553855e-01 9.91170499e-01 -3.24305513e-03 -1.39644027e+01] [-2.35375085e-02 1.23257440e-04 9.99722947e-01 -4.15948239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.11, Y:-13.97, Z:-4.16 [[ 9.90669553e-01 1.34198034e-01 2.37639445e-02 1.41111138e+02] [-1.34157244e-01 9.90954529e-01 -3.30973379e-03 -1.39661725e+01] [-2.39931482e-02 9.07471883e-05 9.99712119e-01 -4.15931116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.14, Y:-13.97, Z:-4.16 [[ 9.90452395e-01 1.35772892e-01 2.38699681e-02 1.41142969e+02] [-1.35732097e-01 9.90739985e-01 -3.32855524e-03 -1.39690210e+01] [-2.41008594e-02 5.68546890e-05 9.99709530e-01 -4.16079255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96587156 meters Centerline goodness [0,1] 0.9997665534804754 Centerline is valid? [True, True] Translation: X:141.17, Y:-13.97, Z:-4.16 [[ 9.90146618e-01 1.38103476e-01 2.31754979e-02 1.41174967e+02] [-1.38065562e-01 9.90417806e-01 -3.23584371e-03 -1.39710257e+01] [-2.34003070e-02 4.22155422e-06 9.99726175e-01 -4.16435360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.21, Y:-13.97, Z:-4.16 [[ 9.89993715e-01 1.39292938e-01 2.25814670e-02 1.41207508e+02] [-1.39257165e-01 9.90251219e-01 -3.15671379e-03 -1.39741709e+01] [-2.28010331e-02 -1.95042578e-05 9.99740022e-01 -4.16493720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.24, Y:-13.98, Z:-4.17 [[ 9.89909928e-01 1.40023078e-01 2.17225964e-02 1.41238342e+02] [-1.39990043e-01 9.90148240e-01 -3.04154558e-03 -1.39768251e+01] [-2.19344772e-02 -3.00910503e-05 9.99759410e-01 -4.16789955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.27, Y:-13.98, Z:-4.17 [[ 9.89820528e-01 1.40729330e-01 2.12268360e-02 1.41270197e+02] [-1.40697920e-01 9.90048107e-01 -2.97346484e-03 -1.39801147e+01] [-2.14340425e-02 -4.33751321e-05 9.99770264e-01 -4.17018725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.30, Y:-13.99, Z:-4.17 [[ 9.89881044e-01 1.40283797e-01 2.13535733e-02 1.41301921e+02] [-1.40251831e-01 9.90111335e-01 -2.99472059e-03 -1.39855505e+01] [-2.15625258e-02 -3.04606186e-05 9.99767501e-01 -4.16999504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11587156000002 meters Centerline goodness [0,1] 0.9998508416790965 Centerline is valid? [True, True] Translation: X:141.33, Y:-13.99, Z:-4.17 [[ 9.89977573e-01 1.39548885e-01 2.16913369e-02 1.41333502e+02] [-1.39515641e-01 9.90215183e-01 -3.04587882e-03 -1.39915575e+01] [-2.19041401e-02 -1.09290506e-05 9.99760075e-01 -4.17023532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:-14.00, Z:-4.17 [[ 9.90069632e-01 1.38784388e-01 2.23834256e-02 1.41365450e+02] [-1.38748691e-01 9.90322621e-01 -3.14759895e-03 -1.39978587e+01] [-2.26036503e-02 1.06711374e-05 9.99744505e-01 -4.17126979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.40, Y:-14.00, Z:-4.17 [[ 9.90196426e-01 1.37817404e-01 2.27464669e-02 1.41396358e+02] [-1.37780195e-01 9.90457653e-01 -3.20248782e-03 -1.40048873e+01] [-2.29707708e-02 3.70793314e-05 9.99736136e-01 -4.17140225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.43, Y:-14.02, Z:-4.17 [[ 9.90424863e-01 1.36162789e-01 2.27658770e-02 1.41427876e+02] [-1.36124987e-01 9.90686473e-01 -3.20927894e-03 -1.40152338e+01] [-2.29908308e-02 7.95449420e-05 9.99735673e-01 -4.17282422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.46, Y:-14.02, Z:-4.17 [[ 9.90506769e-01 1.35603435e-01 2.25399666e-02 1.41460224e+02] [-1.35566138e-01 9.90763190e-01 -3.18166816e-03 -1.40217916e+01] [-2.27632143e-02 9.58076425e-05 9.99740880e-01 -4.17435177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.49, Y:-14.03, Z:-4.18 [[ 9.90528253e-01 1.35471645e-01 2.23877929e-02 1.41493116e+02] [-1.35434722e-01 9.90781218e-01 -3.16437405e-03 -1.40267204e+01] [-2.26100877e-02 1.02317388e-04 9.99744354e-01 -4.17544078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.53, Y:-14.03, Z:-4.18 [[ 9.90486960e-01 1.35763492e-01 2.24467445e-02 1.41526068e+02] [-1.35726352e-01 9.90741270e-01 -3.17698926e-03 -1.40315712e+01] [-2.26702353e-02 1.00151692e-04 9.99742992e-01 -4.17620217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.56, Y:-14.04, Z:-4.18 [[ 9.90429017e-01 1.36187514e-01 2.24348871e-02 1.41557397e+02] [-1.36150420e-01 9.90683073e-01 -3.17982582e-03 -1.40374671e+01] [-2.26589154e-02 9.48724667e-05 9.99743249e-01 -4.17780704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35587156000003 meters Centerline goodness [0,1] 0.9999141907111445 Centerline is valid? [True, True] Translation: X:141.59, Y:-14.04, Z:-4.18 [[ 9.90362446e-01 1.36628351e-01 2.26918250e-02 1.41589988e+02] [-1.36590421e-01 9.90622373e-01 -3.22043430e-03 -1.40424780e+01] [-2.29190321e-02 8.99112610e-05 9.99737320e-01 -4.17642390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.62, Y:-14.05, Z:-4.18 [[ 9.90326164e-01 1.36841161e-01 2.29910074e-02 1.41621651e+02] [-1.36802175e-01 9.90592998e-01 -3.26749777e-03 -1.40498338e+01] [-2.32218591e-02 9.06687224e-05 9.99730332e-01 -4.17884123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.65, Y:-14.06, Z:-4.18 [[ 9.90343049e-01 1.36736857e-01 2.28839900e-02 1.41653158e+02] [-1.36698109e-01 9.90607401e-01 -3.25641642e-03 -1.40571428e+01] [-2.31143220e-02 9.67712052e-05 9.99732824e-01 -4.18072876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.69, Y:-14.06, Z:-4.18 [[ 9.90415759e-01 1.36175734e-01 2.30823499e-02 1.41685329e+02] [-1.36136067e-01 9.90684691e-01 -3.28861096e-03 -1.40632845e+01] [-2.33151597e-02 1.14751787e-04 9.99728158e-01 -4.17962608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.72, Y:-14.07, Z:-4.18 [[ 9.90466547e-01 1.35860213e-01 2.27600722e-02 1.41717019e+02] [-1.35821459e-01 9.90728009e-01 -3.24722540e-03 -1.40702904e+01] [-2.29902097e-02 1.24961924e-04 9.99735682e-01 -4.18178287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.75, Y:-14.08, Z:-4.18 [[ 9.90604911e-01 1.34827183e-01 2.28810352e-02 1.41747680e+02] [-1.34787641e-01 9.90869117e-01 -3.26880223e-03 -1.40792659e+01] [-2.31128346e-02 1.54010790e-04 9.99732851e-01 -4.18428070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53587156000003 meters Centerline goodness [0,1] 0.9997829531395829 Centerline is valid? [True, True] Translation: X:141.78, Y:-14.09, Z:-4.18 [[ 9.90719979e-01 1.33927065e-01 2.31832802e-02 1.41780298e+02] [-1.33886128e-01 9.90991175e-01 -3.31608526e-03 -1.40853106e+01] [-2.34185396e-02 1.81392293e-04 9.99725732e-01 -4.18253163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.81, Y:-14.09, Z:-4.18 [[ 9.90700313e-01 1.34029684e-01 2.34293185e-02 1.41811847e+02] [-1.33987789e-01 9.90977300e-01 -3.35605631e-03 -1.40931476e+01] [-2.36677340e-02 1.85603454e-04 9.99719863e-01 -4.18412383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.84, Y:-14.10, Z:-4.19 [[ 9.90691991e-01 1.33986161e-01 2.40226512e-02 1.41842923e+02] [-1.33941993e-01 9.90983184e-01 -3.44560347e-03 -1.41020260e+01] [-2.42677065e-02 1.95889984e-04 9.99705477e-01 -4.18506084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.88, Y:-14.11, Z:-4.19 [[ 9.90668213e-01 1.34161968e-01 2.40220424e-02 1.41875062e+02] [-1.34117749e-01 9.90959398e-01 -3.44984154e-03 -1.41068490e+01] [-2.42677062e-02 1.95866100e-04 9.99705477e-01 -4.18604171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65587156000004 meters Centerline goodness [0,1] 0.9998045305475316 Centerline is valid? [True, True] Translation: X:141.91, Y:-14.11, Z:-4.18 [[ 9.90724795e-01 1.33644032e-01 2.45693581e-02 1.41906885e+02] [-1.33597504e-01 9.91029377e-01 -3.53295810e-03 -1.41147005e+01] [-2.48211144e-02 2.17784274e-04 9.99691885e-01 -4.18363378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.94, Y:-14.12, Z:-4.19 [[ 9.90668677e-01 1.34050561e-01 2.46174566e-02 1.41938860e+02] [-1.34003858e-01 9.90974471e-01 -3.54459924e-03 -1.41205960e+01] [-2.48704265e-02 2.12689276e-04 9.99690660e-01 -4.18560612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71587156 meters Centerline goodness [0,1] 0.9998499978571123 Centerline is valid? [True, True] Translation: X:141.97, Y:-14.13, Z:-4.19 [[ 9.90677348e-01 1.34074482e-01 2.41334937e-02 1.41969901e+02] [-1.34029492e-01 9.90971235e-01 -3.47954027e-03 -1.41264040e+01] [-2.43821156e-02 2.12501818e-04 9.99702689e-01 -4.18711272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.00, Y:-14.13, Z:-4.19 [[ 9.90613575e-01 1.34652954e-01 2.35229093e-02 1.42002176e+02] [-1.34610280e-01 9.90892801e-01 -3.39551177e-03 -1.41311905e+01] [-2.37658972e-02 1.97214646e-04 9.99717532e-01 -4.18986003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.03, Y:-14.14, Z:-4.19 [[ 9.90616940e-01 1.34664673e-01 2.33131686e-02 1.42033649e+02] [-1.34622653e-01 9.90891208e-01 -3.36975378e-03 -1.41367841e+01] [-2.35546006e-02 1.99654568e-04 9.99722532e-01 -4.19148661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.07, Y:-14.15, Z:-4.19 [[ 9.90676988e-01 1.34079539e-01 2.41201693e-02 1.42065495e+02] [-1.34034277e-01 9.90970548e-01 -3.49087138e-03 -1.41456686e+01] [-2.43704318e-02 2.25396487e-04 9.99702972e-01 -4.19197071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.10, Y:-14.15, Z:-4.19 [[ 9.90755128e-01 1.33497423e-01 2.41394820e-02 1.42097694e+02] [-1.33451804e-01 9.91049130e-01 -3.49821194e-03 -1.41540094e+01] [-2.43904149e-02 2.44413989e-04 9.99702480e-01 -4.19254774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86587156000002 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:142.13, Y:-14.16, Z:-4.19 [[ 9.90900134e-01 1.32433402e-01 2.40482645e-02 1.42128552e+02] [-1.32387702e-01 9.91191868e-01 -3.48964996e-03 -1.41627188e+01] [-2.42985904e-02 2.74200152e-04 9.99704708e-01 -4.19338044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.16, Y:-14.18, Z:-4.20 [[ 9.91205894e-01 1.30187136e-01 2.37104477e-02 1.42158243e+02] [-1.30141974e-01 9.91489386e-01 -3.44452499e-03 -1.41758843e+01] [-2.39570901e-02 3.28508991e-04 9.99712934e-01 -4.19621484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.19, Y:-14.18, Z:-4.20 [[ 9.91351961e-01 1.29109513e-01 2.34951725e-02 1.42189169e+02] [-1.29064783e-01 9.91630278e-01 -3.41670141e-03 -1.41843867e+01] [-2.37396531e-02 3.54754301e-04 9.99718112e-01 -4.19697918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.22, Y:-14.19, Z:-4.20 [[ 9.91482773e-01 1.28068364e-01 2.36728751e-02 1.42220335e+02] [-1.28022565e-01 9.91765267e-01 -3.44645119e-03 -1.41927337e+01] [-2.39193167e-02 3.86434777e-04 9.99713818e-01 -4.19793212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.25, Y:-14.20, Z:-4.20 [[ 9.91584555e-01 1.27263929e-01 2.37478789e-02 1.42251492e+02] [-1.27217515e-01 9.91868803e-01 -3.46130722e-03 -1.42003139e+01] [-2.39952797e-02 4.11032659e-04 9.99711987e-01 -4.19903954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01587156000002 meters Centerline goodness [0,1] 0.9998490142789354 Centerline is valid? [True, True] Translation: X:142.28, Y:-14.21, Z:-4.20 [[ 9.91754956e-01 1.26014974e-01 2.32880745e-02 1.42280374e+02] [-1.25969892e-01 9.92028243e-01 -3.39867446e-03 -1.42143827e+01] [-2.35307115e-02 4.37055997e-04 9.99723019e-01 -4.20101807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04587156000002 meters Centerline goodness [0,1] 0.9998493035671998 Centerline is valid? [True, True] Translation: X:142.31, Y:-14.22, Z:-4.20 [[ 9.91718795e-01 1.26335103e-01 2.30927308e-02 1.42313755e+02] [-1.26290834e-01 9.91987530e-01 -3.37131912e-03 -1.42169261e+01] [-2.33336169e-02 4.27000299e-04 9.99727643e-01 -4.20016035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:-14.22, Z:-4.20 [[ 9.91586846e-01 1.27337060e-01 2.32551261e-02 1.42345236e+02] [-1.27292329e-01 9.91859418e-01 -3.39982012e-03 -1.42233390e+01] [-2.34987389e-02 4.11017749e-04 9.99723782e-01 -4.20155810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10587156000003 meters Centerline goodness [0,1] 0.9999360054608674 Centerline is valid? [True, True] Translation: X:142.38, Y:-14.23, Z:-4.20 [[ 9.91415056e-01 1.28655405e-01 2.33232470e-02 1.42376493e+02] [-1.28610681e-01 9.91689285e-01 -3.41378189e-03 -1.42284463e+01] [-2.35686157e-02 3.84856075e-04 9.99722148e-01 -4.20197701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.41, Y:-14.23, Z:-4.20 [[ 9.90898204e-01 1.32484791e-01 2.38438459e-02 1.42407394e+02] [-1.32439053e-01 9.91184992e-01 -3.49425054e-03 -1.42328203e+01] [-2.40965972e-02 3.04590212e-04 9.99709588e-01 -4.20323552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.44, Y:-14.24, Z:-4.20 [[ 9.90564386e-01 1.34966989e-01 2.37930578e-02 1.42439851e+02] [-1.34922075e-01 9.90850065e-01 -3.49043178e-03 -1.42352497e+01] [-2.40464459e-02 2.47288692e-04 9.99710812e-01 -4.20388214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.47, Y:-14.24, Z:-4.20 [[ 9.90269765e-01 1.37113763e-01 2.37825257e-02 1.42470522e+02] [-1.37069409e-01 9.90555287e-01 -3.49295805e-03 -1.42384506e+01] [-2.40368392e-02 1.99113996e-04 9.99711054e-01 -4.20495358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.50, Y:-14.24, Z:-4.21 [[ 9.89765138e-01 1.40785463e-01 2.33329322e-02 1.42503106e+02] [-1.40743692e-01 9.90040121e-01 -3.43110072e-03 -1.42407816e+01] [-2.35835881e-02 1.12020872e-04 9.99721862e-01 -4.20678639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.54, Y:-14.24, Z:-4.21 [[ 9.89529974e-01 1.42484401e-01 2.29918763e-02 1.42535735e+02] [-1.42444291e-01 9.89797045e-01 -3.38136903e-03 -1.42445185e+01] [-2.32390835e-02 7.09044954e-05 9.99729934e-01 -4.20809596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:-14.25, Z:-4.21 [[ 9.89276151e-01 1.44332936e-01 2.23763303e-02 1.42568891e+02] [-1.44295323e-01 9.89529182e-01 -3.29504912e-03 -1.42480463e+01] [-2.26176159e-02 3.09137121e-05 9.99744189e-01 -4.21032135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31587156000003 meters Centerline goodness [0,1] 0.9998500299940012 Centerline is valid? [True, True] Translation: X:142.60, Y:-14.25, Z:-4.21 [[ 9.89036129e-01 1.46071707e-01 2.16931339e-02 1.42601303e+02] [-1.46036685e-01 9.89274005e-01 -3.19849405e-03 -1.42511180e+01] [-2.19276629e-02 -4.56717287e-06 9.99759560e-01 -4.21147154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.63, Y:-14.25, Z:-4.21 [[ 9.88488186e-01 1.49737314e-01 2.16758804e-02 1.42633728e+02] [-1.49703132e-01 9.88725811e-01 -3.20031949e-03 -1.42537212e+01] [-2.19107096e-02 -8.14691684e-05 9.99759928e-01 -4.21318727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37587156000004 meters Centerline goodness [0,1] 0.9999574386584665 Centerline is valid? [True, True] Translation: X:142.67, Y:-14.26, Z:-4.21 [[ 9.88235778e-01 1.51353120e-01 2.19608645e-02 1.42665340e+02] [-1.51318339e-01 9.88479752e-01 -3.24656669e-03 -1.42563490e+01] [-2.21992479e-02 -1.14708194e-04 9.99753560e-01 -4.21388073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.70, Y:-14.26, Z:-4.21 [[ 9.87992139e-01 1.52879911e-01 2.23442715e-02 1.42698141e+02] [-1.52844203e-01 9.88244763e-01 -3.30737870e-03 -1.42606375e+01] [-2.25872411e-02 -1.47528207e-04 9.99744865e-01 -4.21413071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43587156000004 meters Centerline goodness [0,1] 0.9998287157966856 Centerline is valid? [True, True] Translation: X:142.73, Y:-14.26, Z:-4.21 [[ 9.87646804e-01 1.54979187e-01 2.31353084e-02 1.42731223e+02] [-1.54941369e-01 9.87917715e-01 -3.42922022e-03 -1.42631057e+01] [-2.33872388e-02 -1.97757967e-04 9.99726462e-01 -4.21263742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46587156 meters Centerline goodness [0,1] 0.9998492678725237 Centerline is valid? [True, True] Translation: X:142.76, Y:-14.27, Z:-4.21 [[ 9.87491320e-01 1.55898157e-01 2.35935756e-02 1.42763754e+02] [-1.55858973e-01 9.87773110e-01 -3.50198453e-03 -1.42669621e+01] [-2.38510524e-02 -2.19091124e-04 9.99715499e-01 -4.21265979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49587156 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:142.80, Y:-14.27, Z:-4.21 [[ 9.87375379e-01 1.56570065e-01 2.39932515e-02 1.42795923e+02] [-1.56529621e-01 9.87666826e-01 -3.56624642e-03 -1.42707348e+01] [-2.42557060e-02 -2.34430649e-04 9.99705760e-01 -4.21418764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.83, Y:-14.28, Z:-4.22 [[ 9.87281099e-01 1.57130173e-01 2.42103127e-02 1.42828326e+02] [-1.57089053e-01 9.87577869e-01 -3.60297842e-03 -1.42766141e+01] [-2.44757056e-02 -2.46022582e-04 9.99700395e-01 -4.21513440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.86, Y:-14.28, Z:-4.22 [[ 9.87252329e-01 1.57321001e-01 2.41441858e-02 1.42859429e+02] [-1.57280045e-01 9.87547489e-01 -3.59790324e-03 -1.42819464e+01] [-2.44095558e-02 -2.45360281e-04 9.99702012e-01 -4.21592509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.89, Y:-14.29, Z:-4.22 [[ 9.87275152e-01 1.57227894e-01 2.38151979e-02 1.42892317e+02] [-1.57187919e-01 9.87562319e-01 -3.55308229e-03 -1.42880903e+01] [-2.40776357e-02 -2.35591533e-04 9.99710064e-01 -4.21764287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.93, Y:-14.29, Z:-4.22 [[ 9.87304221e-01 1.57136056e-01 2.32084916e-02 1.42925099e+02] [-1.57097965e-01 9.87576939e-01 -3.46687640e-03 -1.42937720e+01] [-2.34649424e-02 -2.23145114e-04 9.99724635e-01 -4.21956918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64587156000002 meters Centerline goodness [0,1] 0.9997862791194699 Centerline is valid? [True, True] Translation: X:142.96, Y:-14.30, Z:-4.22 [[ 9.87326140e-01 1.57039682e-01 2.29266690e-02 1.42956769e+02] [-1.57002382e-01 9.87592270e-01 -3.42920043e-03 -1.42990292e+01] [-2.31807216e-02 -2.13802430e-04 9.99731268e-01 -4.22025310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.99, Y:-14.30, Z:-4.22 [[ 9.87291381e-01 1.57229542e-01 2.31214177e-02 1.42989447e+02] [-1.57191562e-01 9.87562061e-01 -3.46243815e-03 -1.43041564e+01] [-2.33782325e-02 -2.16056421e-04 9.99726668e-01 -4.22207466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70587156000002 meters Centerline goodness [0,1] 0.999829387929196 Centerline is valid? [True, True] Translation: X:143.02, Y:-14.31, Z:-4.22 [[ 9.87308958e-01 1.57121973e-01 2.31021047e-02 1.43022629e+02] [-1.57083907e-01 9.87579183e-01 -3.46464872e-03 -1.43089200e+01] [-2.33595301e-02 -2.08290156e-04 9.99727107e-01 -4.22200791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.05, Y:-14.31, Z:-4.23 [[ 9.87259608e-01 1.57487763e-01 2.27171802e-02 1.43054877e+02] [-1.57451025e-01 9.87520916e-01 -3.40811092e-03 -1.43114697e+01] [-2.29704264e-02 -2.12153061e-04 9.99736122e-01 -4.22645026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.09, Y:-14.32, Z:-4.23 [[ 9.87244775e-01 1.57544304e-01 2.29683637e-02 1.43086700e+02] [-1.57506670e-01 9.87511897e-01 -3.44986982e-03 -1.43191316e+01] [-2.32250398e-02 -2.11804519e-04 9.99730240e-01 -4.22534767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.12, Y:-14.32, Z:-4.23 [[ 9.87197107e-01 1.57789297e-01 2.33325836e-02 1.43119583e+02] [-1.57750421e-01 9.87472780e-01 -3.50910245e-03 -1.43240626e+01] [-2.35939900e-02 -2.16549104e-04 9.99721600e-01 -4.22603624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:-14.33, Z:-4.23 [[ 9.87151250e-01 1.58066711e-01 2.33949724e-02 1.43151907e+02] [-1.58027600e-01 9.87428411e-01 -3.52291146e-03 -1.43287004e+01] [-2.36577154e-02 -2.19404897e-04 9.99720093e-01 -4.22654291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:-14.33, Z:-4.23 [[ 9.87078918e-01 1.58539305e-01 2.32486041e-02 1.43183827e+02] [-1.58500708e-01 9.87352641e-01 -3.50529237e-03 -1.43317013e+01] [-2.35102973e-02 -2.24920013e-04 9.99723569e-01 -4.22768360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88587156000003 meters Centerline goodness [0,1] 0.9998509750489654 Centerline is valid? [True, True] Translation: X:143.22, Y:-14.34, Z:-4.23 [[ 9.87052694e-01 1.58718907e-01 2.31363032e-02 1.43216686e+02] [-1.58680640e-01 9.87323786e-01 -3.49232596e-03 -1.43357599e+01] [-2.33973206e-02 -2.24173638e-04 9.99726220e-01 -4.22838219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.25, Y:-14.34, Z:-4.23 [[ 9.87027491e-01 1.58931094e-01 2.27517039e-02 1.43248398e+02] [-1.58894048e-01 9.87289653e-01 -3.43850142e-03 -1.43397013e+01] [-2.30090066e-02 -2.21214898e-04 9.99735233e-01 -4.23083616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.28, Y:-14.34, Z:-4.23 [[ 9.86967970e-01 1.59367991e-01 2.22726365e-02 1.43280417e+02] [-1.59332515e-01 9.87219223e-01 -3.36987021e-03 -1.43435215e+01] [-2.25250244e-02 -2.22801232e-04 9.99746255e-01 -4.23249592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.31, Y:-14.35, Z:-4.23 [[ 9.86896105e-01 1.59751992e-01 2.27019482e-02 1.43313159e+02] [-1.59715146e-01 9.87157154e-01 -3.43874906e-03 -1.43470319e+01] [-2.29597376e-02 -2.32156921e-04 9.99736364e-01 -4.23271675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.35, Y:-14.35, Z:-4.23 [[ 9.86805020e-01 1.60278029e-01 2.29522572e-02 1.43345326e+02] [-1.60240408e-01 9.87071879e-01 -3.48100170e-03 -1.43494179e+01] [-2.32134557e-02 -2.42809093e-04 9.99730502e-01 -4.23284943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.38, Y:-14.35, Z:-4.23 [[ 9.86705249e-01 1.60915645e-01 2.27795172e-02 1.43378729e+02] [-1.60878670e-01 9.86968131e-01 -3.45856698e-03 -1.43515017e+01] [-2.30391951e-02 -2.52152251e-04 9.99734531e-01 -4.23416370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.41, Y:-14.36, Z:-4.23 [[ 9.86698648e-01 1.60991793e-01 2.25259987e-02 1.43411634e+02] [-1.60955568e-01 9.86955714e-01 -3.42397788e-03 -1.43576186e+01] [-2.27833955e-02 -2.47250581e-04 9.99740394e-01 -4.23351517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.44, Y:-14.36, Z:-4.24 [[ 9.86660353e-01 1.61222843e-01 2.25508950e-02 1.43444291e+02] [-1.61186494e-01 9.86917997e-01 -3.43233256e-03 -1.43570882e+01] [-2.28092545e-02 -2.48353249e-04 9.99739804e-01 -4.23619951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12587156000004 meters Centerline goodness [0,1] 0.9999566902704693 Centerline is valid? [True, True] Translation: X:143.48, Y:-14.36, Z:-4.23 [[ 9.86685761e-01 1.60951925e-01 2.33599457e-02 1.43475517e+02] [-1.60912736e-01 9.86962217e-01 -3.56007369e-03 -1.43634711e+01] [-2.36283845e-02 -2.46238766e-04 9.99720780e-01 -4.23356720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.51, Y:-14.37, Z:-4.24 [[ 9.86786427e-01 1.60255411e-01 2.38904061e-02 1.43507041e+02] [-1.60214112e-01 9.87075554e-01 -3.64527295e-03 -1.43651065e+01] [-2.41658106e-02 -2.30474332e-04 9.99707938e-01 -4.23613934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.54, Y:-14.37, Z:-4.23 [[ 9.87179419e-01 1.57625971e-01 2.51167017e-02 1.43538019e+02] [-1.57579362e-01 9.87498873e-01 -3.83670431e-03 -1.43728402e+01] [-2.54074788e-02 -1.70358296e-04 9.99677163e-01 -4.23474769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.57, Y:-14.38, Z:-4.23 [[ 9.87446178e-01 1.55937608e-01 2.51695764e-02 1.43569905e+02] [-1.55890143e-01 9.87766899e-01 -3.84913109e-03 -1.43804547e+01] [-2.54618987e-02 -1.22879084e-04 9.99675786e-01 -4.23435376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.60, Y:-14.39, Z:-4.24 [[ 9.87712308e-01 1.54336655e-01 2.45884668e-02 1.43601799e+02] [-1.54290841e-01 9.88018315e-01 -3.76108978e-03 -1.43856549e+01] [-2.48743295e-02 -7.89005396e-05 9.99690583e-01 -4.23834809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:-14.39, Z:-4.24 [[ 9.87972990e-01 1.52750241e-01 2.40153166e-02 1.43633657e+02] [-1.52705964e-01 9.88264824e-01 -3.67774814e-03 -1.43929303e+01] [-2.42952695e-02 -3.37662384e-05 9.99704826e-01 -4.24057943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.66, Y:-14.40, Z:-4.24 [[ 9.88170517e-01 1.51537259e-01 2.35687893e-02 1.43664651e+02] [-1.51494170e-01 9.88451546e-01 -3.61349459e-03 -1.43996948e+01] [-2.38441853e-02 2.14653784e-07 9.99715687e-01 -4.24283422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.70, Y:-14.40, Z:-4.24 [[ 9.88449393e-01 1.49859159e-01 2.25838384e-02 1.43696576e+02] [-1.49819079e-01 9.88707353e-01 -3.46593915e-03 -1.44045944e+01] [-2.28482099e-02 4.24155635e-05 9.99738945e-01 -4.24311133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36587156000002 meters Centerline goodness [0,1] 0.9998713771222775 Centerline is valid? [True, True] Translation: X:143.73, Y:-14.41, Z:-4.24 [[ 9.88532680e-01 1.49363958e-01 2.22159402e-02 1.43729182e+02] [-1.49324969e-01 9.88782284e-01 -3.41303954e-03 -1.44092191e+01] [-2.24765132e-02 5.65065531e-05 9.99747370e-01 -4.24429360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39587156000002 meters Centerline goodness [0,1] 0.9999140653532989 Centerline is valid? [True, True] Translation: X:143.76, Y:-14.41, Z:-4.25 [[ 9.88582784e-01 1.49110973e-01 2.16793932e-02 1.43760733e+02] [-1.49073690e-01 9.88820466e-01 -3.33487429e-03 -1.44134842e+01] [-2.19342940e-02 6.49721784e-05 9.99759412e-01 -4.24630236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:-14.42, Z:-4.25 [[ 9.88628416e-01 1.48857788e-01 2.13357345e-02 1.43792683e+02] [-1.48821536e-01 9.88858611e-01 -3.28588221e-03 -1.44181264e+01] [-2.15871540e-02 7.32997465e-05 9.99766968e-01 -4.25024795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:-14.42, Z:-4.25 [[ 9.88765724e-01 1.48086660e-01 2.03146082e-02 1.43824874e+02] [-1.48053558e-01 9.88974384e-01 -3.13222624e-03 -1.44211710e+01] [-2.05544680e-02 8.93879369e-05 9.99788731e-01 -4.25244073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:-14.43, Z:-4.25 [[ 9.88828217e-01 1.47692913e-01 2.01385230e-02 1.43856872e+02] [-1.47660235e-01 9.89033262e-01 -3.10832172e-03 -1.44259925e+01] [-2.03767462e-02 9.99371786e-05 9.99792368e-01 -4.25441281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:-14.43, Z:-4.26 [[ 9.88800954e-01 1.47875405e-01 2.01379902e-02 1.43888957e+02] [-1.47842695e-01 9.89005993e-01 -3.11176901e-03 -1.44311521e+01] [-2.03767471e-02 9.96654269e-05 9.99792368e-01 -4.25539366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.92, Y:-14.44, Z:-4.26 [[ 9.88923986e-01 1.46990373e-01 2.05713382e-02 1.43921649e+02] [-1.46955965e-01 9.89137915e-01 -3.18269897e-03 -1.44354848e+01] [-2.08157167e-02 1.24366494e-04 9.99783322e-01 -4.25594946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.95, Y:-14.44, Z:-4.26 [[ 9.88958544e-01 1.46775946e-01 2.04406516e-02 1.43954285e+02] [-1.46741847e-01 9.89169755e-01 -3.16638997e-03 -1.44401802e+01] [-2.06840243e-02 1.31929445e-04 9.99786054e-01 -4.25645684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60587156000003 meters Centerline goodness [0,1] 0.999935200984945 Centerline is valid? [True, True] Translation: X:143.99, Y:-14.44, Z:-4.26 [[ 9.88982106e-01 1.46642645e-01 2.02565496e-02 1.43985740e+02] [-1.46609048e-01 9.89189525e-01 -3.14187494e-03 -1.44442555e+01] [-2.04982995e-02 1.37464638e-04 9.99789878e-01 -4.25689661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.02, Y:-14.45, Z:-4.26 [[ 9.88993445e-01 1.46612458e-01 1.99186466e-02 1.44018916e+02] [-1.46579898e-01 9.89193999e-01 -3.09283480e-03 -1.44481662e+01] [-2.01568538e-02 1.39120152e-04 9.99796820e-01 -4.25866619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.05, Y:-14.45, Z:-4.26 [[ 9.89098433e-01 1.45963671e-01 1.94652738e-02 1.44050002e+02] [-1.45932359e-01 9.89289939e-01 -3.02710184e-03 -1.44523449e+01] [-1.96986465e-02 1.53488351e-04 9.99805951e-01 -4.26106322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.08, Y:-14.46, Z:-4.26 [[ 9.89164501e-01 1.45544441e-01 1.92459405e-02 1.44082430e+02] [-1.45513738e-01 9.89351702e-01 -2.99367451e-03 -1.44575808e+01] [-1.94767167e-02 1.60687802e-04 9.99810298e-01 -4.26248098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72587156000003 meters Centerline goodness [0,1] 0.9998931578272576 Centerline is valid? [True, True] Translation: X:144.11, Y:-14.46, Z:-4.26 [[ 9.89236310e-01 1.45039436e-01 1.93671022e-02 1.44113960e+02] [-1.45008160e-01 9.89425859e-01 -3.01704996e-03 -1.44634841e+01] [-1.95999030e-02 1.76187504e-04 9.99807888e-01 -4.26291403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.15, Y:-14.47, Z:-4.26 [[ 9.89365340e-01 1.44098492e-01 1.97951632e-02 1.44146085e+02] [-1.44065594e-01 9.89563330e-01 -3.08547203e-03 -1.44692563e+01] [-2.00331794e-02 2.00857140e-04 9.99799296e-01 -4.26321169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:-14.48, Z:-4.26 [[ 9.89532904e-01 1.42801102e-01 2.07960975e-02 1.44178716e+02] [-1.42764417e-01 9.89751376e-01 -3.24575804e-03 -1.44756831e+01] [-2.10464639e-02 2.42841641e-04 9.99778469e-01 -4.26191321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:-14.48, Z:-4.26 [[ 9.89610745e-01 1.42260515e-01 2.07971165e-02 1.44209071e+02] [-1.42223602e-01 9.89829217e-01 -3.25087093e-03 -1.44825676e+01] [-2.10480641e-02 2.59255967e-04 9.99778431e-01 -4.26306470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.24, Y:-14.49, Z:-4.26 [[ 9.89663145e-01 1.41884577e-01 2.08716522e-02 1.44241682e+02] [-1.41847293e-01 9.89883172e-01 -3.26361117e-03 -1.44887977e+01] [-2.11235533e-02 2.69288336e-04 9.99776837e-01 -4.26421657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.27, Y:-14.49, Z:-4.27 [[ 9.89774623e-01 1.41129619e-01 2.07032980e-02 1.44272412e+02] [-1.41092680e-01 9.89991085e-01 -3.24151287e-03 -1.44949971e+01] [-2.09535539e-02 2.87283378e-04 9.99780409e-01 -4.26541693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.31, Y:-14.50, Z:-4.27 [[ 9.89788626e-01 1.41078761e-01 2.03779142e-02 1.44305186e+02] [-1.41042907e-01 9.89998334e-01 -3.19332890e-03 -1.45011236e+01] [-2.06246120e-02 2.86560365e-04 9.99787249e-01 -4.26730615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.34, Y:-14.51, Z:-4.27 [[ 9.89790962e-01 1.41107714e-01 2.00615276e-02 1.44338037e+02] [-1.41072895e-01 9.89994208e-01 -3.14743938e-03 -1.45073583e+01] [-2.03049241e-02 2.85169267e-04 9.99793793e-01 -4.26907244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96587156 meters Centerline goodness [0,1] 0.9999573351537001 Centerline is valid? [True, True] Translation: X:144.37, Y:-14.51, Z:-4.27 [[ 9.89770016e-01 1.41274513e-01 1.99205122e-02 1.44370805e+02] [-1.41240142e-01 9.89970420e-01 -3.12902912e-03 -1.45135263e+01] [-2.01627699e-02 2.83443237e-04 9.99796671e-01 -4.26969917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99587156 meters Centerline goodness [0,1] 0.9999360586555267 Centerline is valid? [True, True] Translation: X:144.40, Y:-14.52, Z:-4.27 [[ 9.89725079e-01 1.41591267e-01 1.99043215e-02 1.44402858e+02] [-1.41556939e-01 9.89925166e-01 -3.13026535e-03 -1.45194261e+01] [-2.01470070e-02 2.80507293e-04 9.99796989e-01 -4.27055538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.43, Y:-14.53, Z:-4.27 [[ 9.89611133e-01 1.42435172e-01 1.95454942e-02 1.44433864e+02] [-1.42402143e-01 9.89804098e-01 -3.07848551e-03 -1.45253355e+01] [-1.97846948e-02 2.63183277e-04 9.99804229e-01 -4.27333177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.47, Y:-14.53, Z:-4.27 [[ 9.89481702e-01 1.43294082e-01 1.98183639e-02 1.44466044e+02] [-1.43260273e-01 9.89680122e-01 -3.12265456e-03 -1.45301145e+01] [-2.00612987e-02 2.50625334e-04 9.99798720e-01 -4.27361228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08587156000002 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:144.50, Y:-14.53, Z:-4.27 [[ 9.89341414e-01 1.44268598e-01 1.97519135e-02 1.44497407e+02] [-1.44235144e-01 9.89538538e-01 -3.11544431e-03 -1.45349850e+01] [-1.99947404e-02 2.33317980e-04 9.99800058e-01 -4.27383117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.53, Y:-14.54, Z:-4.28 [[ 9.89250900e-01 1.44925691e-01 1.94730795e-02 1.44528907e+02] [-1.44893241e-01 9.89442518e-01 -3.07457398e-03 -1.45411168e+01] [-1.97130776e-02 2.20007476e-04 9.99805654e-01 -4.27627564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14587156000002 meters Centerline goodness [0,1] 0.9998715313463515 Centerline is valid? [True, True] Translation: X:144.56, Y:-14.55, Z:-4.28 [[ 9.89088732e-01 1.46116255e-01 1.88021231e-02 1.44561564e+02] [-1.46086160e-01 9.89267407e-01 -2.97171588e-03 -1.45458469e+01] [-1.90345436e-02 1.92560736e-04 9.99818808e-01 -4.27726940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.59, Y:-14.55, Z:-4.28 [[ 9.88764567e-01 1.48276395e-01 1.89404757e-02 1.44594026e+02] [-1.48246152e-01 9.88945947e-01 -2.99871245e-03 -1.45495305e+01] [-1.91757449e-02 1.57167976e-04 9.99816116e-01 -4.27800021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.62, Y:-14.55, Z:-4.28 [[ 9.88553906e-01 1.49619854e-01 1.93668258e-02 1.44624455e+02] [-1.49588488e-01 9.88743587e-01 -3.06643204e-03 -1.45548763e+01] [-1.96076239e-02 1.34279178e-04 9.99807743e-01 -4.27999733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.66, Y:-14.56, Z:-4.28 [[ 9.88327133e-01 1.51069757e-01 1.96826454e-02 1.44656790e+02] [-1.51037583e-01 9.88523099e-01 -3.11960751e-03 -1.45590273e+01] [-1.99280280e-02 1.10373544e-04 9.99801411e-01 -4.27998555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26587156000002 meters Centerline goodness [0,1] 0.9999786707618804 Centerline is valid? [True, True] Translation: X:144.69, Y:-14.56, Z:-4.28 [[ 9.87850144e-01 1.53985935e-01 2.09862970e-02 1.44687784e+02] [-1.53949932e-01 9.88073038e-01 -3.33015333e-03 -1.45613267e+01] [-2.12487910e-02 5.88534517e-05 9.99774217e-01 -4.27915864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.72, Y:-14.56, Z:-4.28 [[ 9.87571581e-01 1.55773179e-01 2.09066530e-02 1.44720175e+02] [-1.55737790e-01 9.87792851e-01 -3.32033019e-03 -1.45649831e+01] [-2.11686608e-02 2.31078034e-05 9.99775919e-01 -4.27870005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.75, Y:-14.57, Z:-4.28 [[ 9.87290221e-01 1.57517092e-01 2.11278209e-02 1.44752343e+02] [-1.57481245e-01 9.87516261e-01 -3.36031167e-03 -1.45685242e+01] [-2.13933733e-02 -9.63269338e-06 9.99771136e-01 -4.27979975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.79, Y:-14.57, Z:-4.28 [[ 9.86944260e-01 1.59624478e-01 2.14721456e-02 1.44785138e+02] [-1.59587907e-01 9.87177807e-01 -3.41717285e-03 -1.45711231e+01] [-2.17422900e-02 -5.41356383e-05 9.99763607e-01 -4.28009489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.82, Y:-14.57, Z:-4.28 [[ 9.86249801e-01 1.63841250e-01 2.16188614e-02 1.44818253e+02] [-1.63805092e-01 9.86486708e-01 -3.44495600e-03 -1.45700072e+01] [-2.18911453e-02 -1.43692413e-04 9.99760350e-01 -4.28103044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.85, Y:-14.57, Z:-4.28 [[ 9.85906891e-01 1.65927278e-01 2.13480969e-02 1.44850242e+02] [-1.65892431e-01 9.86137974e-01 -3.40538369e-03 -1.45726953e+01] [-2.16172151e-02 -1.84096456e-04 9.99766304e-01 -4.28260320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.88, Y:-14.58, Z:-4.28 [[ 9.85598613e-01 1.67756096e-01 2.12900347e-02 1.44881906e+02] [-1.67721787e-01 9.85828506e-01 -3.39975143e-03 -1.45757160e+01] [-2.15586521e-02 -2.20012374e-04 9.99767561e-01 -4.28352611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47587156000003 meters Centerline goodness [0,1] 0.9999572594777109 Centerline is valid? [True, True] Translation: X:144.91, Y:-14.58, Z:-4.29 [[ 9.85136177e-01 1.70452435e-01 2.12762821e-02 1.44912911e+02] [-1.70418691e-01 9.85365867e-01 -3.40254831e-03 -1.45751960e+01] [-2.15448948e-02 -2.73902714e-04 9.99767844e-01 -4.28509924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50587156000003 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:144.94, Y:-14.58, Z:-4.29 [[ 9.84994900e-01 1.71298210e-01 2.10230890e-02 1.44943278e+02] [-1.71265449e-01 9.85219184e-01 -3.36241375e-03 -1.45777538e+01] [-2.12883260e-02 -2.88568376e-04 9.99773336e-01 -4.28591019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53587156000003 meters Centerline goodness [0,1] 0.9999139322216245 Centerline is valid? [True, True] Translation: X:144.97, Y:-14.58, Z:-4.29 [[ 9.84853938e-01 1.72135288e-01 2.07885400e-02 1.44973895e+02] [-1.72103446e-01 9.85073272e-01 -3.32467728e-03 -1.45827603e+01] [-2.10505294e-02 -3.03457848e-04 9.99778367e-01 -4.28618079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.00, Y:-14.59, Z:-4.29 [[ 9.84770120e-01 1.72575501e-01 2.11070228e-02 1.45003923e+02] [-1.72542763e-01 9.84996242e-01 -3.37625455e-03 -1.45858817e+01] [-2.13729970e-02 -3.17029428e-04 9.99771521e-01 -4.28771915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.03, Y:-14.59, Z:-4.29 [[ 9.84697356e-01 1.72873244e-01 2.20444638e-02 1.45033915e+02] [-1.72837596e-01 9.84944023e-01 -3.52668297e-03 -1.45869208e+01] [-2.23222320e-02 -3.37396743e-04 9.99750771e-01 -4.28781210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62587156000004 meters Centerline goodness [0,1] 0.9999786784929959 Centerline is valid? [True, True] Translation: X:145.06, Y:-14.59, Z:-4.29 [[ 9.84710300e-01 1.72758208e-01 2.23657610e-02 1.45063956e+02] [-1.72721492e-01 9.84964206e-01 -3.57771722e-03 -1.45924820e+01] [-2.26475540e-02 -3.40032615e-04 9.99743453e-01 -4.28786326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.10, Y:-14.60, Z:-4.29 [[ 9.84736962e-01 1.72593842e-01 2.24606800e-02 1.45095112e+02] [-1.72556775e-01 9.84993021e-01 -3.59272189e-03 -1.45981721e+01] [-2.27436947e-02 -3.37856459e-04 9.99741272e-01 -4.28905798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68587156000004 meters Centerline goodness [0,1] 0.9998931601102587 Centerline is valid? [True, True] Translation: X:145.12, Y:-14.60, Z:-4.29 [[ 9.84807155e-01 1.72274337e-01 2.18270649e-02 1.45124640e+02] [-1.72239249e-01 9.85048958e-01 -3.49162520e-03 -1.46024938e+01] [-2.21022449e-02 -3.20899769e-04 9.99755664e-01 -4.29088825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.15, Y:-14.60, Z:-4.29 [[ 9.84892088e-01 1.71890860e-01 2.10025506e-02 1.45154155e+02] [-1.71858248e-01 9.85115954e-01 -3.36146843e-03 -1.46047976e+01] [-2.12677534e-02 -2.98777888e-04 9.99773771e-01 -4.29472950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74587156 meters Centerline goodness [0,1] 0.9999357862967957 Centerline is valid? [True, True] Translation: X:145.18, Y:-14.61, Z:-4.29 [[ 9.84897269e-01 1.71884596e-01 2.08099636e-02 1.45184582e+02] [-1.71852586e-01 9.85117048e-01 -3.33029065e-03 -1.46094215e+01] [-2.10726756e-02 -2.96251884e-04 9.99777903e-01 -4.29458216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.22, Y:-14.61, Z:-4.30 [[ 9.84866245e-01 1.72043904e-01 2.09612498e-02 1.45215113e+02] [-1.72011463e-01 9.85089237e-01 -3.35450150e-03 -1.46140274e+01] [-2.12258231e-02 -3.01839940e-04 9.99774661e-01 -4.29560338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80587156 meters Centerline goodness [0,1] 0.9998068669527898 Centerline is valid? [True, True] Translation: X:145.24, Y:-14.61, Z:-4.30 [[ 9.84862647e-01 1.72164650e-01 2.01221445e-02 1.45244706e+02] [-1.72134777e-01 9.85068144e-01 -3.22033673e-03 -1.46148403e+01] [-2.03761117e-02 -2.92131502e-04 9.99792343e-01 -4.29831912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83587156000002 meters Centerline goodness [0,1] 0.999978379780771 Centerline is valid? [True, True] Translation: X:145.28, Y:-14.62, Z:-4.30 [[ 9.84897114e-01 1.71988467e-01 1.99409824e-02 1.45275060e+02] [-1.71959101e-01 9.85098922e-01 -3.19097654e-03 -1.46193774e+01] [-2.01926515e-02 -2.86249825e-04 9.99796067e-01 -4.29975527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.30, Y:-14.62, Z:-4.30 [[ 9.84974244e-01 1.71563918e-01 1.97878727e-02 1.45303837e+02] [-1.71534913e-01 9.85172952e-01 -3.16659627e-03 -1.46234501e+01] [-2.00377506e-02 -2.75295255e-04 9.99799186e-01 -4.30109079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.33, Y:-14.63, Z:-4.30 [[ 9.85055852e-01 1.71075299e-01 1.99552288e-02 1.45332033e+02] [-1.71045701e-01 9.85257921e-01 -3.19336920e-03 -1.46274845e+01] [-2.02073539e-02 -2.67609086e-04 9.99795775e-01 -4.30261870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.36, Y:-14.63, Z:-4.30 [[ 9.85303457e-01 1.69627436e-01 2.00905513e-02 1.45360852e+02] [-1.69597154e-01 9.85508232e-01 -3.21406083e-03 -1.46328351e+01] [-2.03445966e-02 -2.40475084e-04 9.99792998e-01 -4.30302690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.39, Y:-14.64, Z:-4.30 [[ 9.85421921e-01 1.68905636e-01 2.03598709e-02 1.45389820e+02] [-1.68874386e-01 9.85632200e-01 -3.25700928e-03 -1.46377776e+01] [-2.06174715e-02 -2.28732350e-04 9.99787411e-01 -4.30322832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.42, Y:-14.65, Z:-4.30 [[ 9.85545780e-01 1.68081989e-01 2.11650972e-02 1.45419726e+02] [-1.68048043e-01 9.85772994e-01 -3.38509294e-03 -1.46450302e+01] [-2.14329544e-02 -2.20589095e-04 9.99770264e-01 -4.30129589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.45, Y:-14.65, Z:-4.30 [[ 9.85644846e-01 1.67413218e-01 2.18415039e-02 1.45449555e+02] [-1.67376916e-01 9.85886793e-01 -3.49275083e-03 -1.46500247e+01] [-2.21179828e-02 -2.13151690e-04 9.99755345e-01 -4.30071566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.48, Y:-14.65, Z:-4.30 [[ 9.85685786e-01 1.67126564e-01 2.21865596e-02 1.45480168e+02] [-1.67088989e-01 9.85935428e-01 -3.54983541e-03 -1.46517907e+01] [-2.24677869e-02 -2.08107509e-04 9.99747546e-01 -4.30075820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.51, Y:-14.65, Z:-4.30 [[ 9.85678728e-01 1.67217350e-01 2.18129141e-02 1.45509771e+02] [-1.67181043e-01 9.85920035e-01 -3.49051147e-03 -1.46545781e+01] [-2.20894631e-02 -2.06182816e-04 9.99755977e-01 -4.30317266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.54, Y:-14.66, Z:-4.31 [[ 9.85641087e-01 1.67505422e-01 2.12974526e-02 1.45540381e+02] [-1.67470885e-01 9.85871133e-01 -3.40767780e-03 -1.46585615e+01] [-2.15673482e-02 -2.07955985e-04 9.99767376e-01 -4.30516471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:-14.66, Z:-4.31 [[ 9.85566105e-01 1.68005531e-01 2.08229284e-02 1.45569823e+02] [-1.67972626e-01 9.85786029e-01 -3.33185837e-03 -1.46631396e+01] [-2.10867225e-02 -2.13915278e-04 9.99777627e-01 -4.30674085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.60, Y:-14.67, Z:-4.31 [[ 9.85529774e-01 1.68174806e-01 2.11730808e-02 1.45600097e+02] [-1.68140831e-01 9.85757164e-01 -3.38752648e-03 -1.46672962e+01] [-2.14412127e-02 -2.21551185e-04 9.99770086e-01 -4.30625278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19587156000003 meters Centerline goodness [0,1] 0.9997835169830926 Centerline is valid? [True, True] Translation: X:145.63, Y:-14.67, Z:-4.31 [[ 9.85463848e-01 1.68513943e-01 2.15419306e-02 1.45630572e+02] [-1.68478855e-01 9.85699243e-01 -3.44653956e-03 -1.46709340e+01] [-2.18146547e-02 -2.32919680e-04 9.99762005e-01 -4.30559322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.66, Y:-14.67, Z:-4.31 [[ 9.85429583e-01 1.68747173e-01 2.12821211e-02 1.45659687e+02] [-1.68712983e-01 9.85659341e-01 -3.40487515e-03 -1.46732098e+01] [-2.15514845e-02 -2.35305425e-04 9.99767712e-01 -4.30800853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25587156000003 meters Centerline goodness [0,1] 0.9999359972692168 Centerline is valid? [True, True] Translation: X:145.69, Y:-14.68, Z:-4.31 [[ 9.85400316e-01 1.68943324e-01 2.10800833e-02 1.45689626e+02] [-1.68909818e-01 9.85625739e-01 -3.37288797e-03 -1.46778870e+01] [-2.13468996e-02 -2.36988170e-04 9.99772101e-01 -4.30877196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.72, Y:-14.68, Z:-4.31 [[ 9.85269286e-01 1.69671306e-01 2.13560709e-02 1.45718038e+02] [-1.69637081e-01 9.85500676e-01 -3.41735491e-03 -1.46797113e+01] [-2.16262494e-02 -2.55766700e-04 9.99766093e-01 -4.30964719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31587156000003 meters Centerline goodness [0,1] 0.9999785995548708 Centerline is valid? [True, True] Translation: X:145.75, Y:-14.68, Z:-4.31 [[ 9.85176083e-01 1.70227800e-01 2.12269334e-02 1.45746416e+02] [-1.70194133e-01 9.85404701e-01 -3.39591701e-03 -1.46817320e+01] [-2.14951995e-02 -2.67123309e-04 9.99768916e-01 -4.31065608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.78, Y:-14.69, Z:-4.31 [[ 9.85034099e-01 1.71073332e-01 2.10176017e-02 1.45775349e+02] [-1.71040536e-01 9.85258258e-01 -3.36162264e-03 -1.46855486e+01] [-2.12828496e-02 -2.83548928e-04 9.99773454e-01 -4.31050668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.80, Y:-14.68, Z:-4.31 [[ 9.84821753e-01 1.72300272e-01 2.09458886e-02 1.45804815e+02] [-1.72267988e-01 9.85044426e-01 -3.34961611e-03 -1.46843857e+01] [-2.12097706e-02 -3.09531283e-04 9.99775000e-01 -4.31318089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40587156000004 meters Centerline goodness [0,1] 0.9998927406898919 Centerline is valid? [True, True] Translation: X:145.83, Y:-14.68, Z:-4.31 [[ 9.84432728e-01 1.74448485e-01 2.14459947e-02 1.45834107e+02] [-1.74415167e-01 9.84666234e-01 -3.42884028e-03 -1.46832896e+01] [-2.17153029e-02 -3.65044159e-04 9.99764128e-01 -4.31177916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43587156000004 meters Centerline goodness [0,1] 0.9998927406898919 Centerline is valid? [True, True] Translation: X:145.86, Y:-14.69, Z:-4.31 [[ 9.84440992e-01 1.74401825e-01 2.14461578e-02 1.45862087e+02] [-1.74368517e-01 9.84674500e-01 -3.42782026e-03 -1.46876714e+01] [-2.17153028e-02 -3.65047950e-04 9.99764128e-01 -4.31263378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.89, Y:-14.69, Z:-4.31 [[ 9.84288435e-01 1.75243587e-01 2.15861352e-02 1.45890341e+02] [-1.75210066e-01 9.84525030e-01 -3.44923198e-03 -1.46882515e+01] [-2.18565462e-02 -3.87069031e-04 9.99761042e-01 -4.31392270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49587156 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:145.92, Y:-14.69, Z:-4.31 [[ 9.84176927e-01 1.75885440e-01 2.14496483e-02 1.45918640e+02] [-1.75852524e-01 9.84410561e-01 -3.42604289e-03 -1.46909522e+01] [-2.17178514e-02 -4.00142432e-04 9.99764060e-01 -4.31457990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52587156 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:145.95, Y:-14.69, Z:-4.32 [[ 9.84073782e-01 1.76526047e-01 2.09128411e-02 1.45947103e+02] [-1.76494922e-01 9.84295886e-01 -3.33941855e-03 -1.46904669e+01] [-2.11739179e-02 -4.04776023e-04 9.99775726e-01 -4.31645329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55587156 meters Centerline goodness [0,1] 0.9999574033055035 Centerline is valid? [True, True] Translation: X:145.97, Y:-14.69, Z:-4.32 [[ 9.84090194e-01 1.76461566e-01 2.06834766e-02 1.45974722e+02] [-1.76431132e-01 9.84307450e-01 -3.30154637e-03 -1.46921395e+01] [-2.09414961e-02 -4.00189778e-04 9.99780623e-01 -4.31844589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58587156000002 meters Centerline goodness [0,1] 0.9999573896925666 Centerline is valid? [True, True] Translation: X:146.00, Y:-14.69, Z:-4.32 [[ 9.84116104e-01 1.76305690e-01 2.07797289e-02 1.46003204e+02] [-1.76274963e-01 9.84335382e-01 -3.31568228e-03 -1.46924995e+01] [-2.10387960e-02 -3.99929618e-04 9.99778580e-01 -4.31982127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61587156000002 meters Centerline goodness [0,1] 0.9999573406138685 Centerline is valid? [True, True] Translation: X:146.03, Y:-14.70, Z:-4.32 [[ 9.84161750e-01 1.76023647e-01 2.10077583e-02 1.46031995e+02] [-1.75992210e-01 9.84385857e-01 -3.35054380e-03 -1.46970133e+01] [-2.12695151e-02 -3.99724768e-04 9.99773698e-01 -4.31952595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64587156000002 meters Centerline goodness [0,1] 0.9999785990968819 Centerline is valid? [True, True] Translation: X:146.06, Y:-14.70, Z:-4.32 [[ 9.84415273e-01 1.74610210e-01 2.09247548e-02 1.46060713e+02] [-1.74578723e-01 9.84637567e-01 -3.33631099e-03 -1.46988511e+01] [-2.11858536e-02 -3.68701465e-04 9.99775487e-01 -4.32072400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.09, Y:-14.70, Z:-4.32 [[ 9.84616147e-01 1.73500467e-01 2.07034044e-02 1.46087954e+02] [-1.73469416e-01 9.84833728e-01 -3.30014768e-03 -1.47015816e+01] [-2.09619881e-02 -3.42028772e-04 9.99780215e-01 -4.32268233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.12, Y:-14.71, Z:-4.32 [[ 9.84796161e-01 1.72519190e-01 2.03384098e-02 1.46116351e+02] [-1.72489041e-01 9.85006106e-01 -3.24067353e-03 -1.47061834e+01] [-2.05925363e-02 -3.16749967e-04 9.99787901e-01 -4.32355352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73587156000002 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:146.14, Y:-14.71, Z:-4.32 [[ 9.84986059e-01 1.71469252e-01 2.00189522e-02 1.46143995e+02] [-1.71439843e-01 9.85189429e-01 -3.18894097e-03 -1.47102288e+01] [-2.02692654e-02 -2.90983616e-04 9.99794515e-01 -4.32442117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76587156000002 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:146.17, Y:-14.71, Z:-4.33 [[ 9.85365053e-01 1.69195928e-01 2.06990394e-02 1.46171379e+02] [-1.69164013e-01 9.85582403e-01 -3.29596010e-03 -1.47128672e+01] [-2.09582720e-02 -2.53808666e-04 9.99780319e-01 -4.32578609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79587156000002 meters Centerline goodness [0,1] 0.999957127545552 Centerline is valid? [True, True] Translation: X:146.20, Y:-14.72, Z:-4.33 [[ 9.85581199e-01 1.67922147e-01 2.07810505e-02 1.46199655e+02] [-1.67889723e-01 9.85800233e-01 -3.30766227e-03 -1.47185330e+01] [-2.10413942e-02 -2.28955068e-04 9.99778579e-01 -4.32574629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:-14.72, Z:-4.33 [[ 9.85814401e-01 1.66568078e-01 2.06165598e-02 1.46226789e+02] [-1.66535888e-01 9.86029936e-01 -3.28064150e-03 -1.47221769e+01] [-2.08749953e-02 -1.99293452e-04 9.99782074e-01 -4.32762955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.26, Y:-14.73, Z:-4.33 [[ 9.86022286e-01 1.65355022e-01 2.04393666e-02 1.46255018e+02] [-1.65323150e-01 9.86234093e-01 -3.25103564e-03 -1.47255218e+01] [-2.06955752e-02 -1.73506880e-04 9.99785809e-01 -4.32860392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88587156000003 meters Centerline goodness [0,1] 0.9999141207033514 Centerline is valid? [True, True] Translation: X:146.28, Y:-14.73, Z:-4.33 [[ 9.86312257e-01 1.63621632e-01 2.03983597e-02 1.46282770e+02] [-1.63589536e-01 9.86523159e-01 -3.24365833e-03 -1.47286416e+01] [-2.06541869e-02 -1.37698224e-04 9.99786670e-01 -4.32960137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.31, Y:-14.73, Z:-4.33 [[ 9.86403000e-01 1.63086994e-01 2.02917000e-02 1.46310796e+02] [-1.63055145e-01 9.86611685e-01 -3.22541333e-03 -1.47334930e+01] [-2.05460513e-02 -1.27108710e-04 9.99788900e-01 -4.33016200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.34, Y:-14.74, Z:-4.33 [[ 9.86433782e-01 1.62940221e-01 1.99719452e-02 1.46339714e+02] [-1.62909358e-01 9.86635935e-01 -3.17364846e-03 -1.47357227e+01] [-2.02221538e-02 -1.23022710e-04 9.99795504e-01 -4.33102760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.37, Y:-14.74, Z:-4.33 [[ 9.86398815e-01 1.63193125e-01 1.96311220e-02 1.46368061e+02] [-1.63163371e-01 9.86594135e-01 -3.11873297e-03 -1.47367736e+01] [-1.98769056e-02 -1.26765537e-04 9.99802427e-01 -4.33266157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.40, Y:-14.74, Z:-4.33 [[ 9.86344220e-01 1.63529089e-01 1.95784531e-02 1.46397343e+02] [-1.63499589e-01 9.86538504e-01 -3.10890156e-03 -1.47381320e+01] [-1.98232936e-02 -1.34621949e-04 9.99803490e-01 -4.33309264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03587156000003 meters Centerline goodness [0,1] 0.999978681220287 Centerline is valid? [True, True] Translation: X:146.43, Y:-14.74, Z:-4.33 [[ 9.86290271e-01 1.63848174e-01 1.96284986e-02 1.46425750e+02] [-1.63818603e-01 9.86485558e-01 -3.11599836e-03 -1.47389882e+01] [-1.98737810e-02 -1.42234354e-04 9.99802487e-01 -4.33475494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.46, Y:-14.74, Z:-4.33 [[ 9.86169258e-01 1.64531648e-01 1.99882622e-02 1.46455174e+02] [-1.64501151e-01 9.86371792e-01 -3.17174745e-03 -1.47394530e+01] [-2.02377108e-02 -1.60212311e-04 9.99795184e-01 -4.33328755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09587156000003 meters Centerline goodness [0,1] 0.9997866439086835 Centerline is valid? [True, True] Translation: X:146.48, Y:-14.74, Z:-4.34 [[ 9.86134875e-01 1.64763451e-01 1.97740557e-02 1.46482867e+02] [-1.64733667e-01 9.86333097e-01 -3.13699558e-03 -1.47403163e+01] [-2.00206679e-02 -1.63951958e-04 9.99799553e-01 -4.33626022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.51, Y:-14.74, Z:-4.34 [[ 9.86188934e-01 1.64395575e-01 2.01365838e-02 1.46511304e+02] [-1.64364647e-01 9.86394479e-01 -3.19278473e-03 -1.47435555e+01] [-2.03874948e-02 -1.61053516e-04 9.99792140e-01 -4.33703350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15587156000004 meters Centerline goodness [0,1] 0.999828763458122 Centerline is valid? [True, True] Translation: X:146.54, Y:-14.75, Z:-4.34 [[ 9.86179415e-01 1.64413830e-01 2.04512394e-02 1.46540315e+02] [-1.64381953e-01 9.86391436e-01 -3.24160484e-03 -1.47472923e+01] [-2.07058921e-02 -1.65010714e-04 9.99785596e-01 -4.33587260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:-14.75, Z:-4.34 [[ 9.86371442e-01 1.63167586e-01 2.11593410e-02 1.46569507e+02] [-1.63133192e-01 9.86598357e-01 -3.35315968e-03 -1.47499166e+01] [-2.14228980e-02 -1.44329892e-04 9.99770493e-01 -4.33578735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21587156000004 meters Centerline goodness [0,1] 0.9998077785609022 Centerline is valid? [True, True] Translation: X:146.60, Y:-14.75, Z:-4.34 [[ 9.86479321e-01 1.62524357e-01 2.10803876e-02 1.46597836e+02] [-1.62490093e-01 9.86704523e-01 -3.33965613e-03 -1.47539143e+01] [-2.13428892e-02 -1.30852437e-04 9.99772206e-01 -4.33608767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.63, Y:-14.76, Z:-4.34 [[ 9.86666511e-01 1.61373994e-01 2.11572830e-02 1.46626524e+02] [-1.61339237e-01 9.86893319e-01 -3.35082454e-03 -1.47583704e+01] [-2.14207172e-02 -1.07353536e-04 9.99770544e-01 -4.33706314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.65, Y:-14.77, Z:-4.34 [[ 9.87045567e-01 1.59017097e-01 2.13216259e-02 1.46654976e+02] [-1.58981270e-01 9.87275827e-01 -3.37582810e-03 -1.47651932e+01] [-2.15871402e-02 -5.76430076e-05 9.99766969e-01 -4.33788809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.68, Y:-14.77, Z:-4.34 [[ 9.87245173e-01 1.57766726e-01 2.13688799e-02 1.46682710e+02] [-1.57730469e-01 9.87476409e-01 -3.38230063e-03 -1.47715567e+01] [-2.16348793e-02 -3.13634764e-05 9.99765938e-01 -4.33815866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.71, Y:-14.78, Z:-4.34 [[ 9.87453794e-01 1.56406307e-01 2.17272322e-02 1.46709475e+02] [-1.56368516e-01 9.87692800e-01 -3.43804197e-03 -1.47772374e+01] [-2.19975622e-02 -2.54747375e-06 9.99758024e-01 -4.33964166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.74, Y:-14.78, Z:-4.34 [[ 9.87628593e-01 1.55270863e-01 2.19253429e-02 1.46737870e+02] [-1.55232131e-01 9.87871934e-01 -3.46795001e-03 -1.47827610e+01] [-2.21979025e-02 2.15288821e-05 9.99753596e-01 -4.33810821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39587156000002 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:146.76, Y:-14.79, Z:-4.34 [[ 9.87808784e-01 1.54049684e-01 2.24165461e-02 1.46764907e+02] [-1.54008906e-01 9.88063101e-01 -3.54462809e-03 -1.47887501e+01] [-2.26950109e-02 4.90670057e-05 9.99742434e-01 -4.33820976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.79, Y:-14.79, Z:-4.34 [[ 9.87853618e-01 1.53732503e-01 2.26174085e-02 1.46793774e+02] [-1.53690941e-01 9.88112501e-01 -3.57494153e-03 -1.47929710e+01] [-2.28981288e-02 5.54281205e-05 9.99737802e-01 -4.33895220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45587156000002 meters Centerline goodness [0,1] 0.9998060929891843 Centerline is valid? [True, True] Translation: X:146.82, Y:-14.80, Z:-4.34 [[ 9.87843932e-01 1.53879929e-01 2.20302781e-02 1.46822488e+02] [-1.53840556e-01 9.88089553e-01 -3.48115660e-03 -1.47968077e+01] [-2.23035678e-02 4.96892001e-05 9.99751243e-01 -4.33871835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.85, Y:-14.80, Z:-4.34 [[ 9.87874065e-01 1.53719259e-01 2.17995645e-02 1.46850426e+02] [-1.53680689e-01 9.88114561e-01 -3.44372343e-03 -1.48003638e+01] [-2.20698337e-02 5.17929727e-05 9.99756430e-01 -4.34113694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.88, Y:-14.81, Z:-4.34 [[ 9.87937267e-01 1.53474396e-01 2.06292434e-02 1.46878262e+02] [-1.53439830e-01 9.88152623e-01 -3.25754911e-03 -1.48061736e+01] [-2.08847914e-02 5.29065541e-05 9.99781888e-01 -4.34381418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.91, Y:-14.81, Z:-4.34 [[ 9.87943412e-01 1.53426151e-01 2.06937597e-02 1.46906627e+02] [-1.53391379e-01 9.88160115e-01 -3.26670557e-03 -1.48111203e+01] [-2.09499460e-02 5.30759009e-05 9.99780524e-01 -4.34380083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57587156000002 meters Centerline goodness [0,1] 0.9999785439955372 Centerline is valid? [True, True] Translation: X:146.94, Y:-14.82, Z:-4.34 [[ 9.87946645e-01 1.53311715e-01 2.13762493e-02 1.46935410e+02] [-1.53274610e-01 9.88177876e-01 -3.37332214e-03 -1.48157411e+01] [-2.16407065e-02 5.62260194e-05 9.99765811e-01 -4.34384915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.96, Y:-14.82, Z:-4.35 [[ 9.87989058e-01 1.53019537e-01 2.15091042e-02 1.46963255e+02] [-1.52981921e-01 9.88223162e-01 -3.39331540e-03 -1.48199725e+01] [-2.17750385e-02 6.20544135e-05 9.99762894e-01 -4.34516161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.99, Y:-14.82, Z:-4.35 [[ 9.87993967e-01 1.53050211e-01 2.10607177e-02 1.46991281e+02] [-1.53014183e-01 9.88218412e-01 -3.32120185e-03 -1.48240777e+01] [-2.13208996e-02 5.87388770e-05 9.99772682e-01 -4.34617965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.02, Y:-14.83, Z:-4.35 [[ 9.88001528e-01 1.53049397e-01 2.07089826e-02 1.47020156e+02] [-1.53014583e-01 9.88218538e-01 -3.26474599e-03 -1.48283934e+01] [-2.09646679e-02 5.67977047e-05 9.99780216e-01 -4.34722213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.05, Y:-14.83, Z:-4.35 [[ 9.88029493e-01 1.52917683e-01 2.03446080e-02 1.47047498e+02] [-1.52884073e-01 9.88238928e-01 -3.20642120e-03 -1.48328893e+01] [-2.05956521e-02 5.76721651e-05 9.99787885e-01 -4.35000394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.08, Y:-14.84, Z:-4.35 [[ 9.88062401e-01 1.52735173e-01 2.01161479e-02 1.47076405e+02] [-1.52702304e-01 9.88267152e-01 -3.16906797e-03 -1.48370070e+01] [-2.03641563e-02 5.94547704e-05 9.99792627e-01 -4.35005333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.10, Y:-14.84, Z:-4.35 [[ 9.88169438e-01 1.52096673e-01 1.96917175e-02 1.47103160e+02] [-1.52065067e-01 9.88365619e-01 -3.10136887e-03 -1.48445476e+01] [-1.99343244e-02 7.02555969e-05 9.99801289e-01 -4.35361131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78587156000003 meters Centerline goodness [0,1] 0.9999135695764909 Centerline is valid? [True, True] Translation: X:147.13, Y:-14.85, Z:-4.35 [[ 9.88205902e-01 1.51904782e-01 1.93398984e-02 1.47131671e+02] [-1.51874283e-01 9.88395130e-01 -3.04465855e-03 -1.48498055e+01] [-1.95779596e-02 7.15163401e-05 9.99808331e-01 -4.35333167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.16, Y:-14.86, Z:-4.36 [[ 9.88336386e-01 1.51121201e-01 1.88034660e-02 1.47158999e+02] [-1.51092243e-01 9.88515238e-01 -2.95945328e-03 -1.48553123e+01] [-1.90347488e-02 8.38774945e-05 9.99818819e-01 -4.35560787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.19, Y:-14.86, Z:-4.36 [[ 9.88434805e-01 1.50513160e-01 1.85047407e-02 1.47186462e+02] [-1.50485030e-01 9.88608001e-01 -2.91131433e-03 -1.48616303e+01] [-1.87321258e-02 9.29579531e-05 9.99824534e-01 -4.35869226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87587156000004 meters Centerline goodness [0,1] 0.9998073753825739 Centerline is valid? [True, True] Translation: X:147.21, Y:-14.87, Z:-4.36 [[ 9.88505114e-01 1.50034430e-01 1.86362563e-02 1.47214848e+02] [-1.50005837e-01 9.88680767e-01 -2.93071212e-03 -1.48677259e+01] [-1.88650159e-02 1.01476695e-04 9.99822035e-01 -4.35778710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.24, Y:-14.87, Z:-4.36 [[ 9.88591064e-01 1.49396850e-01 1.91908834e-02 1.47242869e+02] [-1.49366430e-01 9.88777309e-01 -3.01696300e-03 -1.48742183e+01] [-1.94262348e-02 1.16068927e-04 9.99811286e-01 -4.35851926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.27, Y:-14.88, Z:-4.36 [[ 9.88812789e-01 1.47968729e-01 1.88288014e-02 1.47270288e+02] [-1.47939206e-01 9.88992030e-01 -2.95903426e-03 -1.48835844e+01] [-1.90593791e-02 1.40412985e-04 9.99818344e-01 -4.36027396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.30, Y:-14.89, Z:-4.36 [[ 9.88966400e-01 1.46988870e-01 1.84317971e-02 1.47298672e+02] [-1.46960423e-01 9.89138134e-01 -2.89587386e-03 -1.48910435e+01] [-1.86572546e-02 1.55177239e-04 9.99825926e-01 -4.36129101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:-14.90, Z:-4.36 [[ 9.89079834e-01 1.46216355e-01 1.84894497e-02 1.47327392e+02] [-1.46187603e-01 9.89252621e-01 -2.90449102e-03 -1.48986185e+01] [-1.87154206e-02 1.69845159e-04 9.99824837e-01 -4.36233759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.36, Y:-14.91, Z:-4.36 [[ 9.89191824e-01 1.45431990e-01 1.86834686e-02 1.47356508e+02] [-1.45402500e-01 9.89368234e-01 -2.93451381e-03 -1.49063382e+01] [-1.89116025e-02 1.86174015e-04 9.99821142e-01 -4.36276254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.38, Y:-14.92, Z:-4.36 [[ 9.89384161e-01 1.44111691e-01 1.87296976e-02 1.47383975e+02] [-1.44081824e-01 9.89561406e-01 -2.94145408e-03 -1.49178193e+01] [-1.89580838e-02 2.11619074e-04 9.99820257e-01 -4.36479869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.41, Y:-14.92, Z:-4.36 [[ 9.89430516e-01 1.43778170e-01 1.88438884e-02 1.47413584e+02] [-1.43747898e-01 9.89609918e-01 -2.95832153e-03 -1.49233522e+01] [-1.90734409e-02 2.18284259e-04 9.99818062e-01 -4.36304815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.44, Y:-14.93, Z:-4.36 [[ 9.89449956e-01 1.43560365e-01 1.94732334e-02 1.47441932e+02] [-1.43527993e-01 9.89641535e-01 -3.05725023e-03 -1.49319918e+01] [-1.97104206e-02 2.30042008e-04 9.99805704e-01 -4.36409548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.47, Y:-14.94, Z:-4.36 [[ 9.89311401e-01 1.44474242e-01 1.97521062e-02 1.47471296e+02] [-1.44441125e-01 9.89508538e-01 -3.10066022e-03 -1.49408754e+01] [-1.99928433e-02 2.14502073e-04 9.99800100e-01 -4.36353281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.50, Y:-14.95, Z:-4.36 [[ 9.89143158e-01 1.45663797e-01 1.94388967e-02 1.47499953e+02] [-1.45631949e-01 9.89334131e-01 -3.05161600e-03 -1.49464119e+01] [-1.96760739e-02 1.87560672e-04 9.99806390e-01 -4.36495991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.53, Y:-14.95, Z:-4.37 [[ 9.88907869e-01 1.47319539e-01 1.89256309e-02 1.47529959e+02] [-1.47289660e-01 9.89088940e-01 -2.97069640e-03 -1.49493489e+01] [-1.91567738e-02 1.50195308e-04 9.99816481e-01 -4.36530473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:-14.95, Z:-4.37 [[ 9.88144543e-01 1.52468835e-01 1.79893415e-02 1.47558490e+02] [-1.52442688e-01 9.88308278e-01 -2.82402037e-03 -1.49504284e+01] [-1.82095902e-02 4.81967474e-05 9.99834191e-01 -4.36839272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:-14.95, Z:-4.37 [[ 9.87669164e-01 1.55499192e-01 1.81555468e-02 1.47587858e+02] [-1.55473073e-01 9.87836019e-01 -2.84995312e-03 -1.49520747e+01] [-1.83778685e-02 -7.88783795e-06 9.99831113e-01 -4.36735119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:-14.95, Z:-4.37 [[ 9.87189719e-01 1.58475038e-01 1.84965195e-02 1.47616039e+02] [-1.58448466e-01 9.87362982e-01 -2.90266295e-03 -1.49539097e+01] [-1.87227782e-02 -6.52661171e-05 9.99824711e-01 -4.36855509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.64, Y:-14.96, Z:-4.37 [[ 9.87197363e-01 1.58427393e-01 1.84967168e-02 1.47644029e+02] [-1.58400837e-01 9.87370628e-01 -2.90140450e-03 -1.49582093e+01] [-1.87227769e-02 -6.56365454e-05 9.99824711e-01 -4.36940963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.67, Y:-14.96, Z:-4.37 [[ 9.86734544e-01 1.61257651e-01 1.87325735e-02 1.47671573e+02] [-1.61230938e-01 9.86912334e-01 -2.93758957e-03 -1.49596458e+01] [-1.89611166e-02 -1.21649286e-04 9.99820214e-01 -4.37067477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.70, Y:-14.96, Z:-4.37 [[ 9.85953166e-01 1.65797659e-01 2.01864095e-02 1.47699470e+02] [-1.65767616e-01 9.86159767e-01 -3.16425573e-03 -1.49589441e+01] [-2.04316511e-02 -2.26445017e-04 9.99791226e-01 -4.37051381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.73, Y:-14.96, Z:-4.37 [[ 9.85630821e-01 1.67655185e-01 2.05821099e-02 1.47728123e+02] [-1.67624391e-01 9.85845660e-01 -3.22465216e-03 -1.49625015e+01] [-2.08314134e-02 -2.71747096e-04 9.99782966e-01 -4.36955283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44587156000003 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:147.76, Y:-14.97, Z:-4.37 [[ 9.85402016e-01 1.68983551e-01 2.06743175e-02 1.47756620e+02] [-1.68952793e-01 9.85618825e-01 -3.23812616e-03 -1.49665914e+01] [-2.09241866e-02 -3.02127644e-04 9.99781020e-01 -4.36986621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47587156000003 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:147.78, Y:-14.97, Z:-4.37 [[ 9.85271399e-01 1.69785982e-01 2.03221663e-02 1.47783858e+02] [-1.69756450e-01 9.85480909e-01 -3.18219101e-03 -1.49702853e+01] [-2.05673984e-02 -3.14497029e-04 9.99788419e-01 -4.37174236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50587156000003 meters Centerline goodness [0,1] 0.9999357078565 Centerline is valid? [True, True] Translation: X:147.81, Y:-14.98, Z:-4.37 [[ 9.85174048e-01 1.70393452e-01 1.99541370e-02 1.47812299e+02] [-1.70365134e-01 9.85376054e-01 -3.12307858e-03 -1.49775787e+01] [-2.01944809e-02 -3.22713266e-04 9.99796019e-01 -4.37308142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:-14.98, Z:-4.37 [[ 9.85161659e-01 1.70497498e-01 1.96750845e-02 1.47840764e+02] [-1.70470006e-01 9.85358057e-01 -3.07848552e-03 -1.49831113e+01] [-1.99118771e-02 -3.21205860e-04 9.99801687e-01 -4.37444234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56587156000003 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:147.87, Y:-14.99, Z:-4.38 [[ 9.85130349e-01 1.70671033e-01 1.97381543e-02 1.47868660e+02] [-1.70643416e-01 9.85328012e-01 -3.08756075e-03 -1.49870702e+01] [-1.99755135e-02 -3.26536273e-04 9.99800416e-01 -4.37592104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59587156000003 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:147.90, Y:-14.99, Z:-4.38 [[ 9.85154185e-01 1.70518157e-01 1.98692955e-02 1.47896882e+02] [-1.70490171e-01 9.85354480e-01 -3.10656334e-03 -1.49933249e+01] [-2.01080248e-02 -3.27075709e-04 9.99797760e-01 -4.37614898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.92, Y:-15.00, Z:-4.38 [[ 9.85190723e-01 1.70332874e-01 1.96456534e-02 1.47924992e+02] [-1.70305496e-01 9.85386528e-01 -3.07066859e-03 -1.49985354e+01] [-1.98815980e-02 -3.20568530e-04 9.99802290e-01 -4.37707196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65587156000004 meters Centerline goodness [0,1] 0.999978483981324 Centerline is valid? [True, True] Translation: X:147.95, Y:-15.00, Z:-4.38 [[ 9.85234368e-01 1.70049894e-01 1.99066174e-02 1.47953070e+02] [-1.70021745e-01 9.85435402e-01 -3.11047372e-03 -1.50035716e+01] [-2.01456213e-02 -3.20012218e-04 9.99797005e-01 -4.37754385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.98, Y:-15.01, Z:-4.38 [[ 9.85295215e-01 1.69642545e-01 2.03653116e-02 1.47980914e+02] [-1.69613015e-01 9.85505609e-01 -3.18123902e-03 -1.50076401e+01] [-2.06098023e-02 -3.19762319e-04 9.99787544e-01 -4.37887961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71587156000004 meters Centerline goodness [0,1] 0.9998083189572551 Centerline is valid? [True, True] Translation: X:148.01, Y:-15.02, Z:-4.38 [[ 9.85486168e-01 1.68438905e-01 2.11032651e-02 1.48008656e+02] [-1.68406952e-01 9.85712048e-01 -3.29506104e-03 -1.50171808e+01] [-2.13567591e-02 -3.06699472e-04 9.99771871e-01 -4.37853053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.04, Y:-15.02, Z:-4.38 [[ 9.85691940e-01 1.67257836e-01 2.08857620e-02 1.48036660e+02] [-1.67226293e-01 9.85913150e-01 -3.26014064e-03 -1.50249157e+01] [-2.11368314e-02 -2.79154199e-04 9.99776553e-01 -4.37945292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.07, Y:-15.03, Z:-4.38 [[ 9.85866676e-01 1.66314664e-01 2.01576104e-02 1.48065049e+02] [-1.66285107e-01 9.86072700e-01 -3.14542609e-03 -1.50300125e+01] [-2.03999998e-02 -2.50939646e-04 9.99791867e-01 -4.38220036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.09, Y:-15.04, Z:-4.38 [[ 9.85988385e-01 1.65631107e-01 1.98302799e-02 1.48093830e+02] [-1.65602381e-01 9.86187752e-01 -3.09352041e-03 -1.50359283e+01] [-2.00687624e-02 -2.33766374e-04 9.99798575e-01 -4.38329261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.12, Y:-15.04, Z:-4.38 [[ 9.86210594e-01 1.64284182e-01 1.99842912e-02 1.48122408e+02] [-1.64254741e-01 9.86413029e-01 -3.11705931e-03 -1.50441337e+01] [-2.02248488e-02 -2.08437667e-04 9.99795435e-01 -4.38432856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.15, Y:-15.05, Z:-4.39 [[ 9.86326537e-01 1.63618619e-01 1.97207966e-02 1.48150784e+02] [-1.63589825e-01 9.86523649e-01 -3.07548609e-03 -1.50506651e+01] [-1.99582391e-02 -1.92688124e-04 9.99800796e-01 -4.38606830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89587156000002 meters Centerline goodness [0,1] 0.9999357161223965 Centerline is valid? [True, True] Translation: X:148.18, Y:-15.06, Z:-4.39 [[ 9.86430475e-01 1.62971239e-01 1.98819700e-02 1.48179822e+02] [-1.62941850e-01 9.86630804e-01 -3.10014746e-03 -1.50582676e+01] [-2.01213989e-02 -1.81525045e-04 9.99797528e-01 -4.38603018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92587156000002 meters Centerline goodness [0,1] 0.9997873154961929 Centerline is valid? [True, True] Translation: X:148.21, Y:-15.06, Z:-4.39 [[ 9.86468012e-01 1.62768249e-01 1.96814193e-02 1.48208677e+02] [-1.62739420e-01 9.86664313e-01 -3.06841153e-03 -1.50640615e+01] [-1.99183940e-02 -1.76052937e-04 9.99801594e-01 -4.38652070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.24, Y:-15.07, Z:-4.39 [[ 9.86492213e-01 1.62575021e-01 2.00618053e-02 1.48237455e+02] [-1.62545037e-01 9.86696170e-01 -3.12722321e-03 -1.50693527e+01] [-2.03033149e-02 -1.75965543e-04 9.99793851e-01 -4.38766154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:-15.07, Z:-4.39 [[ 9.86500409e-01 1.62512134e-01 2.01680313e-02 1.48267240e+02] [-1.62481833e-01 9.86706529e-01 -3.14305658e-03 -1.50747595e+01] [-2.04107130e-02 -1.76312088e-04 9.99791664e-01 -4.38843299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.30, Y:-15.08, Z:-4.39 [[ 9.86488625e-01 1.62629422e-01 1.97955368e-02 1.48296877e+02] [-1.62600256e-01 9.86687205e-01 -3.08489658e-03 -1.50790379e+01] [-2.00336978e-02 -1.75543965e-04 9.99799290e-01 -4.39026274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04587156000002 meters Centerline goodness [0,1] 0.9999572046047845 Centerline is valid? [True, True] Translation: X:148.33, Y:-15.08, Z:-4.39 [[ 9.86420313e-01 1.63094513e-01 1.93686734e-02 1.48326439e+02] [-1.63066670e-01 9.86610433e-01 -3.01894296e-03 -1.50831450e+01] [-1.96017082e-02 -1.80438397e-04 9.99807852e-01 -4.39167029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07587156000002 meters Centerline goodness [0,1] 0.9999144549712354 Centerline is valid? [True, True] Translation: X:148.36, Y:-15.09, Z:-4.39 [[ 9.86362467e-01 1.63443915e-01 1.93693086e-02 1.48355668e+02] [-1.63416146e-01 9.86552610e-01 -3.01857846e-03 -1.50876390e+01] [-1.96022102e-02 -1.87845254e-04 9.99807841e-01 -4.39263132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.38, Y:-15.09, Z:-4.39 [[ 9.86333666e-01 1.63593197e-01 1.95745846e-02 1.48384086e+02] [-1.63564873e-01 9.86527865e-01 -3.05021212e-03 -1.50907020e+01] [-1.98098671e-02 -1.93187535e-04 9.99803747e-01 -4.39477517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:-15.10, Z:-4.39 [[ 9.86188724e-01 1.64413663e-01 1.99987020e-02 1.48413245e+02] [-1.64384284e-01 9.86391454e-01 -3.11544469e-03 -1.50957809e+01] [-2.02387705e-02 -2.15055887e-04 9.99795152e-01 -4.39302344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.44, Y:-15.10, Z:-4.39 [[ 9.86123226e-01 1.64829781e-01 1.98021969e-02 1.48442650e+02] [-1.64801069e-01 9.86322003e-01 -3.08437072e-03 -1.50996732e+01] [-2.00397387e-02 -2.21853628e-04 9.99799160e-01 -4.39466743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19587156000003 meters Centerline goodness [0,1] 0.9999361484760769 Centerline is valid? [True, True] Translation: X:148.47, Y:-15.10, Z:-4.40 [[ 9.86051385e-01 1.65290291e-01 1.95393200e-02 1.48471516e+02] [-1.65262436e-01 9.86244933e-01 -3.04299187e-03 -1.51037524e+01] [-1.97735324e-02 -2.28569265e-04 9.99804458e-01 -4.39561603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22587156000003 meters Centerline goodness [0,1] 0.9998285175340822 Centerline is valid? [True, True] Translation: X:148.50, Y:-15.11, Z:-4.40 [[ 9.85975447e-01 1.65757634e-01 1.94119885e-02 1.48500307e+02] [-1.65730241e-01 9.86166492e-01 -3.02267852e-03 -1.51064760e+01] [-1.96444847e-02 -2.36866727e-04 9.99807000e-01 -4.39705473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25587156000003 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:148.53, Y:-15.11, Z:-4.40 [[ 9.85911244e-01 1.66131978e-01 1.94726544e-02 1.48529917e+02] [-1.66104496e-01 9.86103496e-01 -3.03163291e-03 -1.51110099e+01] [-1.97057037e-02 -2.45574467e-04 9.99805794e-01 -4.39737681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.56, Y:-15.11, Z:-4.40 [[ 9.85829189e-01 1.66608529e-01 1.95552600e-02 1.48559840e+02] [-1.66580917e-01 9.86023089e-01 -3.04402399e-03 -1.51145258e+01] [-1.97890982e-02 -2.56645436e-04 9.99804144e-01 -4.39795153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.59, Y:-15.12, Z:-4.40 [[ 9.85771152e-01 1.66912059e-01 1.98897175e-02 1.48588247e+02] [-1.66883566e-01 9.85971750e-01 -3.09560007e-03 -1.51160063e+01] [-2.01273925e-02 -2.67713726e-04 9.99797388e-01 -4.39943576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.62, Y:-15.12, Z:-4.40 [[ 9.85604168e-01 1.67817929e-01 2.05320743e-02 1.48616576e+02] [-1.67787766e-01 9.85817963e-01 -3.19537534e-03 -1.51184687e+01] [-2.07771289e-02 -2.95655610e-04 9.99784088e-01 -4.39848413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.65, Y:-15.12, Z:-4.40 [[ 9.85542621e-01 1.68178001e-01 2.05402368e-02 1.48645318e+02] [-1.68147923e-01 9.85756596e-01 -3.19513114e-03 -1.51239521e+01] [-2.07850247e-02 -3.04860244e-04 9.99783922e-01 -4.39724627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.67, Y:-15.12, Z:-4.40 [[ 9.85490618e-01 1.68449186e-01 2.08113627e-02 1.48674415e+02] [-1.68418381e-01 9.85710288e-01 -3.23678369e-03 -1.51245831e+01] [-2.10592079e-02 -3.15196045e-04 9.99778181e-01 -4.39945718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43587156000004 meters Centerline goodness [0,1] 0.9999787197820905 Centerline is valid? [True, True] Translation: X:148.70, Y:-15.12, Z:-4.40 [[ 9.85411648e-01 1.68866012e-01 2.11696453e-02 1.48702335e+02] [-1.68834238e-01 9.85638961e-01 -3.29224242e-03 -1.51248093e+01] [-2.14215751e-02 -3.29946915e-04 9.99770477e-01 -4.39933899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.73, Y:-15.13, Z:-4.40 [[ 9.85395168e-01 1.68933126e-01 2.14000565e-02 1.48730631e+02] [-1.68900702e-01 9.85627458e-01 -3.32672540e-03 -1.51296211e+01] [-2.16544774e-02 -3.36345421e-04 9.99765458e-01 -4.39903917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.76, Y:-15.13, Z:-4.40 [[ 9.85450085e-01 1.68630014e-01 2.12614301e-02 1.48758379e+02] [-1.68597957e-01 9.85679365e-01 -3.30426777e-03 -1.51315892e+01] [-2.15141517e-02 -3.28442733e-04 9.99768490e-01 -4.40113095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.79, Y:-15.14, Z:-4.40 [[ 9.85516951e-01 1.68245372e-01 2.12092936e-02 1.48786535e+02] [-1.68213412e-01 9.85745095e-01 -3.29481932e-03 -1.51374020e+01] [-2.14612953e-02 -3.20587365e-04 9.99769628e-01 -4.40060762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.82, Y:-15.14, Z:-4.40 [[ 9.85647785e-01 1.67522372e-01 2.08494323e-02 1.48815497e+02] [-1.67491346e-01 9.85868229e-01 -3.23795422e-03 -1.51400488e+01] [-2.10972227e-02 -3.00617090e-04 9.99777384e-01 -4.40198324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58587156000002 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:148.84, Y:-15.14, Z:-4.41 [[ 9.85719865e-01 1.67141592e-01 2.04947794e-02 1.48843103e+02] [-1.67111548e-01 9.85932860e-01 -3.18202046e-03 -1.51404576e+01] [-2.07383245e-02 -2.88333545e-04 9.99784896e-01 -4.40542714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.87, Y:-15.15, Z:-4.40 [[ 9.85876026e-01 1.66219626e-01 2.04816451e-02 1.48871036e+02] [-1.66189450e-01 9.86088720e-01 -3.17864421e-03 -1.51482481e+01] [-2.07250723e-02 -2.70084211e-04 9.99785176e-01 -4.40447064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.90, Y:-15.15, Z:-4.41 [[ 9.86322718e-01 1.63506522e-01 2.08113633e-02 1.48899209e+02] [-1.63474787e-01 9.86542229e-01 -3.22866279e-03 -1.51540582e+01] [-2.10591962e-02 -2.17629718e-04 9.99778207e-01 -4.40605195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.93, Y:-15.16, Z:-4.41 [[ 9.86626539e-01 1.61677458e-01 2.06995499e-02 1.48928091e+02] [-1.61645678e-01 9.86843639e-01 -3.21046004e-03 -1.51606192e+01] [-2.09462782e-02 -1.78467698e-04 9.99780587e-01 -4.40673876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.96, Y:-15.17, Z:-4.41 [[ 9.86975285e-01 1.59558581e-01 2.05145368e-02 1.48957118e+02] [-1.59526919e-01 9.87188453e-01 -3.18128497e-03 -1.51678681e+01] [-2.07593152e-02 -1.32771203e-04 9.99784493e-01 -4.40655736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.99, Y:-15.17, Z:-4.41 [[ 9.87288942e-01 1.57583321e-01 2.06891563e-02 1.48985626e+02] [-1.57550697e-01 9.87505690e-01 -3.20772040e-03 -1.51737652e+01] [-2.09361428e-02 -9.26441143e-05 9.99780811e-01 -4.40844005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.02, Y:-15.18, Z:-4.41 [[ 9.87894521e-01 1.53749243e-01 2.06297236e-02 1.49015139e+02] [-1.53715978e-01 9.88109898e-01 -3.19813204e-03 -1.51831992e+01] [-2.08761445e-02 -1.17010297e-05 9.99782069e-01 -4.40919518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.05, Y:-15.19, Z:-4.41 [[ 9.88130473e-01 1.52236923e-01 2.05447927e-02 1.49045130e+02] [-1.52203604e-01 9.88344029e-01 -3.18496558e-03 -1.51897959e+01] [-2.07901925e-02 2.01700509e-05 9.99783860e-01 -4.40980807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82587156000002 meters Centerline goodness [0,1] 0.99982904521754 Centerline is valid? [True, True] Translation: X:149.07, Y:-15.20, Z:-4.41 [[ 9.88370549e-01 1.50650570e-01 2.06897149e-02 1.49074672e+02] [-1.50616432e-01 9.88587074e-01 -3.20743221e-03 -1.51963229e+01] [-2.09367862e-02 5.39205076e-05 9.99780800e-01 -4.40940313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.11, Y:-15.20, Z:-4.41 [[ 9.88533789e-01 1.49474047e-01 2.14116125e-02 1.49105645e+02] [-1.49437214e-01 9.88765646e-01 -3.31914259e-03 -1.52030475e+01] [-2.16671925e-02 8.13928916e-05 9.99765236e-01 -4.40957816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:-15.21, Z:-4.41 [[ 9.88884960e-01 1.47127810e-01 2.14462951e-02 1.49135750e+02] [-1.47090317e-01 9.89117480e-01 -3.32393629e-03 -1.52135999e+01] [-2.17019489e-02 1.32448247e-04 9.99764476e-01 -4.41147797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:-15.22, Z:-4.41 [[ 9.89017653e-01 1.46287574e-01 2.10719688e-02 1.49167575e+02] [-1.46251122e-01 9.89242095e-01 -3.26901499e-03 -1.52204940e+01] [-2.13234948e-02 1.51314463e-04 9.99772617e-01 -4.41280121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:-15.23, Z:-4.41 [[ 9.89095672e-01 1.45775859e-01 2.09559048e-02 1.49199390e+02] [-1.45739618e-01 9.89317629e-01 -3.25451140e-03 -1.52273157e+01] [-2.12064753e-02 1.64917564e-04 9.99775104e-01 -4.41409997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.23, Y:-15.23, Z:-4.42 [[ 9.89127681e-01 1.45613157e-01 2.05727742e-02 1.49231039e+02] [-1.45578126e-01 9.89341589e-01 -3.19832754e-03 -1.52343291e+01] [-2.08192197e-02 1.68608393e-04 9.99783242e-01 -4.41541090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.26, Y:-15.24, Z:-4.42 [[ 9.89063436e-01 1.46105616e-01 2.01660423e-02 1.49262831e+02] [-1.46071993e-01 9.89268985e-01 -3.13833191e-03 -1.52389578e+01] [-2.04081681e-02 1.58315350e-04 9.99791719e-01 -4.41600326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.29, Y:-15.24, Z:-4.42 [[ 9.88895616e-01 1.47279948e-01 1.98513832e-02 1.49293633e+02] [-1.47247532e-01 9.89094838e-01 -3.09282393e-03 -1.52433005e+01] [-2.00904116e-02 1.35412834e-04 9.99798158e-01 -4.41787928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.33, Y:-15.25, Z:-4.42 [[ 9.88664030e-01 1.48891829e-01 1.93560912e-02 1.49325168e+02] [-1.48861235e-01 9.88853484e-01 -3.02002502e-03 -1.52460103e+01] [-1.95899953e-02 1.04418474e-04 9.99808092e-01 -4.41954626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:-15.24, Z:-4.42 [[ 9.87994294e-01 1.53316138e-01 1.90114870e-02 1.49355012e+02] [-1.53287431e-01 9.88177191e-01 -2.96681801e-03 -1.52445345e+01] [-1.92415789e-02 1.69772702e-05 9.99814864e-01 -4.42130272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.38, Y:-15.25, Z:-4.42 [[ 9.87556380e-01 1.56054305e-01 1.94794875e-02 1.49384839e+02] [-1.56024686e-01 9.87748476e-01 -3.04052205e-03 -1.52452231e+01] [-1.97153207e-02 -3.65939801e-05 9.99805634e-01 -4.42145202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:-15.24, Z:-4.42 [[ 9.87055236e-01 1.59120317e-01 2.00670154e-02 1.49415304e+02] [-1.59089530e-01 9.87259193e-01 -3.13160854e-03 -1.52449339e+01] [-2.03096480e-02 -1.01381451e-04 9.99793733e-01 -4.42085810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.45, Y:-15.24, Z:-4.42 [[ 9.86016345e-01 1.65419943e-01 2.01992810e-02 1.49445523e+02] [-1.65390069e-01 9.86223194e-01 -3.15223534e-03 -1.52378224e+01] [-2.04424420e-02 -2.32604911e-04 9.99791004e-01 -4.42161590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.48, Y:-15.24, Z:-4.42 [[ 9.85567749e-01 1.68107993e-01 1.98976159e-02 1.49475111e+02] [-1.68079565e-01 9.85768544e-01 -3.10457761e-03 -1.52371652e+01] [-2.01363481e-02 -2.84611040e-04 9.99797203e-01 -4.42276992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.50, Y:-15.24, Z:-4.42 [[ 9.85575731e-01 1.68061170e-01 1.98977635e-02 1.49503106e+02] [-1.68032750e-01 9.85776528e-01 -3.10363070e-03 -1.52414409e+01] [-2.01363481e-02 -2.84612837e-04 9.99797203e-01 -4.42362452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.53, Y:-15.24, Z:-4.42 [[ 9.85149279e-01 1.70615529e-01 1.92675526e-02 1.49532009e+02] [-1.70589388e-01 9.85337624e-01 -3.00444729e-03 -1.52410195e+01] [-1.94976498e-02 -3.27010904e-04 9.99809849e-01 -4.42468679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30587156 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:149.56, Y:-15.24, Z:-4.43 [[ 9.84839260e-01 1.72470535e-01 1.85888597e-02 1.49560339e+02] [-1.72446544e-01 9.85014615e-01 -2.89800666e-03 -1.52380431e+01] [-1.88101193e-02 -3.51513868e-04 9.99823012e-01 -4.42828107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33587156000002 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:149.59, Y:-15.24, Z:-4.43 [[ 9.84361852e-01 1.75151969e-01 1.88024694e-02 1.49589495e+02] [-1.75127941e-01 9.84541325e-01 -2.92980433e-03 -1.52352723e+01] [-1.90249691e-02 -4.08850143e-04 9.99818925e-01 -4.42741164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36587156000002 meters Centerline goodness [0,1] 0.9999575407608695 Centerline is valid? [True, True] Translation: X:149.62, Y:-15.23, Z:-4.43 [[ 9.84247787e-01 1.75760782e-01 1.90903429e-02 1.49617909e+02] [-1.75736150e-01 9.84432813e-01 -2.97345957e-03 -1.52340405e+01] [-1.93157775e-02 -4.28242366e-04 9.99813341e-01 -4.42931028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39587156000002 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:149.65, Y:-15.24, Z:-4.43 [[ 9.84274444e-01 1.75638772e-01 1.88372253e-02 1.49645089e+02] [-1.75614785e-01 9.84454592e-01 -2.93306865e-03 -1.52404473e+01] [-1.90595536e-02 -4.21150759e-04 9.99818262e-01 -4.42903604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42587156000002 meters Centerline goodness [0,1] 0.9999575326467778 Centerline is valid? [True, True] Translation: X:149.67, Y:-15.24, Z:-4.43 [[ 9.84371037e-01 1.75116876e-01 1.86478200e-02 1.49673386e+02] [-1.75093304e-01 9.84547568e-01 -2.90205877e-03 -1.52416790e+01] [-1.88678653e-02 -4.08405822e-04 9.99821903e-01 -4.43145542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45587156000002 meters Centerline goodness [0,1] 0.9999570123589469 Centerline is valid? [True, True] Translation: X:149.70, Y:-15.25, Z:-4.43 [[ 9.84840868e-01 1.72412746e-01 1.90344467e-02 1.49701762e+02] [-1.72387707e-01 9.85024726e-01 -2.96085409e-03 -1.52458252e+01] [-1.92598897e-02 -3.65334524e-04 9.99814444e-01 -4.43161366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48587156000002 meters Centerline goodness [0,1] 0.9999787279302276 Centerline is valid? [True, True] Translation: X:149.73, Y:-15.25, Z:-4.43 [[ 9.85051548e-01 1.71159342e-01 1.94403718e-02 1.49729668e+02] [-1.71132997e-01 9.85243299e-01 -3.02315650e-03 -1.52484325e+01] [-1.96709375e-02 -3.48924112e-04 9.99806448e-01 -4.43195313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51587156000002 meters Centerline goodness [0,1] 0.9999573669849932 Centerline is valid? [True, True] Translation: X:149.76, Y:-15.25, Z:-4.43 [[ 9.85643550e-01 1.67660683e-01 1.99170317e-02 1.49758359e+02] [-1.67632343e-01 9.85844720e-01 -3.09593309e-03 -1.52531894e+01] [-2.01541668e-02 -2.87252201e-04 9.99796843e-01 -4.43192478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.79, Y:-15.26, Z:-4.43 [[ 9.86027295e-01 1.65325201e-01 2.04389741e-02 1.49786602e+02] [-1.65294875e-01 9.86239077e-01 -3.17604820e-03 -1.52588681e+01] [-2.06827958e-02 -2.46787459e-04 9.99786058e-01 -4.43204825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.81, Y:-15.27, Z:-4.43 [[ 9.86443754e-01 1.62767266e-01 2.08695275e-02 1.49813887e+02] [-1.62735096e-01 9.86664471e-01 -3.24202389e-03 -1.52650166e+01] [-2.11189166e-02 -1.98130331e-04 9.99776951e-01 -4.43336999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.84, Y:-15.27, Z:-4.43 [[ 9.86965932e-01 1.59582987e-01 2.07730323e-02 1.49841865e+02] [-1.59550437e-01 9.87184508e-01 -3.22569230e-03 -1.52735519e+01] [-2.10215813e-02 -1.30697969e-04 9.99779014e-01 -4.43371864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63587156000003 meters Centerline goodness [0,1] 0.9999571312213315 Centerline is valid? [True, True] Translation: X:149.87, Y:-15.29, Z:-4.43 [[ 9.87980634e-01 1.53184243e-01 2.07088101e-02 1.49870225e+02] [-1.53150512e-01 9.88197646e-01 -3.21450081e-03 -1.52867003e+01] [-2.09568082e-02 4.29969241e-06 9.99780382e-01 -4.43439637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66587156000003 meters Centerline goodness [0,1] 0.9998492905892737 Centerline is valid? [True, True] Translation: X:149.90, Y:-15.29, Z:-4.43 [[ 9.88487698e-01 1.49831773e-01 2.10359566e-02 1.49899224e+02] [-1.49796219e-01 9.88711502e-01 -3.26476891e-03 -1.52945408e+01] [-2.12876583e-02 7.60771372e-05 9.99773389e-01 -4.43355304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.93, Y:-15.30, Z:-4.44 [[ 9.88912181e-01 1.46951226e-01 2.14017664e-02 1.49927848e+02] [-1.46913764e-01 9.89143730e-01 -3.32088858e-03 -1.53026538e+01] [-2.16574317e-02 1.39853105e-04 9.99765441e-01 -4.43616874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.96, Y:-15.31, Z:-4.44 [[ 9.89286037e-01 1.44366596e-01 2.17122582e-02 1.49957470e+02] [-1.44327425e-01 9.89524253e-01 -3.36869357e-03 -1.53098252e+01] [-2.19711329e-02 1.98927196e-04 9.99758586e-01 -4.43657137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75587156000003 meters Centerline goodness [0,1] 0.9999132678505606 Centerline is valid? [True, True] Translation: X:149.99, Y:-15.32, Z:-4.44 [[ 9.89868182e-01 1.40318446e-01 2.17190323e-02 1.49987397e+02] [-1.40278275e-01 9.90106383e-01 -3.36974458e-03 -1.53180940e+01] [-2.19769899e-02 2.88894544e-04 9.99758435e-01 -4.43577460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78587156000003 meters Centerline goodness [0,1] 0.9998934129183543 Centerline is valid? [True, True] Translation: X:150.02, Y:-15.32, Z:-4.44 [[ 9.90016338e-01 1.39312513e-01 2.14400135e-02 1.50016695e+02] [-1.39273135e-01 9.90248418e-01 -3.32635286e-03 -1.53240743e+01] [-2.16943420e-02 3.07125781e-04 9.99764603e-01 -4.43734611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.05, Y:-15.33, Z:-4.44 [[ 9.90118863e-01 1.38579632e-01 2.14551137e-02 1.50046164e+02] [-1.38540028e-01 9.90351241e-01 -3.32861078e-03 -1.53316104e+01] [-2.17093762e-02 3.23328277e-04 9.99764271e-01 -4.44019238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:-15.34, Z:-4.44 [[ 9.90394805e-01 1.36748471e-01 2.04446947e-02 1.50077297e+02] [-1.36712121e-01 9.90605742e-01 -3.17179649e-03 -1.53396577e+01] [-2.06863703e-02 3.46293192e-04 9.99785954e-01 -4.44219265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87587156000004 meters Centerline goodness [0,1] 0.9999143523970623 Centerline is valid? [True, True] Translation: X:150.11, Y:-15.35, Z:-4.44 [[ 9.90522956e-01 1.35887267e-01 1.99731112e-02 1.50108389e+02] [-1.35852305e-01 9.90724241e-01 -3.10329751e-03 -1.53450611e+01] [-2.02095441e-02 3.60494223e-04 9.99795701e-01 -4.44348865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:-15.35, Z:-4.45 [[ 9.90628686e-01 1.35139542e-01 1.98017804e-02 1.50139350e+02] [-1.35105019e-01 9.90826506e-01 -3.07714547e-03 -1.53504707e+01] [-2.00359730e-02 3.72988658e-04 9.99799190e-01 -4.44520145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93587156000004 meters Centerline goodness [0,1] 0.999807651207523 Centerline is valid? [True, True] Translation: X:150.17, Y:-15.36, Z:-4.45 [[ 9.90709680e-01 1.34485186e-01 2.02006254e-02 1.50169938e+02] [-1.34449137e-01 9.90915526e-01 -3.13836829e-03 -1.53577203e+01] [-2.04391774e-02 3.93255198e-04 9.99791021e-01 -4.44522096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.20, Y:-15.37, Z:-4.45 [[ 9.90768502e-01 1.33940419e-01 2.09222485e-02 1.50201781e+02] [-1.33901558e-01 9.90989297e-01 -3.25373340e-03 -1.53654323e+01] [-2.11695308e-02 4.22174881e-04 9.99775811e-01 -4.44602218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.23, Y:-15.37, Z:-4.45 [[ 9.90744423e-01 1.34140357e-01 2.07810647e-02 1.50233370e+02] [-1.34101990e-01 9.90962254e-01 -3.23526342e-03 -1.53711462e+01] [-2.10272301e-02 4.18537073e-04 9.99778816e-01 -4.44681675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.26, Y:-15.38, Z:-4.45 [[ 9.90628390e-01 1.35033696e-01 2.05254307e-02 1.50263474e+02] [-1.34996384e-01 9.90840927e-01 -3.19908585e-03 -1.53804269e+01] [-2.07694211e-02 3.98246351e-04 9.99784213e-01 -4.44973000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05587156 meters Centerline goodness [0,1] 0.9999785144919752 Centerline is valid? [True, True] Translation: X:150.29, Y:-15.39, Z:-4.45 [[ 9.90309096e-01 1.37386632e-01 2.03176795e-02 1.50293981e+02] [-1.37350474e-01 9.90517436e-01 -3.17120303e-03 -1.53851049e+01] [-2.05606967e-02 3.49828312e-04 9.99788545e-01 -4.45069719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.33, Y:-15.39, Z:-4.45 [[ 9.90004997e-01 1.39522434e-01 2.05814726e-02 1.50325149e+02] [-1.39485782e-01 9.90218862e-01 -3.21286191e-03 -1.53874469e+01] [-2.08284287e-02 3.09926549e-04 9.99783017e-01 -4.45192791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.36, Y:-15.39, Z:-4.45 [[ 9.89700976e-01 1.41666959e-01 2.05535993e-02 1.50356168e+02] [-1.41630853e-01 9.89914341e-01 -3.20919313e-03 -1.53886884e+01] [-2.08009394e-02 2.65117766e-04 9.99783602e-01 -4.45282847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.39, Y:-15.39, Z:-4.45 [[ 9.89371695e-01 1.43997299e-01 2.02095771e-02 1.50385592e+02] [-1.43962876e-01 9.89578058e-01 -3.15558793e-03 -1.53897756e+01] [-2.04533502e-02 2.12620542e-04 9.99790786e-01 -4.45475860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.42, Y:-15.39, Z:-4.46 [[ 9.88726484e-01 1.48419051e-01 1.97920617e-02 1.50416032e+02] [-1.48386925e-01 9.88924553e-01 -3.09018297e-03 -1.53875810e+01] [-2.00314978e-02 1.18462552e-04 9.99799342e-01 -4.45527552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.45, Y:-15.39, Z:-4.46 [[ 9.88443436e-01 1.50246233e-01 2.01405776e-02 1.50445557e+02] [-1.50213347e-01 9.88648604e-01 -3.14446527e-03 -1.53903007e+01] [-2.03843980e-02 8.27424781e-05 9.99792213e-01 -4.45624827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.48, Y:-15.39, Z:-4.46 [[ 9.88007611e-01 1.53119071e-01 1.98874648e-02 1.50475543e+02] [-1.53087598e-01 9.88207746e-01 -3.10447885e-03 -1.53920143e+01] [-2.01283016e-02 2.27245249e-05 9.99797405e-01 -4.45736289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.50, Y:-15.40, Z:-4.46 [[ 9.87856922e-01 1.54099117e-01 1.98031094e-02 1.50503809e+02] [-1.54068115e-01 9.88055394e-01 -3.09094666e-03 -1.53955199e+01] [-2.00428812e-02 2.38531653e-06 9.99799121e-01 -4.45982100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29587156000002 meters Centerline goodness [0,1] 0.9999355766959435 Centerline is valid? [True, True] Translation: X:150.53, Y:-15.40, Z:-4.46 [[ 9.87739666e-01 1.54873808e-01 1.96075363e-02 1.50532324e+02] [-1.54843579e-01 9.87934261e-01 -3.05982517e-03 -1.53992346e+01] [-1.98448437e-02 -1.37904104e-05 9.99803072e-01 -4.45949317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:-15.40, Z:-4.46 [[ 9.87456523e-01 1.56597427e-01 2.01707707e-02 1.50560586e+02] [-1.56565819e-01 9.87662515e-01 -3.14659645e-03 -1.54023204e+01] [-2.04146631e-02 -5.09260510e-05 9.99791598e-01 -4.46063808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.59, Y:-15.41, Z:-4.46 [[ 9.87386149e-01 1.57017934e-01 2.03460570e-02 1.50588322e+02] [-1.56985873e-01 9.87595750e-01 -3.17342840e-03 -1.54064050e+01] [-2.05919646e-02 -6.06442811e-05 9.99787961e-01 -4.46129657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.62, Y:-15.41, Z:-4.46 [[ 9.87354570e-01 1.57174439e-01 2.06675853e-02 1.50616609e+02] [-1.57141421e-01 9.87570854e-01 -3.22221020e-03 -1.54115715e+01] [-2.09171540e-02 -6.62697516e-05 9.99781210e-01 -4.46161580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41587156000003 meters Centerline goodness [0,1] 0.9996778765622987 Centerline is valid? [True, True] Translation: X:150.65, Y:-15.42, Z:-4.46 [[ 9.87347340e-01 1.57237475e-01 2.05330841e-02 1.50645712e+02] [-1.57204923e-01 9.87560819e-01 -3.20003821e-03 -1.54174599e+01] [-2.07808353e-02 -6.83526968e-05 9.99784053e-01 -4.46076694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.67, Y:-15.42, Z:-4.46 [[ 9.87259968e-01 1.57764161e-01 2.06936256e-02 1.50674101e+02] [-1.57731224e-01 9.87476816e-01 -3.22456007e-03 -1.54229353e+01] [-2.09431956e-02 -8.05518392e-05 9.99780664e-01 -4.46289486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:-15.43, Z:-4.46 [[ 9.87240805e-01 1.57872165e-01 2.07839411e-02 1.50703442e+02] [-1.57838976e-01 9.87459555e-01 -3.23807281e-03 -1.54281108e+01] [-2.10345028e-02 -8.37583820e-05 9.99778747e-01 -4.46331021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50587156000003 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:150.73, Y:-15.43, Z:-4.46 [[ 9.87229819e-01 1.57956455e-01 2.06649912e-02 1.50731567e+02] [-1.57923672e-01 9.87446075e-01 -3.21914610e-03 -1.54322502e+01] [-2.09140493e-02 -8.54542551e-05 9.99781274e-01 -4.46454066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.76, Y:-15.44, Z:-4.47 [[ 9.87175742e-01 1.58305721e-01 2.05755243e-02 1.50758497e+02] [-1.58273308e-01 9.87390141e-01 -3.20467029e-03 -1.54366537e+01] [-2.08233875e-02 -9.29835375e-05 9.99783165e-01 -4.46696361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.79, Y:-15.44, Z:-4.47 [[ 9.87120811e-01 1.58672299e-01 2.03864309e-02 1.50787311e+02] [-1.58640585e-01 9.87331298e-01 -3.17391292e-03 -1.54415716e+01] [-2.06317733e-02 -1.01079815e-04 9.99787137e-01 -4.46824188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.82, Y:-15.45, Z:-4.47 [[ 9.87036729e-01 1.59223993e-01 2.01547829e-02 1.50816249e+02] [-1.59193133e-01 9.87242477e-01 -3.13666926e-03 -1.54458470e+01] [-2.03970908e-02 -1.12495279e-04 9.99791951e-01 -4.46832666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.84, Y:-15.45, Z:-4.47 [[ 9.86906075e-01 1.60048618e-01 2.00209429e-02 1.50844945e+02] [-1.60018344e-01 9.87109124e-01 -3.11546920e-03 -1.54492801e+01] [-2.02614819e-02 -1.29042650e-04 9.99794707e-01 -4.46998419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.87, Y:-15.45, Z:-4.47 [[ 9.86781833e-01 1.60812768e-01 2.00216629e-02 1.50872021e+02] [-1.60782664e-01 9.86984920e-01 -3.11487837e-03 -1.54529483e+01] [-2.02619915e-02 -1.45430912e-04 9.99794694e-01 -4.47134223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.90, Y:-15.46, Z:-4.47 [[ 9.86606121e-01 1.61857762e-01 2.02589790e-02 1.50899447e+02] [-1.61827173e-01 9.86814084e-01 -3.15115400e-03 -1.54570436e+01] [-2.05018845e-02 -1.69505478e-04 9.99789800e-01 -4.47194025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.93, Y:-15.46, Z:-4.47 [[ 9.86600349e-01 1.61801303e-01 2.09783108e-02 1.50927403e+02] [-1.61768520e-01 9.86823342e-01 -3.26162956e-03 -1.54624588e+01] [-2.12296226e-02 -1.75705428e-04 9.99774611e-01 -4.47096950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.96, Y:-15.47, Z:-4.47 [[ 9.86591912e-01 1.61767035e-01 2.16292797e-02 1.50955377e+02] [-1.61732200e-01 9.86828959e-01 -3.36183233e-03 -1.54665962e+01] [-2.18882332e-02 -1.81394413e-04 9.99760407e-01 -4.47038191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77587156 meters Centerline goodness [0,1] 0.9999357807984587 Centerline is valid? [True, True] Translation: X:150.98, Y:-15.47, Z:-4.47 [[ 9.86597917e-01 1.61572554e-01 2.27784933e-02 1.50984499e+02] [-1.61533907e-01 9.86860818e-01 -3.53871615e-03 -1.54728090e+01] [-2.30509620e-02 -1.88209039e-04 9.99734274e-01 -4.46778480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.01, Y:-15.48, Z:-4.47 [[ 9.86626582e-01 1.61395403e-01 2.27927786e-02 1.51012360e+02] [-1.61356671e-01 9.86889806e-01 -3.54045261e-03 -1.54775106e+01] [-2.30653737e-02 -1.84662226e-04 9.99733942e-01 -4.46978580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.04, Y:-15.48, Z:-4.47 [[ 9.86678134e-01 1.61133757e-01 2.24091781e-02 1.51041110e+02] [-1.61096272e-01 9.86932562e-01 -3.47995918e-03 -1.54838062e+01] [-2.26770865e-02 -1.76435415e-04 9.99742826e-01 -4.47151163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:-15.49, Z:-4.47 [[ 9.86678811e-01 1.61198878e-01 2.19053741e-02 1.51070390e+02] [-1.61163086e-01 9.86921928e-01 -3.40119708e-03 -1.54904573e+01] [-2.21671632e-02 -1.74448599e-04 9.99754263e-01 -4.47344304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.10, Y:-15.50, Z:-4.48 [[ 9.86635125e-01 1.61537973e-01 2.13684968e-02 1.51098264e+02] [-1.61504003e-01 9.86866481e-01 -3.31743007e-03 -1.54951297e+01] [-2.16237442e-02 -1.78004753e-04 9.99766164e-01 -4.47556488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.13, Y:-15.50, Z:-4.48 [[ 9.86558956e-01 1.61994845e-01 2.14265338e-02 1.51126375e+02] [-1.61960816e-01 9.86791586e-01 -3.32563865e-03 -1.54983567e+01] [-2.16822596e-02 -1.89320303e-04 9.99764894e-01 -4.47748512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.16, Y:-15.50, Z:-4.48 [[ 9.86422472e-01 1.62778482e-01 2.17685997e-02 1.51155238e+02] [-1.62743568e-01 9.86662618e-01 -3.37783615e-03 -1.55030023e+01] [-2.20281026e-02 -2.10726089e-04 9.99757330e-01 -4.47686256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.18, Y:-15.50, Z:-4.48 [[ 9.86037702e-01 1.65026824e-01 2.22665061e-02 1.51184511e+02] [-1.64990875e-01 9.86289043e-01 -3.45472243e-03 -1.55038714e+01] [-2.25313329e-02 -2.67283768e-04 9.99746102e-01 -4.47617553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.21, Y:-15.51, Z:-4.48 [[ 9.85834164e-01 1.66257331e-01 2.21246595e-02 1.51212303e+02] [-1.66222171e-01 9.86082356e-01 -3.43174871e-03 -1.55061456e+01] [-2.23872897e-02 -2.94473800e-04 9.99749330e-01 -4.47753008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04587156000002 meters Centerline goodness [0,1] 0.9998507430862066 Centerline is valid? [True, True] Translation: X:151.24, Y:-15.51, Z:-4.48 [[ 9.85639330e-01 1.67460472e-01 2.17279092e-02 1.51240652e+02] [-1.67426882e-01 9.85878740e-01 -3.36893597e-03 -1.55067815e+01] [-2.19852473e-02 -3.17280287e-04 9.99758245e-01 -4.47949539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07587156000002 meters Centerline goodness [0,1] 0.9998499335419971 Centerline is valid? [True, True] Translation: X:151.27, Y:-15.51, Z:-4.48 [[ 9.85284530e-01 1.69609455e-01 2.11430380e-02 1.51269234e+02] [-1.69578172e-01 9.85511291e-01 -3.27692930e-03 -1.55083332e+01] [-2.13925009e-02 -3.56689990e-04 9.99771091e-01 -4.48019983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10587156000003 meters Centerline goodness [0,1] 0.9998075812969021 Centerline is valid? [True, True] Translation: X:151.30, Y:-15.51, Z:-4.48 [[ 9.85188841e-01 1.70179844e-01 2.10182764e-02 1.51298019e+02] [-1.70149079e-01 9.85412952e-01 -3.25660553e-03 -1.55108018e+01] [-2.12658904e-02 -3.67868948e-04 9.99773788e-01 -4.48146616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13587156000003 meters Centerline goodness [0,1] 0.9998075812969021 Centerline is valid? [True, True] Translation: X:151.33, Y:-15.52, Z:-4.48 [[ 9.85196726e-01 1.70134171e-01 2.10184269e-02 1.51326020e+02] [-1.70103417e-01 9.85420838e-01 -3.25563371e-03 -1.55150470e+01] [-2.12658904e-02 -3.67866570e-04 9.99773788e-01 -4.48232080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16587156000003 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:151.35, Y:-15.52, Z:-4.48 [[ 9.85142795e-01 1.70468763e-01 2.08344639e-02 1.51354650e+02] [-1.70438639e-01 9.85363010e-01 -3.22616261e-03 -1.55175976e+01] [-2.10794700e-02 -3.72766830e-04 9.99777734e-01 -4.48419771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19587156000003 meters Centerline goodness [0,1] 0.9998930778607018 Centerline is valid? [True, True] Translation: X:151.38, Y:-15.52, Z:-4.48 [[ 9.85153278e-01 1.70400308e-01 2.08986540e-02 1.51382791e+02] [-1.70370004e-01 9.85374850e-01 -3.23511168e-03 -1.55211921e+01] [-2.11442721e-02 -3.73422893e-04 9.99776365e-01 -4.48383562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22587156000003 meters Centerline goodness [0,1] 0.9999786434307193 Centerline is valid? [True, True] Translation: X:151.41, Y:-15.52, Z:-4.48 [[ 9.85366425e-01 1.69082774e-01 2.15412396e-02 1.51410113e+02] [-1.69050285e-01 9.85601790e-01 -3.33360099e-03 -1.55241734e+01] [-2.17947388e-02 -3.56734209e-04 9.99762403e-01 -4.48497445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.44, Y:-15.53, Z:-4.48 [[ 9.85542733e-01 1.67980341e-01 2.20935673e-02 1.51438886e+02] [-1.67945922e-01 9.85790286e-01 -3.41752002e-03 -1.55302479e+01] [-2.23537002e-02 -3.42412505e-04 9.99750066e-01 -4.48397424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:-15.53, Z:-4.48 [[ 9.85992854e-01 1.65252448e-01 2.25769940e-02 1.51466108e+02] [-1.65215806e-01 9.86251259e-01 -3.49163124e-03 -1.55347295e+01] [-2.28435894e-02 -2.87352803e-04 9.99739010e-01 -4.48461406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:-15.54, Z:-4.48 [[ 9.86315178e-01 1.63246298e-01 2.30871435e-02 1.51494473e+02] [-1.63207467e-01 9.86585316e-01 -3.56902571e-03 -1.55424379e+01] [-2.33600670e-02 -2.47809984e-04 9.99727086e-01 -4.48388428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:-15.55, Z:-4.48 [[ 9.86619661e-01 1.61317175e-01 2.36307809e-02 1.51522877e+02] [-1.61275972e-01 9.86902592e-01 -3.65171953e-03 -1.55475901e+01] [-2.39103640e-02 -2.08218883e-04 9.99714085e-01 -4.48468426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:-15.55, Z:-4.48 [[ 9.86922845e-01 1.59447162e-01 2.36622137e-02 1.51551957e+02] [-1.59405323e-01 9.87206450e-01 -3.65613139e-03 -1.55543737e+01] [-2.39424498e-02 -1.63563216e-04 9.99713325e-01 -4.48418097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:-15.56, Z:-4.49 [[ 9.87584899e-01 1.55384019e-01 2.30623738e-02 1.51581130e+02] [-1.55343183e-01 9.87854140e-01 -3.56274625e-03 -1.55626953e+01] [-2.33358552e-02 -6.40681482e-05 9.99727680e-01 -4.48598002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:-15.57, Z:-4.49 [[ 9.87894897e-01 1.53461761e-01 2.26530681e-02 1.51609591e+02] [-1.53421853e-01 9.88154587e-01 -3.49960320e-03 -1.55692439e+01] [-2.29217884e-02 -1.82355416e-05 9.99737261e-01 -4.48905529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46587156000004 meters Centerline goodness [0,1] 0.9999787717324389 Centerline is valid? [True, True] Translation: X:151.64, Y:-15.58, Z:-4.49 [[ 9.88210016e-01 1.51487112e-01 2.21950170e-02 1.51639460e+02] [-1.51448313e-01 9.88459232e-01 -3.42848208e-03 -1.55765182e+01] [-2.24582403e-02 2.66624536e-05 9.99747782e-01 -4.48915665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.67, Y:-15.58, Z:-4.49 [[ 9.88510429e-01 1.49563342e-01 2.18618124e-02 1.51668771e+02] [-1.49525228e-01 9.88752144e-01 -3.37701170e-03 -1.55832985e+01] [-2.21209910e-02 6.93187996e-05 9.99755299e-01 -4.49149803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52587156 meters Centerline goodness [0,1] 0.9999785061794734 Centerline is valid? [True, True] Translation: X:151.70, Y:-15.59, Z:-4.49 [[ 9.89055022e-01 1.46144619e-01 2.02956526e-02 1.51699277e+02] [-1.46111056e-01 9.89263227e-01 -3.13485289e-03 -1.55906868e+01] [-2.05358847e-02 1.35122759e-04 9.99789107e-01 -4.49415994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.73, Y:-15.60, Z:-4.50 [[ 9.89275862e-01 1.44720742e-01 1.97275360e-02 1.51728229e+02] [-1.44688732e-01 9.89472527e-01 -3.04793378e-03 -1.55966951e+01] [-1.99609542e-02 1.60895143e-04 9.99800747e-01 -4.49700493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58587156000002 meters Centerline goodness [0,1] 0.9999784631288766 Centerline is valid? [True, True] Translation: X:151.76, Y:-15.60, Z:-4.50 [[ 9.89455113e-01 1.43556630e-01 1.92372706e-02 1.51757774e+02] [-1.43525978e-01 9.89642088e-01 -2.97183373e-03 -1.56026105e+01] [-1.94646391e-02 1.79448000e-04 9.99810530e-01 -4.49795966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.79, Y:-15.61, Z:-4.50 [[ 9.89605196e-01 1.42525890e-01 1.91814214e-02 1.51786814e+02] [-1.42495225e-01 9.89791054e-01 -2.96307586e-03 -1.56099315e+01] [-1.94079144e-02 1.99014301e-04 9.99811629e-01 -4.50092684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.82, Y:-15.62, Z:-4.50 [[ 9.89711212e-01 1.41901189e-01 1.83239891e-02 1.51816027e+02] [-1.41873093e-01 9.89880807e-01 -2.83087901e-03 -1.56157365e+01] [-1.85402702e-02 2.02071694e-04 9.99828094e-01 -4.50298807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67587156000002 meters Centerline goodness [0,1] 0.9998059717581115 Centerline is valid? [True, True] Translation: X:151.85, Y:-15.62, Z:-4.50 [[ 9.89731913e-01 1.41774758e-01 1.81839990e-02 1.51846430e+02] [-1.41747064e-01 9.89898922e-01 -2.80949026e-03 -1.56191918e+01] [-1.83986358e-02 2.03113701e-04 9.99830710e-01 -4.50156852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.88, Y:-15.62, Z:-4.50 [[ 9.89711503e-01 1.41915776e-01 1.81948545e-02 1.51875496e+02] [-1.41888070e-01 9.89878716e-01 -2.81130921e-03 -1.56241732e+01] [-1.84096684e-02 2.00752276e-04 9.99830508e-01 -4.50424234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73587156000002 meters Centerline goodness [0,1] 0.9998715670954899 Centerline is valid? [True, True] Translation: X:151.91, Y:-15.63, Z:-4.50 [[ 9.89628280e-01 1.42504925e-01 1.81166561e-02 1.51906255e+02] [-1.42477562e-01 9.89794075e-01 -2.79886442e-03 -1.56269194e+01] [-1.83306109e-02 1.88618378e-04 9.99831962e-01 -4.50275835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.94, Y:-15.63, Z:-4.50 [[ 9.89592805e-01 1.42728484e-01 1.82937177e-02 1.51936803e+02] [-1.42700622e-01 9.89761863e-01 -2.82621888e-03 -1.56307535e+01] [-1.85098061e-02 1.86280972e-04 9.99828662e-01 -4.50460433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.97, Y:-15.63, Z:-4.50 [[ 9.89498111e-01 1.43309208e-01 1.88668774e-02 1.51967630e+02] [-1.43279680e-01 9.89677947e-01 -2.91463587e-03 -1.56344001e+01] [-1.90898266e-02 1.80786533e-04 9.99817756e-01 -4.50457973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.00, Y:-15.64, Z:-4.50 [[ 9.89291233e-01 1.44529320e-01 2.03502437e-02 1.51997841e+02] [-1.44495216e-01 9.89500504e-01 -3.14417805e-03 -1.56373825e+01] [-2.05910023e-02 1.69994929e-04 9.99787968e-01 -4.50272881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.03, Y:-15.64, Z:-4.50 [[ 9.89200953e-01 1.45083531e-01 2.07904835e-02 1.52027018e+02] [-1.45048056e-01 9.89419397e-01 -3.21230551e-03 -1.56420236e+01] [-2.10365602e-02 1.61996474e-04 9.99778694e-01 -4.50290439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.06, Y:-15.64, Z:-4.50 [[ 9.89119818e-01 1.45589640e-01 2.11102587e-02 1.52057314e+02] [-1.45553187e-01 9.89345053e-01 -3.26134761e-03 -1.56446908e+01] [-2.13601484e-02 1.53198122e-04 9.99771834e-01 -4.50202217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.09, Y:-15.65, Z:-4.50 [[ 9.89027454e-01 1.46179091e-01 2.13627751e-02 1.52086901e+02] [-1.46141896e-01 9.89258133e-01 -3.30046220e-03 -1.56484693e+01] [-2.16157575e-02 1.42251279e-04 9.99766342e-01 -4.50377709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.12, Y:-15.65, Z:-4.51 [[ 9.88878664e-01 1.47300292e-01 2.05331904e-02 1.52117795e+02] [-1.47266179e-01 9.89091811e-01 -3.17194512e-03 -1.56508349e+01] [-2.07764389e-02 1.12824361e-04 9.99784140e-01 -4.50564617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.15, Y:-15.65, Z:-4.51 [[ 9.88820056e-01 1.47755331e-01 2.00813343e-02 1.52147980e+02] [-1.47722797e-01 9.89023939e-01 -3.10214288e-03 -1.56542042e+01] [-2.03192785e-02 1.00990228e-04 9.99793537e-01 -4.50674380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.18, Y:-15.66, Z:-4.51 [[ 9.88714697e-01 1.48480288e-01 1.99211615e-02 1.52177143e+02] [-1.48448413e-01 9.88915364e-01 -3.07763878e-03 -1.56570449e+01] [-2.01573113e-02 8.56418860e-05 9.99796817e-01 -4.50786638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:-15.66, Z:-4.51 [[ 9.88517634e-01 1.49880737e-01 1.92003329e-02 1.52205567e+02] [-1.49851398e-01 9.88704082e-01 -2.96596505e-03 -1.56574985e+01] [-1.94279886e-02 5.47120236e-05 9.99811257e-01 -4.50986898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.23, Y:-15.66, Z:-4.51 [[ 9.88434047e-01 1.50408889e-01 1.93726874e-02 1.52234737e+02] [-1.50379133e-01 9.88623874e-01 -2.99202428e-03 -1.56606102e+01] [-1.96023283e-02 4.41707329e-05 9.99807855e-01 -4.50896495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.26, Y:-15.66, Z:-4.51 [[ 9.88341959e-01 1.50923304e-01 2.00581031e-02 1.52263354e+02] [-1.50891535e-01 9.88545475e-01 -3.09670674e-03 -1.56645383e+01] [-2.02957123e-02 3.40072378e-05 9.99794020e-01 -4.50971594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.29, Y:-15.67, Z:-4.51 [[ 9.88062089e-01 1.52634319e-01 2.08823395e-02 1.52293664e+02] [-1.52600287e-01 9.88282735e-01 -3.22302327e-03 -1.56657506e+01] [-2.11295996e-02 -2.10389879e-06 9.99776745e-01 -4.50789137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.32, Y:-15.67, Z:-4.51 [[ 9.87923664e-01 1.53592250e-01 2.04023320e-02 1.52323609e+02] [-1.53559979e-01 9.88134313e-01 -3.14845501e-03 -1.56683784e+01] [-2.06438226e-02 -2.25484618e-05 9.99786893e-01 -4.50856049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.35, Y:-15.67, Z:-4.51 [[ 9.87780523e-01 1.54532382e-01 2.02331522e-02 1.52351390e+02] [-1.54500844e-01 9.87987723e-01 -3.12220020e-03 -1.56705237e+01] [-2.04725870e-02 -4.19905289e-05 9.99790414e-01 -4.51150503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.38, Y:-15.67, Z:-4.51 [[ 9.87552988e-01 1.56066284e-01 1.95553073e-02 1.52380013e+02] [-1.56037151e-01 9.87746582e-01 -3.01628881e-03 -1.56709281e+01] [-1.97864289e-02 -7.26093985e-05 9.99804227e-01 -4.51332049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.41, Y:-15.67, Z:-4.51 [[ 9.87481074e-01 1.56574203e-01 1.91219247e-02 1.52408495e+02] [-1.56546459e-01 9.87666195e-01 -2.94855902e-03 -1.56733168e+01] [-1.93477469e-02 -8.18233768e-05 9.99812811e-01 -4.51427617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.44, Y:-15.68, Z:-4.52 [[ 9.87459636e-01 1.56739676e-01 1.88717053e-02 1.52436988e+02] [-1.56712701e-01 9.87639948e-01 -2.90907391e-03 -1.56759115e+01] [-1.90944173e-02 -8.48428451e-05 9.99817681e-01 -4.51560992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:-15.68, Z:-4.52 [[ 9.87439787e-01 1.56824583e-01 1.92020237e-02 1.52464999e+02] [-1.56796686e-01 9.87626469e-01 -2.95920815e-03 -1.56795719e+01] [-1.94285034e-02 -8.87738108e-05 9.99811245e-01 -4.51686105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33587156000002 meters Centerline goodness [0,1] 0.9998714542805724 Centerline is valid? [True, True] Translation: X:152.49, Y:-15.68, Z:-4.52 [[ 9.87616739e-01 1.55794881e-01 1.84697443e-02 1.52493253e+02] [-1.55768916e-01 9.87789426e-01 -2.84504877e-03 -1.56849963e+01] [-1.86874621e-02 -6.71942620e-05 9.99825372e-01 -4.51685287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:-15.69, Z:-4.52 [[ 9.87684619e-01 1.55372066e-01 1.84014915e-02 1.52522032e+02] [-1.55346235e-01 9.87856021e-01 -2.83367784e-03 -1.56898169e+01] [-1.86182985e-02 -5.98224019e-05 9.99826663e-01 -4.51888384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39587156000002 meters Centerline goodness [0,1] 0.9998274486120398 Centerline is valid? [True, True] Translation: X:152.55, Y:-15.69, Z:-4.52 [[ 9.87815842e-01 1.54538110e-01 1.83802927e-02 1.52549440e+02] [-1.54512207e-01 9.87986827e-01 -2.82971299e-03 -1.56931319e+01] [-1.85967856e-02 -4.47442848e-05 9.99827064e-01 -4.51829907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.58, Y:-15.70, Z:-4.52 [[ 9.88040478e-01 1.53116195e-01 1.82056204e-02 1.52577517e+02] [-1.53090566e-01 9.88208192e-01 -2.80148549e-03 -1.56974512e+01] [-1.84198960e-02 -1.91276718e-05 9.99830339e-01 -4.51902495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:-15.70, Z:-4.52 [[ 9.88183441e-01 1.52166070e-01 1.84112682e-02 1.52605089e+02] [-1.52139708e-01 9.88354940e-01 -2.83233622e-03 -1.57020752e+01] [-1.86278533e-02 -2.21720664e-06 9.99826486e-01 -4.52031289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:-15.71, Z:-4.52 [[ 9.88362494e-01 1.50914315e-01 1.90905932e-02 1.52632026e+02] [-1.50885763e-01 9.88546847e-01 -2.93557656e-03 -1.57073575e+01] [-1.93149663e-02 2.09150467e-05 9.99813448e-01 -4.52018807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:-15.72, Z:-4.52 [[ 9.88775201e-01 1.48115515e-01 1.96315125e-02 1.52660366e+02] [-1.48084796e-01 9.88970064e-01 -3.01743898e-03 -1.57152438e+01] [-1.98619077e-02 7.64403225e-05 9.99802730e-01 -4.51933796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54587156000002 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:152.69, Y:-15.72, Z:-4.52 [[ 9.89073468e-01 1.46142724e-01 1.93901764e-02 1.52687942e+02] [-1.46112397e-01 9.89263510e-01 -2.97927548e-03 -1.57219584e+01] [-1.96173934e-02 1.13577174e-04 9.99807554e-01 -4.51998440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.72, Y:-15.73, Z:-4.52 [[ 9.89344859e-01 1.44331927e-01 1.91061260e-02 1.52717005e+02] [-1.44302160e-01 9.89529319e-01 -2.93481365e-03 -1.57285503e+01] [-1.93296591e-02 1.46487542e-04 9.99813154e-01 -4.52134098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60587156000003 meters Centerline goodness [0,1] 0.9998067798793447 Centerline is valid? [True, True] Translation: X:152.75, Y:-15.74, Z:-4.52 [[ 9.89675068e-01 1.42081636e-01 1.88697897e-02 1.52745790e+02] [-1.42052203e-01 9.89854926e-01 -2.89792724e-03 -1.57366706e+01] [-1.90900965e-02 1.87511130e-04 9.99817750e-01 -4.52336917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.78, Y:-15.75, Z:-4.53 [[ 9.90239766e-01 1.38165221e-01 1.83187919e-02 1.52775300e+02] [-1.38136818e-01 9.90409161e-01 -2.81295705e-03 -1.57460715e+01] [-1.85317522e-02 2.55002298e-04 9.99828240e-01 -4.52530135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:-15.76, Z:-4.53 [[ 9.90448552e-01 1.36714398e-01 1.79119795e-02 1.52803672e+02] [-1.36687003e-01 9.90610467e-01 -2.75063283e-03 -1.57562664e+01] [-1.81198455e-02 2.76025512e-04 9.99835784e-01 -4.52847847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.83, Y:-15.76, Z:-4.53 [[ 9.90614157e-01 1.35518024e-01 1.78453491e-02 1.52833846e+02] [-1.35490645e-01 9.90774837e-01 -2.74004089e-03 -1.57602420e+01] [-1.80520478e-02 2.96445424e-04 9.99837005e-01 -4.52801258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.86, Y:-15.77, Z:-4.53 [[ 9.90798162e-01 1.34168766e-01 1.78253900e-02 1.52862606e+02] [-1.34141227e-01 9.90958445e-01 -2.73712009e-03 -1.57671479e+01] [-1.80314567e-02 3.20813869e-04 9.99837369e-01 -4.52883613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.89, Y:-15.77, Z:-4.53 [[ 9.90860861e-01 1.33701475e-01 1.78513138e-02 1.52892757e+02] [-1.33673789e-01 9.91021598e-01 -2.74059480e-03 -1.57717506e+01] [-1.80574590e-02 3.29295368e-04 9.99836897e-01 -4.52861600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78587156000003 meters Centerline goodness [0,1] 0.9999786825836708 Centerline is valid? [True, True] Translation: X:152.92, Y:-15.78, Z:-4.53 [[ 9.90920752e-01 1.33231589e-01 1.80390313e-02 1.52922223e+02] [-1.33203268e-01 9.91084874e-01 -2.76789437e-03 -1.57818880e+01] [-1.82469820e-02 3.39906061e-04 9.99833452e-01 -4.53170572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.95, Y:-15.79, Z:-4.53 [[ 9.90974546e-01 1.32814675e-01 1.81579655e-02 1.52953821e+02] [-1.32785826e-01 9.91140826e-01 -2.79068425e-03 -1.57857515e+01] [-1.83677447e-02 3.54376606e-04 9.99831236e-01 -4.53027292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:-15.79, Z:-4.53 [[ 9.91021232e-01 1.32473469e-01 1.81024278e-02 1.52982967e+02] [-1.32444731e-01 9.91186486e-01 -2.78258568e-03 -1.57926393e+01] [-1.83115006e-02 3.60030308e-04 9.99832266e-01 -4.53229222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:-15.80, Z:-4.53 [[ 9.91037467e-01 1.32350003e-01 1.81167154e-02 1.53013609e+02] [-1.32321219e-01 9.91202979e-01 -2.78369923e-03 -1.58003790e+01] [-1.83257649e-02 3.61524373e-04 9.99832004e-01 -4.53375959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:-15.81, Z:-4.53 [[ 9.91029786e-01 1.32472547e-01 1.76348180e-02 1.53045029e+02] [-1.32445250e-01 9.91186612e-01 -2.71208762e-03 -1.58074897e+01] [-1.78386727e-02 3.52111728e-04 9.99840816e-01 -4.53446223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93587156000004 meters Centerline goodness [0,1] 0.9997854767778612 Centerline is valid? [True, True] Translation: X:153.08, Y:-15.81, Z:-4.53 [[ 9.90999723e-01 1.32732327e-01 1.73688661e-02 1.53075643e+02] [-1.32705835e-01 9.91151860e-01 -2.67415782e-03 -1.58135951e+01] [-1.75701311e-02 3.45139789e-04 9.99845574e-01 -4.53463367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.11, Y:-15.82, Z:-4.54 [[ 9.90928929e-01 1.33233923e-01 1.75664016e-02 1.53106331e+02] [-1.33206827e-01 9.91084559e-01 -2.70890356e-03 -1.58175400e+01] [-1.77707073e-02 3.44366289e-04 9.99842029e-01 -4.53575066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99587156 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:153.14, Y:-15.83, Z:-4.54 [[ 9.90758283e-01 1.34509332e-01 1.74718184e-02 1.53136586e+02] [-1.34482747e-01 9.90912276e-01 -2.69309218e-03 -1.58257042e+01] [-1.76752853e-02 3.18545259e-04 9.99843729e-01 -4.53750623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:-15.83, Z:-4.54 [[ 9.90676925e-01 1.35152559e-01 1.71176849e-02 1.53167221e+02] [-1.35127062e-01 9.90824754e-01 -2.64281644e-03 -1.58304823e+01] [-1.73178093e-02 3.05114795e-04 9.99849989e-01 -4.53832594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:-15.84, Z:-4.54 [[ 9.90673782e-01 1.35175604e-01 1.71176234e-02 1.53197682e+02] [-1.35150104e-01 9.90821610e-01 -2.64321438e-03 -1.58352310e+01] [-1.73178093e-02 3.05114603e-04 9.99849989e-01 -4.53925622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.23, Y:-15.84, Z:-4.54 [[ 9.90576324e-01 1.35904106e-01 1.69888014e-02 1.53228403e+02] [-1.35879088e-01 9.90721954e-01 -2.62372193e-03 -1.58400149e+01] [-1.71877531e-02 2.90573979e-04 9.99852237e-01 -4.54003454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.26, Y:-15.85, Z:-4.54 [[ 9.90371640e-01 1.37240233e-01 1.81420524e-02 1.53259278e+02] [-1.37211918e-01 9.90537751e-01 -2.80230152e-03 -1.58452561e+01] [-1.83549763e-02 2.86014147e-04 9.99831492e-01 -4.53836876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14587156000002 meters Centerline goodness [0,1] 0.9998916951869341 Centerline is valid? [True, True] Translation: X:153.29, Y:-15.85, Z:-4.54 [[ 9.90283301e-01 1.37862114e-01 1.82488753e-02 1.53290375e+02] [-1.37833594e-01 9.90451393e-01 -2.81754958e-03 -1.58518903e+01] [-1.84630573e-02 2.74864231e-04 9.99829505e-01 -4.53796826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:-15.86, Z:-4.54 [[ 9.90202264e-01 1.38438932e-01 1.82794513e-02 1.53320423e+02] [-1.38410353e-01 9.90370936e-01 -2.82555514e-03 -1.58594038e+01] [-1.84946041e-02 2.67805793e-04 9.99828924e-01 -4.54010383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20587156000002 meters Centerline goodness [0,1] 0.9999356623560445 Centerline is valid? [True, True] Translation: X:153.35, Y:-15.87, Z:-4.54 [[ 9.90086993e-01 1.39228618e-01 1.85239836e-02 1.53351379e+02] [-1.39199350e-01 9.90260231e-01 -2.86639905e-03 -1.58657889e+01] [-1.87426491e-02 2.59457931e-04 9.99824307e-01 -4.54035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23587156000002 meters Centerline goodness [0,1] 0.9997646303626833 Centerline is valid? [True, True] Translation: X:153.38, Y:-15.87, Z:-4.54 [[ 9.89905696e-01 1.40502531e-01 1.85944292e-02 1.53383272e+02] [-1.40473212e-01 9.90080291e-01 -2.88008948e-03 -1.58728950e+01] [-1.88146377e-02 2.38997787e-04 9.99822960e-01 -4.54113785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:-15.88, Z:-4.54 [[ 9.89819088e-01 1.41100466e-01 1.86770376e-02 1.53414382e+02] [-1.41070933e-01 9.89995255e-01 -2.89601159e-03 -1.58789534e+01] [-1.88988072e-02 2.31740434e-04 9.99821375e-01 -4.54303544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:-15.88, Z:-4.54 [[ 9.89725409e-01 1.41701014e-01 1.90902553e-02 1.53445716e+02] [-1.41670207e-01 9.89909476e-01 -2.96345321e-03 -1.58848222e+01] [-1.93175489e-02 2.28484527e-04 9.99813373e-01 -4.54321810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.48, Y:-15.89, Z:-4.54 [[ 9.89646616e-01 1.42169119e-01 1.96854412e-02 1.53476138e+02] [-1.42136382e-01 9.89842356e-01 -3.05943304e-03 -1.58928429e+01] [-1.99204404e-02 2.29740166e-04 9.99801542e-01 -4.54397772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:-15.90, Z:-4.54 [[ 9.89626809e-01 1.42295150e-01 1.97704042e-02 1.53507315e+02] [-1.42262095e-01 9.89824245e-01 -3.07562789e-03 -1.58986743e+01] [-2.00068724e-02 2.31144693e-04 9.99799816e-01 -4.54452446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:-15.91, Z:-4.54 [[ 9.89614360e-01 1.42383955e-01 1.97542064e-02 1.53538793e+02] [-1.42350908e-01 9.89811475e-01 -3.07627369e-03 -1.59051555e+01] [-1.99909522e-02 2.32295396e-04 9.99800134e-01 -4.54485825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:-15.91, Z:-4.55 [[ 9.89600180e-01 1.42460056e-01 1.99152015e-02 1.53570758e+02] [-1.42426414e-01 9.89800524e-01 -3.10481482e-03 -1.59120897e+01] [-2.01543890e-02 2.36074561e-04 9.99796852e-01 -4.54562773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:-15.92, Z:-4.55 [[ 9.89527108e-01 1.42972282e-01 1.98753202e-02 1.53602891e+02] [-1.42938804e-01 9.89726666e-01 -3.10224031e-03 -1.59195994e+01] [-2.01146687e-02 2.28796377e-04 9.99797653e-01 -4.54562923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:-15.93, Z:-4.55 [[ 9.89473200e-01 1.43343936e-01 1.98822194e-02 1.53633746e+02] [-1.43310427e-01 9.89672908e-01 -3.10744664e-03 -1.59272555e+01] [-2.01223275e-02 2.25405822e-04 9.99797500e-01 -4.54755781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:-15.93, Z:-4.55 [[ 9.89347929e-01 1.44192950e-01 1.99767217e-02 1.53665636e+02] [-1.44159217e-01 9.89549568e-01 -3.12608838e-03 -1.59318631e+01] [-2.02187162e-02 2.12960508e-04 9.99795558e-01 -4.54754774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:-15.94, Z:-4.55 [[ 9.89223869e-01 1.45033222e-01 2.00375118e-02 1.53696268e+02] [-1.44999382e-01 9.89426766e-01 -3.13924434e-03 -1.59382183e+01] [-2.02809452e-02 1.99988604e-04 9.99794300e-01 -4.54902635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:-15.94, Z:-4.55 [[ 9.88901960e-01 1.47150253e-01 2.04869880e-02 1.53727394e+02] [-1.47115262e-01 9.89114137e-01 -3.21300119e-03 -1.59438765e+01] [-2.07367634e-02 1.63394554e-04 9.99784957e-01 -4.54937349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59587156000003 meters Centerline goodness [0,1] 0.9999148972384154 Centerline is valid? [True, True] Translation: X:153.76, Y:-15.95, Z:-4.55 [[ 9.88680545e-01 1.48583625e-01 2.08251214e-02 1.53759686e+02] [-1.48547711e-01 9.88899837e-01 -3.26966012e-03 -1.59480336e+01] [-2.10797771e-02 1.39125243e-04 9.99777787e-01 -4.54836182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:-15.95, Z:-4.55 [[ 9.88304038e-01 1.51004230e-01 2.12803085e-02 1.53790244e+02] [-1.50967196e-01 9.88533112e-01 -3.34543663e-03 -1.59519798e+01] [-2.15414646e-02 9.36800315e-05 9.99767951e-01 -4.55050892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:-15.96, Z:-4.55 [[ 9.88151011e-01 1.52076069e-01 2.07472557e-02 1.53822975e+02] [-1.52041082e-01 9.88368790e-01 -3.26267414e-03 -1.59579719e+01] [-2.10021146e-02 6.95795488e-05 9.99779429e-01 -4.55205746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68587156000004 meters Centerline goodness [0,1] 0.9998075854106983 Centerline is valid? [True, True] Translation: X:153.85, Y:-15.96, Z:-4.55 [[ 9.88049261e-01 1.52787005e-01 2.03663672e-02 1.53854329e+02] [-1.52753349e-01 9.88259140e-01 -3.20728861e-03 -1.59640685e+01] [-2.06172806e-02 5.79283485e-05 9.99787440e-01 -4.55355453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:-15.97, Z:-4.56 [[ 9.87957738e-01 1.53507901e-01 1.93605641e-02 1.53885445e+02] [-1.53477593e-01 9.88147419e-01 -3.05054642e-03 -1.59701690e+01] [-1.95993744e-02 4.23981644e-05 9.99807913e-01 -4.55760828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:-15.98, Z:-4.56 [[ 9.87881943e-01 1.54047372e-01 1.89386925e-02 1.53918181e+02] [-1.54018419e-01 9.88063463e-01 -2.98669176e-03 -1.59760280e+01] [-1.91727221e-02 3.35913733e-05 9.99816186e-01 -4.55758381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:-15.98, Z:-4.56 [[ 9.87774244e-01 1.54735702e-01 1.89448178e-02 1.53949424e+02] [-1.54706779e-01 9.87955901e-01 -2.99176235e-03 -1.59839425e+01] [-1.91795770e-02 2.42940477e-05 9.99816055e-01 -4.56096011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:-15.99, Z:-4.56 [[ 9.87706987e-01 1.55165524e-01 1.89358979e-02 1.53980970e+02] [-1.55136634e-01 9.87888486e-01 -2.99415528e-03 -1.59909112e+01] [-1.91711452e-02 1.96966330e-05 9.99816217e-01 -4.56266355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:-16.00, Z:-4.56 [[ 9.87622828e-01 1.55714789e-01 1.88163450e-02 1.54012485e+02] [-1.55686295e-01 9.87802057e-01 -2.97879886e-03 -1.59971111e+01] [-1.90506674e-02 1.24827045e-05 9.99818519e-01 -4.56359119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:-16.00, Z:-4.56 [[ 9.87350627e-01 1.57419340e-01 1.89180145e-02 1.54044083e+02] [-1.57390789e-01 9.87531848e-01 -2.99806427e-03 -1.60021647e+01] [-1.91540951e-02 -1.73805896e-05 9.99816543e-01 -4.56397938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:-16.01, Z:-4.57 [[ 9.87142179e-01 1.58713089e-01 1.89861637e-02 1.54074899e+02] [-1.58684506e-01 9.87324746e-01 -3.01224150e-03 -1.60064798e+01] [-1.92235914e-02 -3.92993773e-05 9.99815209e-01 -4.56502662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:-16.01, Z:-4.56 [[ 9.86913259e-01 1.60099588e-01 1.92442670e-02 1.54107243e+02] [-1.60070430e-01 9.87100865e-01 -3.05608587e-03 -1.60110414e+01] [-1.94853107e-02 -6.43464317e-05 9.99810141e-01 -4.56498108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95587156000002 meters Centerline goodness [0,1] 0.9999785121835919 Centerline is valid? [True, True] Translation: X:154.14, Y:-16.01, Z:-4.57 [[ 9.86457948e-01 1.62901938e-01 1.90702802e-02 1.54138665e+02] [-1.62873763e-01 9.86642258e-01 -3.03187862e-03 -1.60142748e+01] [-1.93094432e-02 -1.15227520e-04 9.99813549e-01 -4.56615771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.17, Y:-16.02, Z:-4.57 [[ 9.86299169e-01 1.63897280e-01 1.87518238e-02 1.54170047e+02] [-1.63870133e-01 9.86477402e-01 -2.98568851e-03 -1.60188241e+01] [-1.89875967e-02 -1.28081766e-04 9.99819711e-01 -4.56784044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.20, Y:-16.02, Z:-4.57 [[ 9.86175075e-01 1.64628492e-01 1.88727444e-02 1.54200885e+02] [-1.64601118e-01 9.86355635e-01 -3.00541509e-03 -1.60236097e+01] [-1.91100148e-02 -1.42609387e-04 9.99817377e-01 -4.56881699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.23, Y:-16.03, Z:-4.57 [[ 9.86101846e-01 1.65091739e-01 1.86512141e-02 1.54230684e+02] [-1.65065076e-01 9.86278204e-01 -2.97072796e-03 -1.60280938e+01] [-1.88857286e-02 -1.49223761e-04 9.99821638e-01 -4.57070406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.26, Y:-16.03, Z:-4.57 [[ 9.86134861e-01 1.64951546e-01 1.81390128e-02 1.54260398e+02] [-1.64926309e-01 9.86301661e-01 -2.88885789e-03 -1.60347740e+01] [-1.83670600e-02 -1.42796947e-04 9.99831301e-01 -4.57327860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.29, Y:-16.04, Z:-4.57 [[ 9.86220305e-01 1.64460638e-01 1.79501599e-02 1.54291063e+02] [-1.64435819e-01 9.86383638e-01 -2.86011500e-03 -1.60417682e+01] [-1.81761203e-02 -1.30945750e-04 9.99834792e-01 -4.57402724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13587156000003 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:154.32, Y:-16.05, Z:-4.57 [[ 9.86304124e-01 1.63939695e-01 1.81094105e-02 1.54321006e+02] [-1.63914334e-01 9.86470355e-01 -2.88608745e-03 -1.60481698e+01] [-1.83375409e-02 -1.21832001e-04 9.99831846e-01 -4.57453262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16587156000003 meters Centerline goodness [0,1] 0.9998926255207662 Centerline is valid? [True, True] Translation: X:154.35, Y:-16.06, Z:-4.58 [[ 9.86422671e-01 1.63193942e-01 1.83861659e-02 1.54351036e+02] [-1.63167697e-01 9.86594002e-01 -2.92877752e-03 -1.60554670e+01] [-1.86176397e-02 -1.11015807e-04 9.99826671e-01 -4.57531563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.38, Y:-16.07, Z:-4.58 [[ 9.86745322e-01 1.61130006e-01 1.92559303e-02 1.54381694e+02] [-1.61100766e-01 9.86933187e-01 -3.07042345e-03 -1.60657634e+01] [-1.94990540e-02 -7.24191461e-05 9.99809873e-01 -4.57545657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22587156000003 meters Centerline goodness [0,1] 0.9998295188168606 Centerline is valid? [True, True] Translation: X:154.41, Y:-16.07, Z:-4.58 [[ 9.86830610e-01 1.60625817e-01 1.90969625e-02 1.54412902e+02] [-1.60596903e-01 9.87015371e-01 -3.04817395e-03 -1.60725336e+01] [-1.93386110e-02 -5.88816729e-05 9.99812990e-01 -4.57528268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.45, Y:-16.08, Z:-4.58 [[ 9.86949444e-01 1.59883384e-01 1.91858701e-02 1.54445060e+02] [-1.59853994e-01 9.87135908e-01 -3.06575252e-03 -1.60797215e+01] [-1.94292242e-02 -4.11952027e-05 9.99811234e-01 -4.57778017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.48, Y:-16.09, Z:-4.58 [[ 9.87018764e-01 1.59487790e-01 1.89104245e-02 1.54476260e+02] [-1.59459094e-01 9.87199901e-01 -3.02545645e-03 -1.60876161e+01] [-1.91508926e-02 -2.92568788e-05 9.99816604e-01 -4.57946867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.51, Y:-16.09, Z:-4.58 [[ 9.86980815e-01 1.59736913e-01 1.87880382e-02 1.54508237e+02] [-1.59708569e-01 9.87159621e-01 -3.00919509e-03 -1.60934913e+01] [-1.90274722e-02 -3.05928719e-05 9.99818961e-01 -4.58012274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.54, Y:-16.10, Z:-4.58 [[ 9.86896196e-01 1.60324755e-01 1.82173330e-02 1.54538885e+02] [-1.60298129e-01 9.87064320e-01 -2.92202489e-03 -1.60979311e+01] [-1.84501524e-02 -3.64691601e-05 9.99829781e-01 -4.58267171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.57, Y:-16.10, Z:-4.58 [[ 9.86602393e-01 1.62189824e-01 1.76118814e-02 1.54570090e+02] [-1.62165220e-01 9.86759574e-01 -2.82574751e-03 -1.60997147e+01] [-1.78370001e-02 -6.81453658e-05 9.99840906e-01 -4.58459917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.60, Y:-16.10, Z:-4.59 [[ 9.86352205e-01 1.63720629e-01 1.74609088e-02 1.54600036e+02] [-1.63696607e-01 9.86506740e-01 -2.80598831e-03 -1.61016690e+01] [-1.76847024e-02 -9.05987672e-05 9.99843609e-01 -4.58583121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43587156000004 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:154.63, Y:-16.10, Z:-4.59 [[ 9.86125319e-01 1.65065666e-01 1.76119769e-02 1.54631129e+02] [-1.65041439e-01 9.86282572e-01 -2.83033027e-03 -1.61037347e+01] [-1.78375762e-02 -1.15645670e-04 9.99840891e-01 -4.58553408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.66, Y:-16.11, Z:-4.59 [[ 9.85840319e-01 1.66749865e-01 1.77016638e-02 1.54662491e+02] [-1.66725654e-01 9.85999220e-01 -2.84517055e-03 -1.61056934e+01] [-1.79282585e-02 -1.46437634e-04 9.99839265e-01 -4.58657784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49587156 meters Centerline goodness [0,1] 0.9998504624981308 Centerline is valid? [True, True] Translation: X:154.69, Y:-16.10, Z:-4.58 [[ 9.85317961e-01 1.69706948e-01 1.86565843e-02 1.54693747e+02] [-1.69680571e-01 9.85494550e-01 -2.99941514e-03 -1.61048991e+01] [-1.88949837e-02 -2.10282259e-04 9.99821452e-01 -4.58456327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.72, Y:-16.11, Z:-4.59 [[ 9.85111165e-01 1.70857598e-01 1.90702244e-02 1.54723121e+02] [-1.70830251e-01 9.85295704e-01 -3.06604547e-03 -1.61055668e+01] [-1.93136673e-02 -2.37375581e-04 9.99813446e-01 -4.58684529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55587156 meters Centerline goodness [0,1] 0.9998501423647534 Centerline is valid? [True, True] Translation: X:154.75, Y:-16.11, Z:-4.58 [[ 9.84904923e-01 1.72011232e-01 1.93501730e-02 1.54753053e+02] [-1.71983305e-01 9.85094953e-01 -3.11068922e-03 -1.61093870e+01] [-1.95968313e-02 -2.64173586e-04 9.99807929e-01 -4.58498732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.78, Y:-16.11, Z:-4.59 [[ 9.84707831e-01 1.73136394e-01 1.93462414e-02 1.54783894e+02] [-1.73108696e-01 9.84897815e-01 -3.11005719e-03 -1.61109882e+01] [-1.95925350e-02 -2.86504962e-04 9.99808007e-01 -4.58621845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.81, Y:-16.11, Z:-4.59 [[ 9.84717477e-01 1.73068448e-01 1.94628392e-02 1.54813809e+02] [-1.73040402e-01 9.84909757e-01 -3.12880118e-03 -1.61140495e+01] [-1.97106370e-02 -2.86872316e-04 9.99805685e-01 -4.58712225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.84, Y:-16.12, Z:-4.59 [[ 9.84903985e-01 1.71951565e-01 1.99198257e-02 1.54842901e+02] [-1.71921955e-01 9.85105368e-01 -3.20238632e-03 -1.61173242e+01] [-2.01737826e-02 -2.70612338e-04 9.99796452e-01 -4.58816048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.87, Y:-16.12, Z:-4.59 [[ 9.85050441e-01 1.71068897e-01 2.02746703e-02 1.54872881e+02] [-1.71038043e-01 9.85259035e-01 -3.25906034e-03 -1.61227734e+01] [-2.05333260e-02 -2.57401107e-04 9.99789136e-01 -4.58829250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70587156000002 meters Centerline goodness [0,1] 0.9997855365874582 Centerline is valid? [True, True] Translation: X:154.90, Y:-16.13, Z:-4.59 [[ 9.85189237e-01 1.70226447e-01 2.06185266e-02 1.54901696e+02] [-1.70194357e-01 9.85404941e-01 -3.31419355e-03 -1.61276887e+01] [-2.08817614e-02 -2.44049054e-04 9.99781922e-01 -4.58766267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.93, Y:-16.13, Z:-4.59 [[ 9.85367157e-01 1.69234598e-01 2.02784865e-02 1.54931518e+02] [-1.69203338e-01 9.85575772e-01 -3.25998397e-03 -1.61327533e+01] [-2.05376870e-02 -2.18906457e-04 9.99789055e-01 -4.59007003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.96, Y:-16.14, Z:-4.59 [[ 9.85501405e-01 1.68454408e-01 2.02507562e-02 1.54960624e+02] [-1.68423072e-01 9.85709425e-01 -3.25539440e-03 -1.61356772e+01] [-2.05097468e-02 -2.02498811e-04 9.99789633e-01 -4.59140585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.99, Y:-16.14, Z:-4.59 [[ 9.85482253e-01 1.68594580e-01 2.00149145e-02 1.54990673e+02] [-1.68563989e-01 9.85685460e-01 -3.21788847e-03 -1.61382367e+01] [-2.02709287e-02 -2.02621844e-04 9.99794503e-01 -4.59250982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82587156000002 meters Centerline goodness [0,1] 0.9999354074712025 Centerline is valid? [True, True] Translation: X:155.02, Y:-16.14, Z:-4.59 [[ 9.85389237e-01 1.69182622e-01 1.96288717e-02 1.55021374e+02] [-1.69153318e-01 9.85584697e-01 -3.15582263e-03 -1.61406285e+01] [-1.98798259e-02 -2.10575117e-04 9.99802355e-01 -4.59276903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.05, Y:-16.14, Z:-4.60 [[ 9.85246558e-01 1.70104179e-01 1.88092683e-02 1.55050826e+02] [-1.70077433e-01 9.85426060e-01 -3.02431955e-03 -1.61413902e+01] [-1.90495925e-02 -2.19331652e-04 9.99818516e-01 -4.59588900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88587156000003 meters Centerline goodness [0,1] 0.9998072846405859 Centerline is valid? [True, True] Translation: X:155.08, Y:-16.14, Z:-4.60 [[ 9.85168394e-01 1.70528982e-01 1.90552319e-02 1.55079121e+02] [-1.70501621e-01 9.85352634e-01 -3.06339785e-03 -1.61438111e+01] [-1.92985210e-02 -2.30985176e-04 9.99813740e-01 -4.59596116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.11, Y:-16.15, Z:-4.60 [[ 9.85175972e-01 1.70503014e-01 1.88951162e-02 1.55107243e+02] [-1.70476113e-01 9.85357128e-01 -3.03731078e-03 -1.61462324e+01] [-1.91363080e-02 -2.28880345e-04 9.99816858e-01 -4.59775922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.14, Y:-16.15, Z:-4.60 [[ 9.85179952e-01 1.70480007e-01 1.88952432e-02 1.55136036e+02] [-1.70453116e-01 9.85361109e-01 -3.03652002e-03 -1.61508133e+01] [-1.91363038e-02 -2.29234438e-04 9.99816858e-01 -4.59863900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.16, Y:-16.15, Z:-4.60 [[ 9.85206478e-01 1.70249001e-01 1.95824897e-02 1.55164243e+02] [-1.70220083e-01 9.85401047e-01 -3.14644965e-03 -1.61536790e+01] [-1.98322858e-02 -2.33430447e-04 9.99803294e-01 -4.59924704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:-16.16, Z:-4.60 [[ 9.85316880e-01 1.69503621e-01 2.04736160e-02 1.55194082e+02] [-1.69471860e-01 9.85529538e-01 -3.28916469e-03 -1.61567023e+01] [-2.07348787e-02 -2.28832287e-04 9.99784983e-01 -4.59810342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.22, Y:-16.16, Z:-4.60 [[ 9.85405525e-01 1.68939002e-01 2.08702033e-02 1.55223867e+02] [-1.68905883e-01 9.85626483e-01 -3.35236545e-03 -1.61607701e+01] [-2.11365703e-02 -2.21660665e-04 9.99776573e-01 -4.59893950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.25, Y:-16.17, Z:-4.60 [[ 9.85530483e-01 1.68215343e-01 2.08150092e-02 1.55252693e+02] [-1.68182247e-01 9.85750250e-01 -3.34301536e-03 -1.61657411e+01] [-2.10807470e-02 -2.06071469e-04 9.99777755e-01 -4.59919073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.28, Y:-16.17, Z:-4.60 [[ 9.85776222e-01 1.66807616e-01 2.05050989e-02 1.55281479e+02] [-1.66775207e-01 9.85989447e-01 -3.29263350e-03 -1.61702064e+01] [-2.07670475e-02 -1.73942302e-04 9.99784326e-01 -4.60079750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12587156000004 meters Centerline goodness [0,1] 0.9999354686054766 Centerline is valid? [True, True] Translation: X:155.31, Y:-16.18, Z:-4.60 [[ 9.85840009e-01 1.66439998e-01 2.04255739e-02 1.55311522e+02] [-1.66407768e-01 9.86051570e-01 -3.27949948e-03 -1.61755205e+01] [-2.06865091e-02 -1.65912368e-04 9.99785998e-01 -4.60068295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.34, Y:-16.18, Z:-4.61 [[ 9.85950584e-01 1.65914189e-01 1.93372196e-02 1.55341258e+02] [-1.65885199e-01 9.86140183e-01 -3.10488627e-03 -1.61771486e+01] [-1.95843540e-02 -1.46494099e-04 9.99808197e-01 -4.60639462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.37, Y:-16.18, Z:-4.61 [[ 9.86020120e-01 1.65612814e-01 1.83499115e-02 1.55368850e+02] [-1.65586651e-01 9.86190843e-01 -2.94666290e-03 -1.61797015e+01] [-1.85845199e-02 -1.33031487e-04 9.99827284e-01 -4.60915703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:-16.18, Z:-4.61 [[ 9.86125487e-01 1.65184595e-01 1.64490912e-02 1.55397482e+02] [-1.65163528e-01 9.86262661e-01 -2.64049278e-03 -1.61806598e+01] [-1.66592932e-02 -1.12932707e-04 9.99861218e-01 -4.61433891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.43, Y:-16.18, Z:-4.62 [[ 9.86180428e-01 1.64844621e-01 1.65654319e-02 1.55425841e+02] [-1.64823220e-01 9.86319542e-01 -2.65840399e-03 -1.61838900e+01] [-1.67770328e-02 -1.08701833e-04 9.99859250e-01 -4.61509428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:-16.19, Z:-4.61 [[ 9.86281902e-01 1.64219033e-01 1.67367363e-02 1.55454066e+02] [-1.64197110e-01 9.86423894e-01 -2.68516599e-03 -1.61895573e+01] [-1.69504720e-02 -9.97930967e-05 9.99856325e-01 -4.61259480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.48, Y:-16.19, Z:-4.61 [[ 9.86424311e-01 1.63287335e-01 1.74449303e-02 1.55481879e+02] [-1.63263385e-01 9.86578552e-01 -2.79801229e-03 -1.61939766e+01] [-1.76676741e-02 -8.80910240e-05 9.99843911e-01 -4.61323665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.51, Y:-16.20, Z:-4.61 [[ 9.86807286e-01 1.60861720e-01 1.82999382e-02 1.55511421e+02] [-1.60834977e-01 9.86976952e-01 -2.93351425e-03 -1.61999501e+01] [-1.85335074e-02 -4.84569076e-05 9.99828239e-01 -4.61158099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.54, Y:-16.21, Z:-4.61 [[ 9.87038721e-01 1.59429192e-01 1.83547043e-02 1.55539983e+02] [-1.59402047e-01 9.87209366e-01 -2.94198081e-03 -1.62052542e+01] [-1.85889737e-02 -2.19284638e-05 9.99827210e-01 -4.61295634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:-16.21, Z:-4.61 [[ 9.87499410e-01 1.56608404e-01 1.78528328e-02 1.55569847e+02] [-1.56582281e-01 9.87660775e-01 -2.86048892e-03 -1.62129199e+01] [-1.80805193e-02 2.92938440e-05 9.99836534e-01 -4.61395057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42587156000002 meters Centerline goodness [0,1] 0.9999360641063894 Centerline is valid? [True, True] Translation: X:155.60, Y:-16.22, Z:-4.61 [[ 9.87710631e-01 1.55212492e-01 1.83518981e-02 1.55597640e+02] [-1.55184639e-01 9.87881106e-01 -2.94086762e-03 -1.62192426e+01] [-1.85859527e-02 5.67935296e-05 9.99827265e-01 -4.61372161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.63, Y:-16.23, Z:-4.62 [[ 9.87987672e-01 1.53524993e-01 1.76192256e-02 1.55626963e+02] [-1.53499068e-01 9.88144761e-01 -2.82256587e-03 -1.62256326e+01] [-1.78436799e-02 8.41255781e-05 9.99840785e-01 -4.61529743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:-16.23, Z:-4.61 [[ 9.88199284e-01 1.52166580e-01 1.75358569e-02 1.55657426e+02] [-1.52140691e-01 9.88354856e-01 -2.80885109e-03 -1.62311980e+01] [-1.77590626e-02 1.07787249e-04 9.99842290e-01 -4.61479937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.69, Y:-16.24, Z:-4.62 [[ 9.88624784e-01 1.49437979e-01 1.70095893e-02 1.55686325e+02] [-1.49413229e-01 9.88771089e-01 -2.72388300e-03 -1.62406530e+01] [-1.72256418e-02 1.51440574e-04 9.99851616e-01 -4.61786056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.72, Y:-16.25, Z:-4.62 [[ 9.88797841e-01 1.48342587e-01 1.65319741e-02 1.55716825e+02] [-1.48319035e-01 9.88936019e-01 -2.64859781e-03 -1.62471055e+01] [-1.67419645e-02 1.66921347e-04 9.99859830e-01 -4.61883958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.75, Y:-16.25, Z:-4.62 [[ 9.88978981e-01 1.47184487e-01 1.60406012e-02 1.55747024e+02] [-1.47162153e-01 9.89109040e-01 -2.57040871e-03 -1.62537758e+01] [-1.62442279e-02 1.81510779e-04 9.99868037e-01 -4.61953542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60587156000003 meters Centerline goodness [0,1] 0.9997207603909355 Centerline is valid? [True, True] Translation: X:155.78, Y:-16.26, Z:-4.62 [[ 9.89036132e-01 1.46736064e-01 1.66149790e-02 1.55776991e+02] [-1.46712038e-01 9.89175661e-01 -2.66250855e-03 -1.62614827e+01] [-1.68258189e-02 1.95699731e-04 9.99858417e-01 -4.62074451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.81, Y:-16.27, Z:-4.63 [[ 9.89193892e-01 1.45860561e-01 1.48371294e-02 1.55807309e+02] [-1.45841328e-01 9.89305141e-01 -2.37591024e-03 -1.62704267e+01] [-1.50250000e-02 1.86369245e-04 9.99887101e-01 -4.62533871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.84, Y:-16.27, Z:-4.63 [[ 9.89189670e-01 1.45920184e-01 1.45291694e-02 1.55837070e+02] [-1.45901681e-01 9.89296348e-01 -2.33120270e-03 -1.62747993e+01] [-1.47138237e-02 1.86171400e-04 9.99891729e-01 -4.62517640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.87, Y:-16.28, Z:-4.63 [[ 9.89138392e-01 1.46257777e-01 1.46254462e-02 1.55866984e+02] [-1.46239063e-01 9.89246496e-01 -2.34665030e-03 -1.62801686e+01] [-1.48113873e-02 1.82350350e-04 9.99890289e-01 -4.62559142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.90, Y:-16.29, Z:-4.63 [[ 9.89039971e-01 1.46927088e-01 1.45727970e-02 1.55897301e+02] [-1.46908582e-01 9.89147310e-01 -2.33820275e-03 -1.62853514e+01] [-1.47581883e-02 1.71707025e-04 9.99891077e-01 -4.62667435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75587156000003 meters Centerline goodness [0,1] 0.9998498111912119 Centerline is valid? [True, True] Translation: X:155.93, Y:-16.29, Z:-4.63 [[ 9.88646190e-01 1.49472581e-01 1.53837120e-02 1.55927255e+02] [-1.49452266e-01 9.88765861e-01 -2.46831392e-03 -1.62891054e+01] [-1.55798345e-02 1.41158529e-04 9.99878617e-01 -4.62533722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78587156000003 meters Centerline goodness [0,1] 0.999869681370952 Centerline is valid? [True, True] Translation: X:155.96, Y:-16.29, Z:-4.62 [[ 9.88422146e-01 1.50931519e-01 1.55350713e-02 1.55957612e+02] [-1.50910983e-01 9.88544214e-01 -2.49259949e-03 -1.62926336e+01] [-1.57333167e-02 1.19327659e-04 9.99876217e-01 -4.62495368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.99, Y:-16.30, Z:-4.63 [[ 9.88209561e-01 1.52317409e-01 1.55328724e-02 1.55987155e+02] [-1.52297047e-01 9.88331623e-01 -2.49242389e-03 -1.62959369e+01] [-1.57312685e-02 9.74265248e-05 9.99876251e-01 -4.62612517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.02, Y:-16.30, Z:-4.63 [[ 9.87633003e-01 1.55978590e-01 1.58660355e-02 1.56016945e+02] [-1.55957827e-01 9.87760435e-01 -2.54527297e-03 -1.62980334e+01] [-1.60688502e-02 3.93631662e-05 9.99870887e-01 -4.62788333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.05, Y:-16.30, Z:-4.63 [[ 9.87389851e-01 1.57540989e-01 1.55601929e-02 1.56046210e+02] [-1.57521200e-01 9.87512449e-01 -2.49704114e-03 -1.63013372e+01] [-1.57592705e-02 1.44928281e-05 9.99875815e-01 -4.62860603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.08, Y:-16.30, Z:-4.63 [[ 9.87191685e-01 1.58744453e-01 1.58989480e-02 1.56075474e+02] [-1.58723955e-01 9.87319704e-01 -2.55100318e-03 -1.63046002e+01] [-1.61023023e-02 -5.21477618e-06 9.99870350e-01 -4.62906082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.10, Y:-16.31, Z:-4.63 [[ 9.86980438e-01 1.60058597e-01 1.58385833e-02 1.56104387e+02] [-1.60038427e-01 9.87107514e-01 -2.54110120e-03 -1.63071575e+01] [-1.60411096e-02 -2.67647699e-05 9.99871333e-01 -4.63136203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.13, Y:-16.31, Z:-4.63 [[ 9.86679679e-01 1.61966474e-01 1.51681284e-02 1.56133687e+02] [-1.61948211e-01 9.86796260e-01 -2.43286683e-03 -1.63109817e+01] [-1.53618952e-02 -5.59909816e-05 9.99881998e-01 -4.63153223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99587156 meters Centerline goodness [0,1] 0.9998058671268335 Centerline is valid? [True, True] Translation: X:156.16, Y:-16.32, Z:-4.63 [[ 9.86526944e-01 1.62901074e-01 1.50939926e-02 1.56162600e+02] [-1.62883104e-01 9.86642405e-01 -2.42060651e-03 -1.63159522e+01] [-1.52866926e-02 -7.05628243e-05 9.99883149e-01 -4.63186549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.19, Y:-16.32, Z:-4.63 [[ 9.86510496e-01 1.62985864e-01 1.52528410e-02 1.56191449e+02] [-1.62967530e-01 9.86628402e-01 -2.44568720e-03 -1.63198368e+01] [-1.54474986e-02 -7.30217279e-05 9.99880678e-01 -4.63449649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05587156 meters Centerline goodness [0,1] 0.9999146885064091 Centerline is valid? [True, True] Translation: X:156.22, Y:-16.32, Z:-4.63 [[ 9.86386413e-01 1.63688555e-01 1.57448618e-02 1.56220034e+02] [-1.63669113e-01 9.86512062e-01 -2.52430799e-03 -1.63238138e+01] [-1.59456964e-02 -8.70044657e-05 9.99872856e-01 -4.63495939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08587156000002 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:156.25, Y:-16.33, Z:-4.63 [[ 9.86248934e-01 1.64536389e-01 1.55182784e-02 1.56248928e+02] [-1.64517613e-01 9.86371009e-01 -2.48761565e-03 -1.63270422e+01] [-1.57160832e-02 -9.96218395e-05 9.99876490e-01 -4.63493548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.28, Y:-16.33, Z:-4.63 [[ 9.86090074e-01 1.65483765e-01 1.55399282e-02 1.56277899e+02] [-1.65465066e-01 9.86212508e-01 -2.49035024e-03 -1.63303418e+01] [-1.57377841e-02 -1.15605597e-04 9.99876147e-01 -4.63446313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14587156000002 meters Centerline goodness [0,1] 0.9998074372031324 Centerline is valid? [True, True] Translation: X:156.31, Y:-16.33, Z:-4.63 [[ 9.85598533e-01 1.68332004e-01 1.61204430e-02 1.56307309e+02] [-1.68312276e-01 9.85730343e-01 -2.58254898e-03 -1.63297393e+01] [-1.63251355e-02 -1.67911971e-04 9.99866722e-01 -4.63309343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17587156000002 meters Centerline goodness [0,1] 0.9999787220460881 Centerline is valid? [True, True] Translation: X:156.34, Y:-16.33, Z:-4.64 [[ 9.85383994e-01 1.69566142e-01 1.63005512e-02 1.56335073e+02] [-1.69546150e-01 9.85518791e-01 -2.61074547e-03 -1.63301832e+01] [-1.65071936e-02 -1.91108914e-04 9.99863729e-01 -4.63502012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.36, Y:-16.33, Z:-4.63 [[ 9.85216185e-01 1.70563368e-01 1.60376429e-02 1.56363389e+02] [-1.70544166e-01 9.85346688e-01 -2.56753566e-03 -1.63346815e+01] [-1.62405658e-02 -2.05548745e-04 9.99868092e-01 -4.63464799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23587156000002 meters Centerline goodness [0,1] 0.9998712722591718 Centerline is valid? [True, True] Translation: X:156.39, Y:-16.34, Z:-4.64 [[ 9.85110330e-01 1.71203370e-01 1.57176605e-02 1.56391486e+02] [-1.71185015e-01 9.85235688e-01 -2.51582504e-03 -1.63383785e+01] [-1.59163177e-02 -2.12262713e-04 9.99873305e-01 -4.63505959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26587156000002 meters Centerline goodness [0,1] 0.9999578991685085 Centerline is valid? [True, True] Translation: X:156.42, Y:-16.34, Z:-4.64 [[ 9.85122519e-01 1.71134418e-01 1.57045779e-02 1.56419037e+02] [-1.71116104e-01 9.85247667e-01 -2.51254250e-03 -1.63406058e+01] [-1.59028812e-02 -2.12143988e-04 9.99873519e-01 -4.63813163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29587156000002 meters Centerline goodness [0,1] 0.9999576791231114 Centerline is valid? [True, True] Translation: X:156.45, Y:-16.34, Z:-4.64 [[ 9.85190892e-01 1.70761839e-01 1.54693648e-02 1.56447349e+02] [-1.70744039e-01 9.85312312e-01 -2.47394171e-03 -1.63416797e+01] [-1.56646105e-02 -2.03996997e-04 9.99877282e-01 -4.64311638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32587156000002 meters Centerline goodness [0,1] 0.9998500878057138 Centerline is valid? [True, True] Translation: X:156.48, Y:-16.35, Z:-4.64 [[ 9.85278033e-01 1.70271371e-01 1.53250442e-02 1.56475776e+02] [-1.70253859e-01 9.85397190e-01 -2.44981387e-03 -1.63498671e+01] [-1.55183886e-02 -1.95400120e-04 9.99879563e-01 -4.64012769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.50, Y:-16.35, Z:-4.64 [[ 9.85358749e-01 1.69809391e-01 1.52612515e-02 1.56502910e+02] [-1.69791977e-01 9.85476908e-01 -2.43906550e-03 -1.63544293e+01] [-1.54537871e-02 -1.87883529e-04 9.99880565e-01 -4.64159663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38587156000003 meters Centerline goodness [0,1] 0.9999571321401779 Centerline is valid? [True, True] Translation: X:156.53, Y:-16.36, Z:-4.64 [[ 9.85396244e-01 1.69602214e-01 1.51436908e-02 1.56531614e+02] [-1.69585059e-01 9.85512585e-01 -2.41923029e-03 -1.63595332e+01] [-1.53346047e-02 -1.84243247e-04 9.99882401e-01 -4.64156590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41587156000003 meters Centerline goodness [0,1] 0.9999786875812536 Centerline is valid? [True, True] Translation: X:156.56, Y:-16.36, Z:-4.64 [[ 9.85361272e-01 1.69812170e-01 1.50662202e-02 1.56560545e+02] [-1.69795226e-01 9.85476429e-01 -2.40613647e-03 -1.63628136e+01] [-1.52559962e-02 -1.87258578e-04 9.99883603e-01 -4.64191621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:-16.37, Z:-4.64 [[ 9.85278619e-01 1.70298506e-01 1.49820631e-02 1.56589400e+02] [-1.70281818e-01 9.85392501e-01 -2.39197717e-03 -1.63655670e+01] [-1.51705628e-02 -1.94408969e-04 9.99884901e-01 -4.64266479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47587156000003 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:156.62, Y:-16.37, Z:-4.64 [[ 9.85083835e-01 1.71449184e-01 1.46633822e-02 1.56618024e+02] [-1.71433336e-01 9.85192942e-01 -2.34042668e-03 -1.63676207e+01] [-1.48475249e-02 -2.08276035e-04 9.99889748e-01 -4.64282264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.65, Y:-16.37, Z:-4.64 [[ 9.85037152e-01 1.71748197e-01 1.42956475e-02 1.56646253e+02] [-1.71733172e-01 9.85140860e-01 -2.28125105e-03 -1.63699596e+01] [-1.44750273e-02 -2.07919865e-04 9.99895210e-01 -4.64473838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53587156000003 meters Centerline goodness [0,1] 0.9999784659115379 Centerline is valid? [True, True] Translation: X:156.67, Y:-16.37, Z:-4.65 [[ 9.85024788e-01 1.71852476e-01 1.38885990e-02 1.56674403e+02] [-1.71838319e-01 9.85122675e-01 -2.21532484e-03 -1.63738712e+01] [-1.40626829e-02 -2.04443624e-04 9.99901095e-01 -4.64546735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56587156000003 meters Centerline goodness [0,1] 0.9999786301955337 Centerline is valid? [True, True] Translation: X:156.70, Y:-16.38, Z:-4.65 [[ 9.85022563e-01 1.71862602e-01 1.39210585e-02 1.56702294e+02] [-1.71848386e-01 9.85120908e-01 -2.22000841e-03 -1.63762783e+01] [-1.40954622e-02 -2.05553065e-04 9.99900633e-01 -4.64706028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.73, Y:-16.38, Z:-4.65 [[ 9.85112838e-01 1.71364242e-01 1.36745105e-02 1.56731015e+02] [-1.71350491e-01 9.85207723e-01 -2.17970086e-03 -1.63818269e+01] [-1.38457561e-02 -1.95882786e-04 9.99904124e-01 -4.64677958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62587156000004 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:156.76, Y:-16.39, Z:-4.65 [[ 9.85411697e-01 1.69589805e-01 1.42507846e-02 1.56758675e+02] [-1.69574693e-01 9.85514721e-01 -2.27098117e-03 -1.63863894e+01] [-1.44294933e-02 -1.78721028e-04 9.99895873e-01 -4.64744843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.79, Y:-16.39, Z:-4.65 [[ 9.85655907e-01 1.68129184e-01 1.46632362e-02 1.56785518e+02] [-1.68113038e-01 9.85764957e-01 -2.33571163e-03 -1.63920852e+01] [-1.48472057e-02 -1.62873218e-04 9.99889761e-01 -4.64816974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.81, Y:-16.40, Z:-4.65 [[ 9.86174575e-01 1.64997525e-01 1.53468101e-02 1.56813373e+02] [-1.64979477e-01 9.86293973e-01 -2.44344299e-03 -1.64014637e+01] [-1.55396284e-02 -1.22247348e-04 9.99879245e-01 -4.64597110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71587156000004 meters Centerline goodness [0,1] 0.9998934038289344 Centerline is valid? [True, True] Translation: X:156.84, Y:-16.41, Z:-4.64 [[ 9.86381071e-01 1.63681621e-01 1.61465297e-02 1.56841479e+02] [-1.63661481e-01 9.86513211e-01 -2.56990940e-03 -1.64074156e+01] [-1.63494118e-02 -1.07654970e-04 9.99866334e-01 -4.64481042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.87, Y:-16.41, Z:-4.64 [[ 9.86535142e-01 1.62713384e-01 1.65156748e-02 1.56869503e+02] [-1.62692191e-01 9.86673373e-01 -2.62782845e-03 -1.64127003e+01] [-1.67231595e-02 -9.45262030e-05 9.99860154e-01 -4.64488001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.90, Y:-16.42, Z:-4.65 [[ 9.86636390e-01 1.62055080e-01 1.69347195e-02 1.56897620e+02] [-1.62032715e-01 9.86781710e-01 -2.69365309e-03 -1.64175477e+01] [-1.71473917e-02 -8.63224224e-05 9.99852969e-01 -4.64505067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:-16.42, Z:-4.65 [[ 9.86678256e-01 1.61757068e-01 1.73398380e-02 1.56925192e+02] [-1.61733586e-01 9.86830605e-01 -2.75741458e-03 -1.64216077e+01] [-1.75575141e-02 -8.37531635e-05 9.99845851e-01 -4.64564050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.95, Y:-16.43, Z:-4.65 [[ 9.86660815e-01 1.61922457e-01 1.67795626e-02 1.56953050e+02] [-1.61900509e-01 9.86803481e-01 -2.66726111e-03 -1.64251959e+01] [-1.69900203e-02 -8.49377078e-05 9.99855656e-01 -4.64691233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.98, Y:-16.43, Z:-4.65 [[ 9.86668290e-01 1.61876883e-01 1.67797412e-02 1.56981032e+02] [-1.61854948e-01 9.86810958e-01 -2.66613682e-03 -1.64295483e+01] [-1.69900184e-02 -8.52914762e-05 9.99855656e-01 -4.64776689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89587156000002 meters Centerline goodness [0,1] 0.9999359453400235 Centerline is valid? [True, True] Translation: X:157.01, Y:-16.43, Z:-4.65 [[ 9.86654965e-01 1.61985352e-01 1.65144019e-02 1.57009148e+02] [-1.61964134e-01 9.86793159e-01 -2.62321593e-03 -1.64331996e+01] [-1.67212214e-02 -8.65317764e-05 9.99860187e-01 -4.64890653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92587156000002 meters Centerline goodness [0,1] 0.9998500396323828 Centerline is valid? [True, True] Translation: X:157.04, Y:-16.44, Z:-4.65 [[ 9.86647175e-01 1.62074426e-01 1.61007239e-02 1.57037806e+02] [-1.62054281e-01 9.86778533e-01 -2.55677681e-03 -1.64371477e+01] [-1.63022369e-02 -8.65546211e-05 9.99867106e-01 -4.65095242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.07, Y:-16.44, Z:-4.65 [[ 9.86696031e-01 1.61812804e-01 1.57339859e-02 1.57065521e+02] [-1.61793542e-01 9.86821468e-01 -2.49799607e-03 -1.64416580e+01] [-1.59308428e-02 -8.08944997e-05 9.99873093e-01 -4.65349354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.09, Y:-16.45, Z:-4.66 [[ 9.86744073e-01 1.61569346e-01 1.52145042e-02 1.57092690e+02] [-1.61551318e-01 9.86861359e-01 -2.41467928e-03 -1.64460148e+01] [-1.54047445e-02 -7.52527452e-05 9.99881337e-01 -4.65564802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.12, Y:-16.45, Z:-4.65 [[ 9.86777534e-01 1.61375334e-01 1.51029687e-02 1.57120956e+02] [-1.61357563e-01 9.86893103e-01 -2.39597579e-03 -1.64511580e+01] [-1.52916670e-02 -7.26831391e-05 9.99883073e-01 -4.65471026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04587156000002 meters Centerline goodness [0,1] 0.9998290342572607 Centerline is valid? [True, True] Translation: X:157.15, Y:-16.46, Z:-4.66 [[ 9.86827205e-01 1.61080584e-01 1.50037452e-02 1.57148761e+02] [-1.61063020e-01 9.86941255e-01 -2.37969027e-03 -1.64553464e+01] [-1.51911370e-02 -6.82054155e-05 9.99884606e-01 -4.65738348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.18, Y:-16.46, Z:-4.66 [[ 9.86900919e-01 1.60616622e-01 1.51286993e-02 1.57177298e+02] [-1.60598726e-01 9.87016868e-01 -2.39838780e-03 -1.64613765e+01] [-1.53175023e-02 -6.26787086e-05 9.99882678e-01 -4.65726248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.21, Y:-16.47, Z:-4.66 [[ 9.86990093e-01 1.60076675e-01 1.50337820e-02 1.57205102e+02] [-1.60058951e-01 9.87104582e-01 -2.38265917e-03 -1.64672663e+01] [-1.52213233e-02 -5.46303955e-05 9.99884147e-01 -4.65719742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.23, Y:-16.47, Z:-4.66 [[ 9.87060523e-01 1.59666858e-01 1.47654258e-02 1.57232335e+02] [-1.59649723e-01 9.87170954e-01 -2.33960887e-03 -1.64720999e+01] [-1.49495574e-02 -4.79605861e-05 9.99888248e-01 -4.65903372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.26, Y:-16.48, Z:-4.66 [[ 9.87156414e-01 1.59018369e-01 1.53418777e-02 1.57259836e+02] [-1.58999807e-01 9.87275623e-01 -2.42994036e-03 -1.64770393e+01] [-1.55330671e-02 -4.06243966e-05 9.99879354e-01 -4.65875261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.29, Y:-16.48, Z:-4.66 [[ 9.87189927e-01 1.58755230e-01 1.59005023e-02 1.57288380e+02] [-1.58735277e-01 9.87317971e-01 -2.51723159e-03 -1.64821753e+01] [-1.60984753e-02 -3.89849572e-05 9.99870410e-01 -4.65850385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.32, Y:-16.49, Z:-4.66 [[ 9.87193126e-01 1.58691472e-01 1.63324182e-02 1.57317669e+02] [-1.58670429e-01 9.87328221e-01 -2.58448628e-03 -1.64879109e+01] [-1.65355934e-02 -4.00847183e-05 9.99863277e-01 -4.65733337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.35, Y:-16.49, Z:-4.66 [[ 9.87215554e-01 1.58531586e-01 1.65283624e-02 1.57345545e+02] [-1.58510018e-01 9.87353905e-01 -2.61523457e-03 -1.64929014e+01] [-1.67339404e-02 -3.81107789e-05 9.99859977e-01 -4.65978879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.37, Y:-16.50, Z:-4.66 [[ 9.87204344e-01 1.58672422e-01 1.58317975e-02 1.57373511e+02] [-1.58652658e-01 9.87331282e-01 -2.50464353e-03 -1.64976014e+01] [-1.60286468e-02 -3.91617780e-05 9.99871532e-01 -4.66077428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.40, Y:-16.50, Z:-4.66 [[ 9.87109441e-01 1.59283493e-01 1.56115728e-02 1.57400802e+02] [-1.59264360e-01 9.87232884e-01 -2.46923603e-03 -1.65008421e+01] [-1.58055665e-02 -4.89609461e-05 9.99875083e-01 -4.66389590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.43, Y:-16.50, Z:-4.66 [[ 9.86915026e-01 1.60503942e-01 1.54018266e-02 1.57430516e+02] [-1.60485490e-01 9.87035197e-01 -2.43466252e-03 -1.65048033e+01] [-1.55929179e-02 -6.89646684e-05 9.99878421e-01 -4.66201464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.46, Y:-16.50, Z:-4.67 [[ 9.86303092e-01 1.64284866e-01 1.47204909e-02 1.57458750e+02] [-1.64268428e-01 9.86412930e-01 -2.32718506e-03 -1.65022658e+01] [-1.49028039e-02 -1.22802083e-04 9.99888940e-01 -4.66502619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40587156000004 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:157.49, Y:-16.50, Z:-4.67 [[ 9.85977008e-01 1.66267434e-01 1.42996591e-02 1.57487120e+02] [-1.66252144e-01 9.86080685e-01 -2.25977927e-03 -1.65009785e+01] [-1.44763454e-02 -1.49258584e-04 9.99895201e-01 -4.66870195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43587156000004 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:157.52, Y:-16.50, Z:-4.67 [[ 9.85664107e-01 1.68109047e-01 1.43393461e-02 1.57515715e+02] [-1.68093882e-01 9.85768389e-01 -2.26502187e-03 -1.65046549e+01] [-1.45160448e-02 -1.77805585e-04 9.99894621e-01 -4.66613629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.54, Y:-16.50, Z:-4.67 [[ 9.85090278e-01 1.71388131e-01 1.49416380e-02 1.57543974e+02] [-1.71372051e-01 9.85203559e-01 -2.35953252e-03 -1.65024881e+01] [-1.51249508e-02 -2.36226599e-04 9.99885583e-01 -4.66674015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.57, Y:-16.50, Z:-4.67 [[ 9.84814270e-01 1.72961649e-01 1.50040475e-02 1.57572599e+02] [-1.72945631e-01 9.84928525e-01 -2.36844875e-03 -1.65029850e+01] [-1.51875651e-02 -2.62402330e-04 9.99884628e-01 -4.66670616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.60, Y:-16.50, Z:-4.67 [[ 9.84561291e-01 1.74361815e-01 1.53955252e-02 1.57600433e+02] [-1.74345137e-01 9.84681609e-01 -2.42924818e-03 -1.65030220e+01] [-1.55832586e-02 -2.92391229e-04 9.99878531e-01 -4.66739376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55587156 meters Centerline goodness [0,1] 0.999935824758808 Centerline is valid? [True, True] Translation: X:157.63, Y:-16.50, Z:-4.67 [[ 9.84374292e-01 1.75402400e-01 1.55322771e-02 1.57628150e+02] [-1.75385569e-01 9.84496775e-01 -2.44984137e-03 -1.65034589e+01] [-1.57211847e-02 -3.12576391e-04 9.99876366e-01 -4.66824598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58587156000002 meters Centerline goodness [0,1] 0.9999356775300171 Centerline is valid? [True, True] Translation: X:157.66, Y:-16.50, Z:-4.67 [[ 9.84167541e-01 1.76570381e-01 1.53997565e-02 1.57656870e+02] [-1.76553993e-01 9.84287962e-01 -2.42804516e-03 -1.65035396e+01] [-1.55865158e-02 -3.29285255e-04 9.99878469e-01 -4.66817274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61587156000002 meters Centerline goodness [0,1] 0.9999353155522974 Centerline is valid? [True, True] Translation: X:157.68, Y:-16.50, Z:-4.67 [[ 9.84203500e-01 1.76367410e-01 1.54274830e-02 1.57683614e+02] [-1.76350947e-01 9.84324352e-01 -2.43180715e-03 -1.65048593e+01] [-1.56145387e-02 -3.27258124e-04 9.99878032e-01 -4.66953097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64587156000002 meters Centerline goodness [0,1] 0.999978526026456 Centerline is valid? [True, True] Translation: X:157.71, Y:-16.51, Z:-4.67 [[ 9.84332480e-01 1.75633024e-01 1.55759664e-02 1.57712770e+02] [-1.75616183e-01 9.84455656e-01 -2.45315223e-03 -1.65082580e+01] [-1.57647028e-02 -3.20674361e-04 9.99875678e-01 -4.67040492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67587156000002 meters Centerline goodness [0,1] 0.9999572256560515 Centerline is valid? [True, True] Translation: X:157.74, Y:-16.51, Z:-4.67 [[ 9.84533853e-01 1.74459612e-01 1.60292337e-02 1.57741357e+02] [-1.74441629e-01 9.84664281e-01 -2.52408852e-03 -1.65129221e+01] [-1.62237653e-02 -3.11115033e-04 9.99868338e-01 -4.67081739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70587156000002 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:157.77, Y:-16.52, Z:-4.67 [[ 9.85080909e-01 1.71293360e-01 1.65586225e-02 1.57769388e+02] [-1.71273737e-01 9.85220033e-01 -2.60659177e-03 -1.65174496e+01] [-1.67603785e-02 -2.68353376e-04 9.99859499e-01 -4.67111313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73587156000002 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:157.80, Y:-16.52, Z:-4.67 [[ 9.85437209e-01 1.69233247e-01 1.65413328e-02 1.57797017e+02] [-1.69213385e-01 9.85576001e-01 -2.60322792e-03 -1.65215125e+01] [-1.67432933e-02 -2.33697251e-04 9.99859794e-01 -4.67240728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76587156000002 meters Centerline goodness [0,1] 0.9998932855252487 Centerline is valid? [True, True] Translation: X:157.82, Y:-16.53, Z:-4.67 [[ 9.86225131e-01 1.64546934e-01 1.68611303e-02 1.57824928e+02] [-1.64525632e-01 9.86369242e-01 -2.65235338e-03 -1.65288365e+01] [-1.70677369e-02 -1.58270544e-04 9.99854323e-01 -4.67259197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.85, Y:-16.54, Z:-4.67 [[ 9.86618052e-01 1.62116825e-01 1.74055783e-02 1.57852695e+02] [-1.62093762e-01 9.86771565e-01 -2.73711596e-03 -1.65360571e+01] [-1.76190623e-02 -1.20847643e-04 9.99844765e-01 -4.67327571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.88, Y:-16.54, Z:-4.67 [[ 9.87068511e-01 1.59395532e-01 1.69946813e-02 1.57880472e+02] [-1.59373156e-01 9.87214799e-01 -2.67172370e-03 -1.65434838e+01] [-1.72032617e-02 -7.13216569e-05 9.99852010e-01 -4.67452783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85587156000003 meters Centerline goodness [0,1] 0.999808298543069 Centerline is valid? [True, True] Translation: X:157.91, Y:-16.55, Z:-4.68 [[ 9.87565989e-01 1.56337837e-01 1.64893306e-02 1.57908087e+02] [-1.56316357e-01 9.87703640e-01 -2.59153027e-03 -1.65508412e+01] [-1.66917261e-02 -1.82449420e-05 9.99860683e-01 -4.67637755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88587156000003 meters Centerline goodness [0,1] 0.999805527345016 Centerline is valid? [True, True] Translation: X:157.93, Y:-16.56, Z:-4.68 [[ 9.88010082e-01 1.53490801e-01 1.66328788e-02 1.57934829e+02] [-1.53468553e-01 9.88150076e-01 -2.61344182e-03 -1.65584675e+01] [-1.68369198e-02 2.94830261e-05 9.99858249e-01 -4.67771929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.96, Y:-16.57, Z:-4.68 [[ 9.88756907e-01 1.48590487e-01 1.67524806e-02 1.57962100e+02] [-1.48567236e-01 9.88898809e-01 -2.63093005e-03 -1.65700328e+01] [-1.69574393e-02 1.12480519e-04 9.99856206e-01 -4.67963521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.99, Y:-16.58, Z:-4.68 [[ 9.89107947e-01 1.46245532e-01 1.66647463e-02 1.57991236e+02] [-1.46222203e-01 9.89248311e-01 -2.61641648e-03 -1.65781264e+01] [-1.68682114e-02 1.51162409e-04 9.99857710e-01 -4.68033043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.02, Y:-16.58, Z:-4.68 [[ 9.89460880e-01 1.43846698e-01 1.65919786e-02 1.58021012e+02] [-1.43823247e-01 9.89599965e-01 -2.60431085e-03 -1.65833566e+01] [-1.67940429e-02 1.90551467e-04 9.99858952e-01 -4.67887695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.05, Y:-16.59, Z:-4.68 [[ 9.90031219e-01 1.39990856e-01 1.55159816e-02 1.58048545e+02] [-1.39969882e-01 9.90152768e-01 -2.43498200e-03 -1.65936397e+01] [-1.57040673e-02 2.38938093e-04 9.99876655e-01 -4.68282901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03587156000003 meters Centerline goodness [0,1] 0.9998929748704996 Centerline is valid? [True, True] Translation: X:158.08, Y:-16.60, Z:-4.68 [[ 9.90273143e-01 1.38289161e-01 1.53365512e-02 1.58078474e+02] [-1.38268451e-01 9.90391861e-01 -2.40772705e-03 -1.66010164e+01] [-1.55221581e-02 2.63746252e-04 9.99879489e-01 -4.68382815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06587156000003 meters Centerline goodness [0,1] 0.999957310565635 Centerline is valid? [True, True] Translation: X:158.11, Y:-16.61, Z:-4.69 [[ 9.90437655e-01 1.37076599e-01 1.55967264e-02 1.58106308e+02] [-1.37055027e-01 9.90560409e-01 -2.44874278e-03 -1.66116360e+01] [-1.57851650e-02 2.87717296e-04 9.99875365e-01 -4.68741786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09587156000003 meters Centerline goodness [0,1] 0.9999357904199306 Centerline is valid? [True, True] Translation: X:158.14, Y:-16.62, Z:-4.68 [[ 9.90694687e-01 1.35120225e-01 1.63267319e-02 1.58136042e+02] [-1.35096327e-01 9.90829155e-01 -2.56298257e-03 -1.66174703e+01] [-1.65233127e-02 3.33451701e-04 9.99863425e-01 -4.68475908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12587156000004 meters Centerline goodness [0,1] 0.9997424339987122 Centerline is valid? [True, True] Translation: X:158.17, Y:-16.62, Z:-4.68 [[ 9.90784427e-01 1.34436790e-01 1.65217621e-02 1.58166897e+02] [-1.34412227e-01 9.90922110e-01 -2.59327961e-03 -1.66235964e+01] [-1.67204116e-02 3.48654205e-04 9.99860143e-01 -4.68432839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15587156000004 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:158.20, Y:-16.63, Z:-4.69 [[ 9.90782953e-01 1.34415400e-01 1.67821417e-02 1.58197305e+02] [-1.34390047e-01 9.90925009e-01 -2.63456148e-03 -1.66293645e+01] [-1.69839696e-02 3.54925776e-04 9.99855699e-01 -4.68526707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.23, Y:-16.64, Z:-4.69 [[ 9.90748616e-01 1.34638059e-01 1.70227152e-02 1.58227964e+02] [-1.34612029e-01 9.90894781e-01 -2.67106255e-03 -1.66363509e+01] [-1.72273464e-02 3.54889293e-04 9.99851535e-01 -4.68577932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.26, Y:-16.64, Z:-4.69 [[ 9.90681182e-01 1.35115175e-01 1.71663824e-02 1.58258550e+02] [-1.35088728e-01 9.90829837e-01 -2.69634622e-03 -1.66428612e+01] [-1.73732812e-02 3.52234703e-04 9.99849011e-01 -4.68691221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24587156 meters Centerline goodness [0,1] 0.9998504017780817 Centerline is valid? [True, True] Translation: X:158.29, Y:-16.65, Z:-4.69 [[ 9.90471902e-01 1.36696390e-01 1.67184925e-02 1.58289911e+02] [-1.36671459e-01 9.90612939e-01 -2.63017917e-03 -1.66457452e+01] [-1.69210910e-02 3.20177805e-04 9.99856777e-01 -4.68750579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.32, Y:-16.65, Z:-4.69 [[ 9.90276033e-01 1.38054776e-01 1.71539340e-02 1.58321159e+02] [-1.38028725e-01 9.90424548e-01 -2.69911618e-03 -1.66504262e+01] [-1.73623032e-02 3.05134425e-04 9.99849217e-01 -4.68898354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30587156 meters Centerline goodness [0,1] 0.9999356319866115 Centerline is valid? [True, True] Translation: X:158.35, Y:-16.65, Z:-4.69 [[ 9.90117017e-01 1.39192247e-01 1.71409280e-02 1.58350959e+02] [-1.39166394e-01 9.90265337e-01 -2.69778412e-03 -1.66546952e+01] [-1.73495775e-02 2.85680836e-04 9.99849444e-01 -4.68958859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33587156000002 meters Centerline goodness [0,1] 0.9999568537774518 Centerline is valid? [True, True] Translation: X:158.38, Y:-16.66, Z:-4.69 [[ 9.89747939e-01 1.41711418e-01 1.78014669e-02 1.58380159e+02] [-1.41683938e-01 9.89907981e-01 -2.80188806e-03 -1.66585034e+01] [-1.80188737e-02 2.50980989e-04 9.99837615e-01 -4.69015760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.41, Y:-16.66, Z:-4.69 [[ 9.89526931e-01 1.43233236e-01 1.79079194e-02 1.58411008e+02] [-1.43205685e-01 9.89688936e-01 -2.81814538e-03 -1.66619942e+01] [-1.81269218e-02 2.24114885e-04 9.99835669e-01 -4.69098542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39587156000002 meters Centerline goodness [0,1] 0.9997216929631136 Centerline is valid? [True, True] Translation: X:158.44, Y:-16.66, Z:-4.69 [[ 9.89317513e-01 1.44667065e-01 1.79526890e-02 1.58441777e+02] [-1.44639606e-01 9.89480369e-01 -2.82550856e-03 -1.66649878e+01] [-1.81725914e-02 1.98655239e-04 9.99834845e-01 -4.69136999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.47, Y:-16.67, Z:-4.69 [[ 9.88784725e-01 1.48176679e-01 1.86665340e-02 1.58472690e+02] [-1.48147618e-01 9.88960895e-01 -2.93781543e-03 -1.66674082e+01] [-1.88957880e-02 1.39464465e-04 9.99821449e-01 -4.69097477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.50, Y:-16.67, Z:-4.69 [[ 9.88604206e-01 1.49410094e-01 1.83942390e-02 1.58501178e+02] [-1.49382079e-01 9.88775309e-01 -2.89546952e-03 -1.66728024e+01] [-1.86203817e-02 1.14703687e-04 9.99826619e-01 -4.69385334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.53, Y:-16.68, Z:-4.69 [[ 9.88483300e-01 1.50187966e-01 1.85563978e-02 1.58531812e+02] [-1.50159599e-01 9.88657456e-01 -2.92062181e-03 -1.66768283e+01] [-1.87845633e-02 1.00564622e-04 9.99823549e-01 -4.69250008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51587156000002 meters Centerline goodness [0,1] 0.9999569281130206 Centerline is valid? [True, True] Translation: X:158.56, Y:-16.68, Z:-4.70 [[ 9.88458866e-01 1.50345786e-01 1.85799503e-02 1.58560822e+02] [-1.50317372e-01 9.88633469e-01 -2.92447059e-03 -1.66824745e+01] [-1.88084425e-02 9.78295801e-05 9.99823101e-01 -4.69517028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.59, Y:-16.69, Z:-4.70 [[ 9.88575371e-01 1.49597404e-01 1.84215119e-02 1.58590778e+02] [-1.49569350e-01 9.88746987e-01 -2.89915890e-03 -1.66908560e+01] [-1.86479210e-02 1.10743530e-04 9.99826106e-01 -4.69714580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.62, Y:-16.70, Z:-4.70 [[ 9.88701717e-01 1.48784017e-01 1.82272240e-02 1.58620354e+02] [-1.48756425e-01 9.88869709e-01 -2.86795485e-03 -1.66992826e+01] [-1.84510555e-02 1.24135218e-04 9.99829757e-01 -4.70040306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.65, Y:-16.71, Z:-4.70 [[ 9.88811967e-01 1.48042837e-01 1.82814740e-02 1.58651487e+02] [-1.48014929e-01 9.88980940e-01 -2.87783107e-03 -1.67062386e+01] [-1.85060716e-02 1.39702727e-04 9.99828738e-01 -4.69957952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63587156000003 meters Centerline goodness [0,1] 0.999978456169076 Centerline is valid? [True, True] Translation: X:158.68, Y:-16.72, Z:-4.70 [[ 9.88927895e-01 1.47188162e-01 1.89014206e-02 1.58680901e+02] [-1.47158161e-01 9.89108497e-01 -2.97603979e-03 -1.67164480e+01] [-1.91335935e-02 1.61590465e-04 9.99816923e-01 -4.70014772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.71, Y:-16.72, Z:-4.70 [[ 9.88919449e-01 1.47229085e-01 1.90241790e-02 1.58712328e+02] [-1.47198730e-01 9.89102407e-01 -2.99384514e-03 -1.67233113e+01] [-1.92576423e-02 1.60336688e-04 9.99814542e-01 -4.70021496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.74, Y:-16.73, Z:-4.70 [[ 9.88912043e-01 1.47294458e-01 1.89027527e-02 1.58743521e+02] [-1.47264439e-01 9.89092673e-01 -2.97800854e-03 -1.67308767e+01] [-1.91352183e-02 1.61285244e-04 9.99816892e-01 -4.70163191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72587156000003 meters Centerline goodness [0,1] 0.9998920226320563 Centerline is valid? [True, True] Translation: X:158.77, Y:-16.74, Z:-4.70 [[ 9.88899188e-01 1.47398864e-01 1.87608881e-02 1.58774725e+02] [-1.47369253e-01 9.89077120e-01 -2.95878588e-03 -1.67388127e+01] [-1.89920868e-02 1.61162898e-04 9.99819621e-01 -4.70287100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75587156000003 meters Centerline goodness [0,1] 0.9998920226320563 Centerline is valid? [True, True] Translation: X:158.81, Y:-16.74, Z:-4.70 [[ 9.88874148e-01 1.47566830e-01 1.87603253e-02 1.58805982e+02] [-1.47537181e-01 9.89052074e-01 -2.96234856e-03 -1.67438916e+01] [-1.89920831e-02 1.61544391e-04 9.99819621e-01 -4.70382670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.84, Y:-16.76, Z:-4.71 [[ 9.88841935e-01 1.47660236e-01 1.96998049e-02 1.58835244e+02] [-1.47627485e-01 9.89038131e-01 -3.11451949e-03 -1.67559618e+01] [-1.99437489e-02 1.71534831e-04 9.99801089e-01 -4.70516943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.87, Y:-16.76, Z:-4.70 [[ 9.88784392e-01 1.47859954e-01 2.10442634e-02 1.58867349e+02] [-1.47822549e-01 9.89008292e-01 -3.33066761e-03 -1.67607748e+01] [-2.13054233e-02 1.82495498e-04 9.99772997e-01 -4.70186688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.90, Y:-16.77, Z:-4.70 [[ 9.88706557e-01 1.48287405e-01 2.16838506e-02 1.58897812e+02] [-1.48247705e-01 9.88944292e-01 -3.43594650e-03 -1.67687468e+01] [-2.19536279e-02 1.82561749e-04 9.99758973e-01 -4.70235155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.93, Y:-16.78, Z:-4.70 [[ 9.88634131e-01 1.48761650e-01 2.17376641e-02 1.58928381e+02] [-1.48721794e-01 9.88873066e-01 -3.44784231e-03 -1.67789642e+01] [-2.20086972e-02 1.75790196e-04 9.99757764e-01 -4.70346458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.96, Y:-16.79, Z:-4.70 [[ 9.88508195e-01 1.49547643e-01 2.20692137e-02 1.58959888e+02] [-1.49506665e-01 9.88754507e-01 -3.50454805e-03 -1.67858293e+01] [-2.23451315e-02 1.64779922e-04 9.99750303e-01 -4.70405099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93587156000004 meters Centerline goodness [0,1] 0.9999355074488897 Centerline is valid? [True, True] Translation: X:158.99, Y:-16.79, Z:-4.71 [[ 9.88365999e-01 1.50481791e-01 2.20880881e-02 1.58990022e+02] [-1.50440890e-01 9.88612770e-01 -3.51136195e-03 -1.67919901e+01] [-2.23649620e-02 1.47559124e-04 9.99749862e-01 -4.70531206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96587156000004 meters Centerline goodness [0,1] 0.9998932604658113 Centerline is valid? [True, True] Translation: X:159.02, Y:-16.80, Z:-4.71 [[ 9.88164533e-01 1.51833217e-01 2.18524512e-02 1.59022378e+02] [-1.51793448e-01 9.88406121e-01 -3.47694533e-03 -1.67968912e+01] [-2.21270124e-02 1.18735139e-04 9.99755161e-01 -4.70611947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.05, Y:-16.80, Z:-4.71 [[ 9.87632277e-01 1.55212750e-01 2.21695382e-02 1.59054014e+02] [-1.55172553e-01 9.87881066e-01 -3.53253279e-03 -1.68025527e+01] [-2.24491612e-02 4.87395571e-05 9.99747985e-01 -4.70642501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.09, Y:-16.81, Z:-4.71 [[ 9.87301628e-01 1.57271916e-01 2.23839338e-02 1.59085024e+02] [-1.57231420e-01 9.87555337e-01 -3.56877352e-03 -1.68070154e+01] [-2.26666411e-02 3.99821872e-06 9.99743079e-01 -4.70769603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.12, Y:-16.81, Z:-4.71 [[ 9.86911430e-01 1.59756743e-01 2.19911936e-02 1.59117295e+02] [-1.59718240e-01 9.87156411e-01 -3.50760587e-03 -1.68104626e+01] [-2.22691114e-02 -5.06984185e-05 9.99752011e-01 -4.70971629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.15, Y:-16.81, Z:-4.71 [[ 9.85971694e-01 1.65487186e-01 2.17671825e-02 1.59149472e+02] [-1.65450769e-01 9.86211925e-01 -3.47594864e-03 -1.68103900e+01] [-2.20422799e-02 -1.74210099e-04 9.99757024e-01 -4.71031203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.18, Y:-16.81, Z:-4.71 [[ 9.85502452e-01 1.68255978e-01 2.17909022e-02 1.59180098e+02] [-1.68220056e-01 9.85743309e-01 -3.48434904e-03 -1.68103590e+01] [-2.20664986e-02 -2.31832260e-04 9.99756478e-01 -4.71302869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.21, Y:-16.81, Z:-4.71 [[ 9.85019332e-01 1.71007096e-01 2.22145921e-02 1.59210735e+02] [-1.70970456e-01 9.85269752e-01 -3.55236998e-03 -1.68146932e+01] [-2.24948461e-02 -2.98885835e-04 9.99746914e-01 -4.71200498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.24, Y:-16.82, Z:-4.71 [[ 9.84574721e-01 1.73557333e-01 2.21465636e-02 1.59240182e+02] [-1.73521555e-01 9.84823703e-01 -3.54182277e-03 -1.68157509e+01] [-2.24251701e-02 -3.55716985e-04 9.99748461e-01 -4.71324525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20587156000002 meters Centerline goodness [0,1] 0.9999786416061512 Centerline is valid? [True, True] Translation: X:159.27, Y:-16.81, Z:-4.72 [[ 9.83767702e-01 1.78168198e-01 2.13822800e-02 1.59270458e+02] [-1.78135929e-01 9.83999947e-01 -3.41982034e-03 -1.68139436e+01] [-2.16494656e-02 -4.44643532e-04 9.99765524e-01 -4.71541328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23587156000002 meters Centerline goodness [0,1] 0.9999359097609434 Centerline is valid? [True, True] Translation: X:159.30, Y:-16.82, Z:-4.72 [[ 9.83385946e-01 1.80267849e-01 2.13444275e-02 1.59299591e+02] [-1.80236190e-01 9.83617437e-01 -3.41371087e-03 -1.68158401e+01] [-2.16101334e-02 -4.90042998e-04 9.99766354e-01 -4.71656356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26587156000002 meters Centerline goodness [0,1] 0.999893601174643 Centerline is valid? [True, True] Translation: X:159.33, Y:-16.82, Z:-4.72 [[ 9.83034180e-01 1.82196830e-01 2.11687416e-02 1.59329030e+02] [-1.82166153e-01 9.83261936e-01 -3.38482579e-03 -1.68170961e+01] [-2.14311224e-02 -5.28828773e-04 9.99770187e-01 -4.71784998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29587156000002 meters Centerline goodness [0,1] 0.9999358892165662 Centerline is valid? [True, True] Translation: X:159.36, Y:-16.82, Z:-4.72 [[ 9.82761220e-01 1.83627781e-01 2.14760851e-02 1.59357722e+02] [-1.83596560e-01 9.82995684e-01 -3.43340258e-03 -1.68182577e+01] [-2.17413671e-02 -5.68720457e-04 9.99763467e-01 -4.71870101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32587156000002 meters Centerline goodness [0,1] 0.9998503729987389 Centerline is valid? [True, True] Translation: X:159.39, Y:-16.82, Z:-4.72 [[ 9.82406308e-01 1.85478549e-01 2.18071768e-02 1.59386521e+02] [-1.85446836e-01 9.82648118e-01 -3.48536037e-03 -1.68169343e+01] [-2.20752409e-02 -6.20031924e-04 9.99756120e-01 -4.71933659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35587156000003 meters Centerline goodness [0,1] 0.9999351617713804 Centerline is valid? [True, True] Translation: X:159.42, Y:-16.82, Z:-4.72 [[ 9.82300942e-01 1.85968839e-01 2.23707237e-02 1.59415874e+02] [-1.85935629e-01 9.82555428e-01 -3.57382606e-03 -1.68233763e+01] [-2.26450963e-02 -6.48941884e-04 9.99743356e-01 -4.71844926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38587156000003 meters Centerline goodness [0,1] 0.9997656782549421 Centerline is valid? [True, True] Translation: X:159.44, Y:-16.82, Z:-4.72 [[ 9.82311890e-01 1.85927585e-01 2.22324911e-02 1.59443998e+02] [-1.85894779e-01 9.82563239e-01 -3.55147586e-03 -1.68216882e+01] [-2.25051458e-02 -6.44247055e-04 9.99746520e-01 -4.72058232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41587156000003 meters Centerline goodness [0,1] 0.9999356968319972 Centerline is valid? [True, True] Translation: X:159.47, Y:-16.83, Z:-4.72 [[ 9.82422972e-01 1.85252766e-01 2.29459670e-02 1.59473095e+02] [-1.85217677e-01 9.82690689e-01 -3.66371331e-03 -1.68299182e+01] [-2.32275012e-02 -6.50682593e-04 9.99729993e-01 -4.71942725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44587156000003 meters Centerline goodness [0,1] 0.9999571816994584 Centerline is valid? [True, True] Translation: X:159.50, Y:-16.83, Z:-4.72 [[ 9.82521257e-01 1.84684239e-01 2.33176326e-02 1.59501860e+02] [-1.84647857e-01 9.82797696e-01 -3.72254315e-03 -1.68310087e+01] [-2.36040107e-02 -6.48073108e-04 9.99721176e-01 -4.72042838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47587156000003 meters Centerline goodness [0,1] 0.99993564993565 Centerline is valid? [True, True] Translation: X:159.53, Y:-16.84, Z:-4.72 [[ 9.82709058e-01 1.83648620e-01 2.35816117e-02 1.59529733e+02] [-1.83611129e-01 9.82991753e-01 -3.76393863e-03 -1.68350801e+01] [-2.38717720e-02 -6.30989773e-04 9.99714830e-01 -4.72129679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.56, Y:-16.84, Z:-4.72 [[ 9.82999970e-01 1.82110974e-01 2.33806007e-02 1.59558204e+02] [-1.82073718e-01 9.83277807e-01 -3.73040092e-03 -1.68412355e+01] [-2.36689727e-02 -5.90008914e-04 9.99719677e-01 -4.72241202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.59, Y:-16.85, Z:-4.72 [[ 9.83624496e-01 1.78751774e-01 2.30359364e-02 1.59586589e+02] [-1.78714718e-01 9.83894075e-01 -3.67416015e-03 -1.68498803e+01] [-2.33216840e-02 -5.02866946e-04 9.99727886e-01 -4.72485375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.62, Y:-16.86, Z:-4.73 [[ 9.83947369e-01 1.77063355e-01 2.22742884e-02 1.59615757e+02] [-1.77028288e-01 9.84199353e-01 -3.55215860e-03 -1.68562783e+01] [-2.25512973e-02 -4.48042029e-04 9.99745587e-01 -4.72690662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.65, Y:-16.86, Z:-4.73 [[ 9.84254052e-01 1.75386179e-01 2.19920181e-02 1.59645136e+02] [-1.75351588e-01 9.84499631e-01 -3.50660848e-03 -1.68618785e+01] [-2.22661444e-02 -4.04941685e-04 9.99751997e-01 -4.72954105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62587156000004 meters Centerline goodness [0,1] 0.9998916505948382 Centerline is valid? [True, True] Translation: X:159.67, Y:-16.87, Z:-4.73 [[ 9.84543555e-01 1.73797238e-01 2.16450662e-02 1.59674057e+02] [-1.73763358e-01 9.84781391e-01 -3.45076472e-03 -1.68665999e+01] [-2.19153918e-02 -3.63691218e-04 9.99759763e-01 -4.73042953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:-16.87, Z:-4.73 [[ 9.85045665e-01 1.71048859e-01 2.06718440e-02 1.59703142e+02] [-1.71017364e-01 9.85262505e-01 -3.29501833e-03 -1.68726330e+01] [-2.09308019e-02 -2.89500738e-04 9.99780885e-01 -4.73440208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.73, Y:-16.88, Z:-4.74 [[ 9.85265738e-01 1.69821515e-01 2.02996922e-02 1.59731880e+02] [-1.69790889e-01 9.85474802e-01 -3.23545484e-03 -1.68782535e+01] [-2.05542850e-02 -2.58919987e-04 9.99788705e-01 -4.73657188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:-16.89, Z:-4.74 [[ 9.85610017e-01 1.67807577e-01 2.03349696e-02 1.59761118e+02] [-1.67776423e-01 9.85819745e-01 -3.24071528e-03 -1.68863544e+01] [-2.05904312e-02 -2.17647027e-04 9.99787971e-01 -4.73615250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.79, Y:-16.89, Z:-4.74 [[ 9.85743093e-01 1.67026876e-01 2.03119932e-02 1.59790533e+02] [-1.66995624e-01 9.85952323e-01 -3.23717122e-03 -1.68902610e+01] [-2.05673514e-02 -2.00994807e-04 9.99788449e-01 -4.73751532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77587156 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:159.82, Y:-16.89, Z:-4.74 [[ 9.85872690e-01 1.66238995e-01 2.04850027e-02 1.59819718e+02] [-1.66207044e-01 9.86085474e-01 -3.26448211e-03 -1.68940015e+01] [-2.07426478e-02 -1.86387977e-04 9.99784831e-01 -4.73836676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.85, Y:-16.90, Z:-4.74 [[ 9.85965460e-01 1.65593081e-01 2.12377647e-02 1.59849761e+02] [-1.65558596e-01 9.86194149e-01 -3.38407365e-03 -1.69004469e+01] [-2.15049385e-02 -1.79514777e-04 9.99768726e-01 -4.73734165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83587156000002 meters Centerline goodness [0,1] 0.9998931258549931 Centerline is valid? [True, True] Translation: X:159.88, Y:-16.90, Z:-4.74 [[ 9.86039839e-01 1.64981033e-01 2.25098707e-02 1.59879797e+02] [-1.64942133e-01 9.86296724e-01 -3.58677390e-03 -1.69043514e+01] [-2.27931614e-02 -1.76124132e-04 9.99740187e-01 -4.73541955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86587156000002 meters Centerline goodness [0,1] 0.9998502801899303 Centerline is valid? [True, True] Translation: X:159.91, Y:-16.91, Z:-4.74 [[ 9.85973566e-01 1.65331338e-01 2.28402193e-02 1.59909142e+02] [-1.65291380e-01 9.86238061e-01 -3.63949784e-03 -1.69080613e+01] [-2.31276166e-02 -1.86842696e-04 9.99732503e-01 -4.73581494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89587156000002 meters Centerline goodness [0,1] 0.9999141317648069 Centerline is valid? [True, True] Translation: X:159.94, Y:-16.91, Z:-4.74 [[ 9.85833800e-01 1.66093182e-01 2.33404016e-02 1.59938484e+02] [-1.66051675e-01 9.86110040e-01 -3.71890367e-03 -1.69115164e+01] [-2.36338889e-02 -2.09491853e-04 9.99720659e-01 -4.73610420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.97, Y:-16.91, Z:-4.74 [[ 9.85667743e-01 1.67011481e-01 2.37963431e-02 1.59968635e+02] [-1.66968612e-01 9.85954923e-01 -3.79118167e-03 -1.69145178e+01] [-2.40952925e-02 -2.36396898e-04 9.99709638e-01 -4.73615469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95587156000002 meters Centerline goodness [0,1] 0.9999146593842675 Centerline is valid? [True, True] Translation: X:160.00, Y:-16.91, Z:-4.74 [[ 9.85285378e-01 1.69294600e-01 2.34960041e-02 1.59998983e+02] [-1.69253452e-01 9.85565449e-01 -3.74348342e-03 -1.69119783e+01] [-2.37906013e-02 -2.88380326e-04 9.99716922e-01 -4.73663969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.03, Y:-16.91, Z:-4.74 [[ 9.85059484e-01 1.70638742e-01 2.32429093e-02 1.60028619e+02] [-1.70598863e-01 9.85333608e-01 -3.70260939e-03 -1.69137876e+01] [-2.35338283e-02 -3.17923403e-04 9.99722991e-01 -4.73885959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.06, Y:-16.92, Z:-4.74 [[ 9.84843171e-01 1.71925299e-01 2.29264096e-02 1.60057797e+02] [-1.71886860e-01 9.85109929e-01 -3.65165009e-03 -1.69164384e+01] [-2.32128447e-02 -3.44445899e-04 9.99730486e-01 -4.74016132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.09, Y:-16.92, Z:-4.74 [[ 9.84581220e-01 1.73501846e-01 2.22919502e-02 1.60086292e+02] [-1.73465925e-01 9.84833474e-01 -3.54990799e-03 -1.69159221e+01] [-2.25697744e-02 -3.71721024e-04 9.99745201e-01 -4.74348008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.12, Y:-16.92, Z:-4.74 [[ 9.84540181e-01 1.73793324e-01 2.18291493e-02 1.60115108e+02] [-1.73758943e-01 9.84782079e-01 -3.47649253e-03 -1.69192934e+01] [-2.21011462e-02 -3.70263321e-04 9.99755671e-01 -4.74472916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10587156000003 meters Centerline goodness [0,1] 0.9999356416527223 Centerline is valid? [True, True] Translation: X:160.14, Y:-16.92, Z:-4.75 [[ 9.84560031e-01 1.73678224e-01 2.18499456e-02 1.60143702e+02] [-1.73643773e-01 9.84802385e-01 -3.47875948e-03 -1.69238491e+01] [-2.21220633e-02 -3.69059439e-04 9.99755209e-01 -4.74561287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13587156000003 meters Centerline goodness [0,1] 0.9998072970195272 Centerline is valid? [True, True] Translation: X:160.17, Y:-16.93, Z:-4.75 [[ 9.84604496e-01 1.73402227e-01 2.20375472e-02 1.60171938e+02] [-1.73367137e-01 9.84851021e-01 -3.50754728e-03 -1.69281581e+01] [-2.23119174e-02 -3.67039646e-04 9.99750991e-01 -4.74541247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16587156000003 meters Centerline goodness [0,1] 0.9998510067685497 Centerline is valid? [True, True] Translation: X:160.20, Y:-16.93, Z:-4.75 [[ 9.84828793e-01 1.72140765e-01 2.19044394e-02 1.60199958e+02] [-1.72105810e-01 9.85072303e-01 -3.48528559e-03 -1.69318209e+01] [-2.21774163e-02 -3.37471676e-04 9.99753994e-01 -4.74741073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19587156000003 meters Centerline goodness [0,1] 0.9998714900726081 Centerline is valid? [True, True] Translation: X:160.23, Y:-16.94, Z:-4.75 [[ 9.84983562e-01 1.71242701e-01 2.19845169e-02 1.60227999e+02] [-1.71207290e-01 9.85228824e-01 -3.49693634e-03 -1.69381010e+01] [-2.22586046e-02 -3.19484759e-04 9.99752196e-01 -4.74766734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.26, Y:-16.94, Z:-4.75 [[ 9.85156533e-01 1.70235208e-01 2.20585413e-02 1.60256128e+02] [-1.70199332e-01 9.85403412e-01 -3.50752211e-03 -1.69436680e+01] [-2.23336656e-02 -2.98890666e-04 9.99750528e-01 -4.74991760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25587156000003 meters Centerline goodness [0,1] 0.9998923202825516 Centerline is valid? [True, True] Translation: X:160.29, Y:-16.95, Z:-4.75 [[ 9.85628236e-01 1.67560387e-01 2.14591751e-02 1.60285066e+02] [-1.67525820e-01 9.85861787e-01 -3.41134784e-03 -1.69518851e+01] [-2.17273874e-02 -2.32645134e-04 9.99763905e-01 -4.75132571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28587156000003 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:160.31, Y:-16.96, Z:-4.75 [[ 9.85814264e-01 1.66473096e-01 2.13762811e-02 1.60313580e+02] [-1.66438548e-01 9.86045975e-01 -3.39775438e-03 -1.69569844e+01] [-2.16436306e-02 -2.08282443e-04 9.99765727e-01 -4.75315315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.34, Y:-16.96, Z:-4.75 [[ 9.86003341e-01 1.65329813e-01 2.15282120e-02 1.60342122e+02] [-1.65294519e-01 9.86238317e-01 -3.42101404e-03 -1.69636847e+01] [-2.17975431e-02 -1.85364163e-04 9.99762388e-01 -4.75353289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.37, Y:-16.97, Z:-4.75 [[ 9.86241819e-01 1.63826783e-01 2.20875201e-02 1.60371587e+02] [-1.63789271e-01 9.86489108e-01 -3.50915024e-03 -1.69704879e+01] [-2.23639908e-02 -1.56828102e-04 9.99749882e-01 -4.75387621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.40, Y:-16.97, Z:-4.76 [[ 9.86287765e-01 1.63536178e-01 2.21892324e-02 1.60401097e+02] [-1.63498244e-01 9.86537326e-01 -3.52540177e-03 -1.69746151e+01] [-2.24670367e-02 -1.50839904e-04 9.99747573e-01 -4.75558374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.43, Y:-16.98, Z:-4.76 [[ 9.86346302e-01 1.63202567e-01 2.20430108e-02 1.60430495e+02] [-1.63165052e-01 9.86592571e-01 -3.50199642e-03 -1.69808359e+01] [-2.23190055e-02 -1.42467780e-04 9.99750890e-01 -4.75598244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.46, Y:-16.98, Z:-4.76 [[ 9.86287136e-01 1.63588134e-01 2.18313490e-02 1.60458867e+02] [-1.63551442e-01 9.86528712e-01 -3.46786298e-03 -1.69842138e+01] [-2.21045539e-02 -1.50239969e-04 9.99755653e-01 -4.75724245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.49, Y:-16.99, Z:-4.76 [[ 9.86230487e-01 1.63910098e-01 2.19751193e-02 1.60488763e+02] [-1.63873013e-01 9.86475268e-01 -3.49014507e-03 -1.69875818e+01] [-2.22499817e-02 -1.59041531e-04 9.99752426e-01 -4.75729898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.52, Y:-16.99, Z:-4.76 [[ 9.86129569e-01 1.64458364e-01 2.24035843e-02 1.60517796e+02] [-1.64419972e-01 9.86384010e-01 -3.55765988e-03 -1.69913601e+01] [-2.26836242e-02 -1.75283093e-04 9.99742678e-01 -4.75638868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.55, Y:-16.99, Z:-4.76 [[ 9.85912893e-01 1.65670124e-01 2.30038509e-02 1.60546382e+02] [-1.65629986e-01 9.86181204e-01 -3.65256177e-03 -1.69910212e+01] [-2.32910857e-02 -2.09019765e-04 9.99728704e-01 -4.75659212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55587156 meters Centerline goodness [0,1] 0.9999569512903851 Centerline is valid? [True, True] Translation: X:160.58, Y:-16.99, Z:-4.76 [[ 9.85805368e-01 1.66195214e-01 2.38102280e-02 1.60575690e+02] [-1.66152399e-01 9.86092844e-01 -3.77923578e-03 -1.69949842e+01] [-2.41071863e-02 -2.30535570e-04 9.99709353e-01 -4.75501627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58587156000002 meters Centerline goodness [0,1] 0.9998506666666667 Centerline is valid? [True, True] Translation: X:160.60, Y:-17.00, Z:-4.75 [[ 9.85663774e-01 1.66836298e-01 2.51510458e-02 1.60604874e+02] [-1.66788750e-01 9.85984575e-01 -3.99140754e-03 -1.69980982e+01] [-2.54644548e-02 -2.60725671e-04 9.99675694e-01 -4.75405532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.63, Y:-17.00, Z:-4.75 [[ 9.85566185e-01 1.67317654e-01 2.57700989e-02 1.60634164e+02] [-1.67267916e-01 9.85902999e-01 -4.08906218e-03 -1.69994889e+01] [-2.60909901e-02 -2.80469320e-04 9.99659533e-01 -4.75379622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.66, Y:-17.00, Z:-4.76 [[ 9.85513023e-01 1.67709565e-01 2.52504037e-02 1.60663315e+02] [-1.67661963e-01 9.85836406e-01 -4.00576323e-03 -1.70024468e+01] [-2.55645720e-02 -2.85800412e-04 9.99673132e-01 -4.75526575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.69, Y:-17.01, Z:-4.76 [[ 9.85520519e-01 1.67665484e-01 2.52505831e-02 1.60691298e+02] [-1.67617896e-01 9.85843904e-01 -4.00463189e-03 -1.70067905e+01] [-2.55645720e-02 -2.85802716e-04 9.99673132e-01 -4.75612028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.72, Y:-17.01, Z:-4.76 [[ 9.85481147e-01 1.67964679e-01 2.47946722e-02 1.60720232e+02] [-1.67918920e-01 9.85792972e-01 -3.93110590e-03 -1.70106009e+01] [-2.51027005e-02 -2.89463820e-04 9.99684836e-01 -4.75775554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:-17.01, Z:-4.76 [[ 9.85447554e-01 1.68221157e-01 2.43877060e-02 1.60749510e+02] [-1.68176978e-01 9.85749237e-01 -3.86607170e-03 -1.70115492e+01] [-2.46905176e-02 -2.91639805e-04 9.99695100e-01 -4.76058653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76587156000002 meters Centerline goodness [0,1] 0.9998069332418054 Centerline is valid? [True, True] Translation: X:160.78, Y:-17.02, Z:-4.76 [[ 9.85430252e-01 1.68361687e-01 2.41155705e-02 1.60778413e+02] [-1.68318554e-01 9.85725244e-01 -3.82200536e-03 -1.70158425e+01] [-2.44148058e-02 -2.92778251e-04 9.99701871e-01 -4.76121218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79587156000002 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:160.81, Y:-17.02, Z:-4.76 [[ 9.85455631e-01 1.68248254e-01 2.38688816e-02 1.60805842e+02] [-1.68205974e-01 9.85744613e-01 -3.78255667e-03 -1.70188154e+01] [-2.41650300e-02 -2.87346709e-04 9.99707942e-01 -4.76306845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.83, Y:-17.02, Z:-4.76 [[ 9.85493257e-01 1.68069881e-01 2.35702032e-02 1.60834241e+02] [-1.68028637e-01 9.85775043e-01 -3.73377731e-03 -1.70240765e+01] [-2.38624536e-02 -2.80856739e-04 9.99715212e-01 -4.76386928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.86, Y:-17.03, Z:-4.77 [[ 9.85663473e-01 1.67145646e-01 2.30184928e-02 1.60863048e+02] [-1.67106085e-01 9.85932183e-01 -3.64518423e-03 -1.70270323e+01] [-2.33039495e-02 -2.53605270e-04 9.99728394e-01 -4.76653614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.89, Y:-17.03, Z:-4.77 [[ 9.85769279e-01 1.66521167e-01 2.30136766e-02 1.60891465e+02] [-1.66481471e-01 9.86037851e-01 -3.64364162e-03 -1.70310800e+01] [-2.32990997e-02 -2.39560764e-04 9.99728510e-01 -4.76794420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.92, Y:-17.04, Z:-4.77 [[ 9.85877069e-01 1.65838246e-01 2.33255293e-02 1.60919449e+02] [-1.65797303e-01 9.86152942e-01 -3.69189373e-03 -1.70359701e+01] [-2.36147965e-02 -2.27556471e-04 9.99721106e-01 -4.76746155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.95, Y:-17.04, Z:-4.77 [[ 9.85979178e-01 1.65172521e-01 2.37297078e-02 1.60948327e+02] [-1.65129985e-01 9.86264666e-01 -3.75458112e-03 -1.70394504e+01] [-2.40239260e-02 -2.16547485e-04 9.99711360e-01 -4.76845799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.98, Y:-17.04, Z:-4.77 [[ 9.86022424e-01 1.64828328e-01 2.43187338e-02 1.60977622e+02] [-1.64783573e-01 9.86322248e-01 -3.84677884e-03 -1.70441677e+01] [-2.46201663e-02 -2.14317649e-04 9.99696855e-01 -4.76814167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.01, Y:-17.05, Z:-4.77 [[ 9.86055541e-01 1.64699308e-01 2.38455004e-02 1.61006409e+02] [-1.64656253e-01 9.86343802e-01 -3.77136857e-03 -1.70489415e+01] [-2.41410033e-02 -2.07531882e-04 9.99708542e-01 -4.76906880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.04, Y:-17.05, Z:-4.77 [[ 9.86015334e-01 1.65032271e-01 2.31971979e-02 1.61035104e+02] [-1.64991631e-01 9.86288145e-01 -3.66828932e-03 -1.70514876e+01] [-2.34845074e-02 -2.10353990e-04 9.99724179e-01 -4.77144894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.06, Y:-17.05, Z:-4.77 [[ 9.85969869e-01 1.65379712e-01 2.26487970e-02 1.61062583e+02] [-1.65341071e-01 9.86229945e-01 -3.58123223e-03 -1.70532743e+01] [-2.29291850e-02 -2.13789274e-04 9.99737069e-01 -4.77344507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.09, Y:-17.05, Z:-4.78 [[ 9.85823228e-01 1.66335127e-01 2.20270238e-02 1.61091435e+02] [-1.66298848e-01 9.86069253e-01 -3.48151626e-03 -1.70534585e+01] [-2.22992694e-02 -2.30909081e-04 9.99751314e-01 -4.77530973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.12, Y:-17.06, Z:-4.78 [[ 9.85763358e-01 1.66703509e-01 2.19212743e-02 1.61120485e+02] [-1.66667691e-01 9.86007040e-01 -3.46375329e-03 -1.70563192e+01] [-2.21919506e-02 -2.39127108e-04 9.99753700e-01 -4.77608733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.15, Y:-17.06, Z:-4.78 [[ 9.85738839e-01 1.66805807e-01 2.22433022e-02 1.61148817e+02] [-1.66768978e-01 9.85989737e-01 -3.51365447e-03 -1.70584259e+01] [-2.25177657e-02 -2.45947093e-04 9.99746413e-01 -4.77641580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.18, Y:-17.06, Z:-4.78 [[ 9.85826517e-01 1.66208580e-01 2.28207541e-02 1.61176454e+02] [-1.66169690e-01 9.86090589e-01 -3.60329091e-03 -1.70604060e+01] [-2.31022287e-02 -2.39897908e-04 9.99733079e-01 -4.77692634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.21, Y:-17.07, Z:-4.78 [[ 9.86007439e-01 1.65193584e-01 2.23698405e-02 1.61205070e+02] [-1.65155986e-01 9.86261139e-01 -3.53070935e-03 -1.70663949e+01] [-2.26457549e-02 -2.13207377e-04 9.99743529e-01 -4.77823947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24587156000004 meters Centerline goodness [0,1] 0.9997869756939267 Centerline is valid? [True, True] Translation: X:161.23, Y:-17.07, Z:-4.78 [[ 9.86237687e-01 1.63835877e-01 2.22042650e-02 1.61233674e+02] [-1.63798513e-01 9.86487594e-01 -3.50352636e-03 -1.70724906e+01] [-2.24782352e-02 -1.81715844e-04 9.99747316e-01 -4.77902987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27587156 meters Centerline goodness [0,1] 0.9998492224184724 Centerline is valid? [True, True] Translation: X:161.26, Y:-17.08, Z:-4.78 [[ 9.86767588e-01 1.60600861e-01 2.22955230e-02 1.61260736e+02] [-1.60562386e-01 9.87019428e-01 -3.51694134e-03 -1.70805092e+01] [-2.25709381e-02 -1.09418638e-04 9.99745238e-01 -4.78078874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.29, Y:-17.09, Z:-4.78 [[ 9.87003865e-01 1.59108627e-01 2.25347330e-02 1.61288727e+02] [-1.59068966e-01 9.87261079e-01 -3.55323016e-03 -1.70872499e+01] [-2.28130144e-02 -7.75247667e-05 9.99739746e-01 -4.78225956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.32, Y:-17.09, Z:-4.78 [[ 9.87238936e-01 1.57681687e-01 2.22658888e-02 1.61317409e+02] [-1.57642630e-01 9.87489992e-01 -3.50962708e-03 -1.70941733e+01] [-2.25407462e-02 -4.52127650e-05 9.99745924e-01 -4.78220986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36587156000002 meters Centerline goodness [0,1] 0.9998508035295622 Centerline is valid? [True, True] Translation: X:161.35, Y:-17.10, Z:-4.78 [[ 9.87528892e-01 1.55877206e-01 2.21129813e-02 1.61345133e+02] [-1.55838242e-01 9.87776441e-01 -3.48507329e-03 -1.70998731e+01] [-2.23859255e-02 -4.43755788e-06 9.99749404e-01 -4.78470580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.37, Y:-17.11, Z:-4.78 [[ 9.87646088e-01 1.55178010e-01 2.17942724e-02 1.61374513e+02] [-1.55140010e-01 9.87886524e-01 -3.43395667e-03 -1.71052791e+01] [-2.20631426e-02 1.03702287e-05 9.99756579e-01 -4.78486777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.40, Y:-17.11, Z:-4.79 [[ 9.87749890e-01 1.54562574e-01 2.14608007e-02 1.61402749e+02] [-1.54525592e-01 9.87983001e-01 -3.38098883e-03 -1.71102733e+01] [-2.17254807e-02 2.33283988e-05 9.99763974e-01 -4.78799094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.43, Y:-17.12, Z:-4.79 [[ 9.87982083e-01 1.53165288e-01 2.07797732e-02 1.61430487e+02] [-1.53130324e-01 9.88200583e-01 -3.27293408e-03 -1.71163150e+01] [-2.10358839e-02 5.15868274e-05 9.99778720e-01 -4.79043604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48587156000002 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:161.46, Y:-17.12, Z:-4.79 [[ 9.88121843e-01 1.52285398e-01 2.06005146e-02 1.61459857e+02] [-1.52250860e-01 9.88336558e-01 -3.24391735e-03 -1.71206553e+01] [-2.08542429e-02 6.89395342e-05 9.99782524e-01 -4.78924399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51587156000002 meters Centerline goodness [0,1] 0.9998930641401288 Centerline is valid? [True, True] Translation: X:161.49, Y:-17.13, Z:-4.79 [[ 9.88257408e-01 1.51431229e-01 2.03931137e-02 1.61488858e+02] [-1.51397213e-01 9.88467792e-01 -3.21063972e-03 -1.71271664e+01] [-2.06441272e-02 8.54779090e-05 9.99786884e-01 -4.79293946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.52, Y:-17.14, Z:-4.79 [[ 9.88685562e-01 1.48510089e-01 2.11095649e-02 1.61517096e+02] [-1.48472979e-01 9.88910881e-01 -3.32325958e-03 -1.71359089e+01] [-2.13690160e-02 1.51458794e-04 9.99771645e-01 -4.79218957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.55, Y:-17.14, Z:-4.79 [[ 9.88948455e-01 1.46691460e-01 2.15073997e-02 1.61546484e+02] [-1.46652523e-01 9.89182277e-01 -3.38516879e-03 -1.71428941e+01] [-2.17713139e-02 1.93643018e-04 9.99762958e-01 -4.79101364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60587156000003 meters Centerline goodness [0,1] 0.9999355656264095 Centerline is valid? [True, True] Translation: X:161.58, Y:-17.15, Z:-4.79 [[ 9.89204312e-01 1.44913238e-01 2.17940787e-02 1.61576627e+02] [-1.44872829e-01 9.89444338e-01 -3.43009205e-03 -1.71508598e+01] [-2.20610935e-02 2.35692013e-04 9.99756597e-01 -4.79021894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63587156000003 meters Centerline goodness [0,1] 0.9997865163741941 Centerline is valid? [True, True] Translation: X:161.61, Y:-17.16, Z:-4.79 [[ 9.89462673e-01 1.43061947e-01 2.22912040e-02 1.61606602e+02] [-1.43019213e-01 9.89713696e-01 -3.50788309e-03 -1.71594853e+01] [-2.25637544e-02 2.82848927e-04 9.99745366e-01 -4.79010342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.64, Y:-17.17, Z:-4.79 [[ 9.89852265e-01 1.40174370e-01 2.33160802e-02 1.61636234e+02] [-1.40126721e-01 9.90126765e-01 -3.67314202e-03 -1.71698217e+01] [-2.36007554e-02 3.68662097e-04 9.99721395e-01 -4.79024214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69587156000003 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:161.67, Y:-17.18, Z:-4.79 [[ 9.89931562e-01 1.39548216e-01 2.37022825e-02 1.61667954e+02] [-1.39498705e-01 9.90215199e-01 -3.73777531e-03 -1.71760847e+01] [-2.39919602e-02 3.93704040e-04 9.99712074e-01 -4.79030315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.70, Y:-17.18, Z:-4.79 [[ 9.89970810e-01 1.39264274e-01 2.37330288e-02 1.61698838e+02] [-1.39214457e-01 9.90255168e-01 -3.74662815e-03 -1.71828494e+01] [-2.40235259e-02 4.05071792e-04 9.99711311e-01 -4.79148631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.73, Y:-17.19, Z:-4.79 [[ 9.89987361e-01 1.39237231e-01 2.31952295e-02 1.61729518e+02] [-1.39189542e-01 9.90258973e-01 -3.66584949e-03 -1.71917269e+01] [-2.34797069e-02 4.00611290e-04 9.99724233e-01 -4.79395743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78587156000003 meters Centerline goodness [0,1] 0.9998293369741446 Centerline is valid? [True, True] Translation: X:161.76, Y:-17.20, Z:-4.79 [[ 9.89829376e-01 1.40453690e-01 2.25957511e-02 1.61761803e+02] [-1.40408640e-01 9.90087181e-01 -3.57594971e-03 -1.71965494e+01] [-2.28740188e-02 3.66941397e-04 9.99738288e-01 -4.79482325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.79, Y:-17.20, Z:-4.80 [[ 9.89609347e-01 1.42059355e-01 2.21918791e-02 1.61794067e+02] [-1.42016294e-01 9.89858088e-01 -3.51251950e-03 -1.72006846e+01] [-2.24657973e-02 3.24413698e-04 9.99747559e-01 -4.79727110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.83, Y:-17.20, Z:-4.80 [[ 9.89283501e-01 1.44328500e-01 2.20780354e-02 1.61825498e+02] [-1.44286362e-01 9.89529792e-01 -3.49818488e-03 -1.72045637e+01] [-2.23517616e-02 2.75137169e-04 9.99750130e-01 -4.79931197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.86, Y:-17.20, Z:-4.80 [[ 9.88536471e-01 1.49340650e-01 2.22039738e-02 1.61856914e+02] [-1.49299181e-01 9.88785792e-01 -3.52315495e-03 -1.72022234e+01] [-2.24811241e-02 1.67732060e-04 9.99747254e-01 -4.79959644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.89, Y:-17.20, Z:-4.80 [[ 9.88172002e-01 1.51799559e-01 2.17482842e-02 1.61887788e+02] [-1.51760369e-01 9.88411292e-01 -3.45084963e-03 -1.72036938e+01] [-2.20200871e-02 1.09505357e-04 9.99757522e-01 -4.80108572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93587156000004 meters Centerline goodness [0,1] 0.9998512410744644 Centerline is valid? [True, True] Translation: X:161.92, Y:-17.20, Z:-4.80 [[ 9.87783865e-01 1.54356414e-01 2.13806899e-02 1.61916270e+02] [-1.54319131e-01 9.88015230e-01 -3.39282227e-03 -1.72041950e+01] [-2.16481512e-02 5.19256072e-05 9.99765650e-01 -4.80161865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.95, Y:-17.20, Z:-4.80 [[ 9.86985731e-01 1.59194482e-01 2.27218656e-02 1.61946796e+02] [-1.59153677e-01 9.87247240e-01 -3.60468736e-03 -1.72030612e+01] [-2.30059455e-02 -5.84934646e-05 9.99735326e-01 -4.80151643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.98, Y:-17.20, Z:-4.80 [[ 9.86620831e-01 1.61396621e-01 2.30318727e-02 1.61975254e+02] [-1.61355300e-01 9.86889618e-01 -3.65358986e-03 -1.72043500e+01] [-2.33195931e-02 -1.11606865e-04 9.99728055e-01 -4.80175134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02587156 meters Centerline goodness [0,1] 0.9999356278431036 Centerline is valid? [True, True] Translation: X:162.00, Y:-17.20, Z:-4.80 [[ 9.85907034e-01 1.65835285e-01 2.20449340e-02 1.62003939e+02] [-1.65798570e-01 9.86153444e-01 -3.49564569e-03 -1.71994132e+01] [-2.23193890e-02 -2.08636849e-04 9.99750870e-01 -4.80382874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.03, Y:-17.20, Z:-4.81 [[ 9.85606474e-01 1.67678392e-01 2.15368138e-02 1.62032841e+02] [-1.67643818e-01 9.85841720e-01 -3.41377782e-03 -1.72017502e+01] [-2.18043063e-02 -2.45872173e-04 9.99762228e-01 -4.80527730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.06, Y:-17.20, Z:-4.81 [[ 9.85319943e-01 1.69393639e-01 2.12227287e-02 1.62061001e+02] [-1.69360484e-01 9.85548434e-01 -3.36304932e-03 -1.72021049e+01] [-2.14857062e-02 -2.80612034e-04 9.99769116e-01 -4.80742036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.09, Y:-17.20, Z:-4.81 [[ 9.84975128e-01 1.71437411e-01 2.08137421e-02 1.62089677e+02] [-1.71406005e-01 9.85194961e-01 -3.29696760e-03 -1.72006118e+01] [-2.10708174e-02 -3.20169297e-04 9.99777934e-01 -4.80960564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14587156000002 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:162.12, Y:-17.20, Z:-4.81 [[ 9.84943341e-01 1.71647044e-01 2.05890092e-02 1.62117062e+02] [-1.71616384e-01 9.85158459e-01 -3.26011740e-03 -1.72034006e+01] [-2.08430261e-02 -3.22380382e-04 9.99782709e-01 -4.81017825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17587156000002 meters Centerline goodness [0,1] 0.9998504912430585 Centerline is valid? [True, True] Translation: X:162.14, Y:-17.21, Z:-4.81 [[ 9.84966642e-01 1.71501861e-01 2.06839696e-02 1.62144980e+02] [-1.71470911e-01 9.85183743e-01 -3.27394799e-03 -1.72069862e+01] [-2.09389987e-02 -3.21969542e-04 9.99780703e-01 -4.81129354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20587156000002 meters Centerline goodness [0,1] 0.9999785241817714 Centerline is valid? [True, True] Translation: X:162.17, Y:-17.21, Z:-4.81 [[ 9.85184365e-01 1.70185589e-01 2.11809563e-02 1.62173177e+02] [-1.70152862e-01 9.85411982e-01 -3.35107360e-03 -1.72120789e+01] [-2.14422726e-02 -3.02575018e-04 9.99770042e-01 -4.81199088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.20, Y:-17.22, Z:-4.81 [[ 9.85379188e-01 1.68991741e-01 2.16713314e-02 1.62201193e+02] [-1.68957216e-01 9.85617426e-01 -3.42759393e-03 -1.72182998e+01] [-2.19388770e-02 -2.84048099e-04 9.99759274e-01 -4.81137512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.23, Y:-17.22, Z:-4.81 [[ 9.85630399e-01 1.67454469e-01 2.21746916e-02 1.62229782e+02] [-1.67417958e-01 9.85879777e-01 -3.50606523e-03 -1.72242206e+01] [-2.24486863e-02 -2.56757118e-04 9.99747964e-01 -4.81146057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.26, Y:-17.23, Z:-4.81 [[ 9.85876205e-01 1.65958347e-01 2.24930036e-02 1.62257035e+02] [-1.65920415e-01 9.86132737e-01 -3.55533316e-03 -1.72287991e+01] [-2.27711245e-02 -2.26930136e-04 9.99740679e-01 -4.81294820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32587156000002 meters Centerline goodness [0,1] 0.9999129753720303 Centerline is valid? [True, True] Translation: X:162.29, Y:-17.24, Z:-4.81 [[ 9.86121876e-01 1.64528210e-01 2.22286832e-02 1.62285186e+02] [-1.64490833e-01 9.86372359e-01 -3.51210661e-03 -1.72356666e+01] [-2.25035993e-02 -1.93049465e-04 9.99746743e-01 -4.81156022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.31, Y:-17.24, Z:-4.81 [[ 9.86573169e-01 1.61832064e-01 2.19946809e-02 1.62311939e+02] [-1.61794822e-01 9.86818304e-01 -3.47414982e-03 -1.72417158e+01] [-2.22669825e-02 -1.31122476e-04 9.99752051e-01 -4.81482712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38587156000003 meters Centerline goodness [0,1] 0.9999135471600242 Centerline is valid? [True, True] Translation: X:162.34, Y:-17.25, Z:-4.81 [[ 9.86779316e-01 1.60648613e-01 2.14150757e-02 1.62340212e+02] [-1.60613062e-01 9.87011658e-01 -3.38111479e-03 -1.72472680e+01] [-2.16801008e-02 -1.03126745e-04 9.99764954e-01 -4.81493530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.37, Y:-17.25, Z:-4.82 [[ 9.86991468e-01 1.59357520e-01 2.12843529e-02 1.62367047e+02] [-1.59322122e-01 9.87220935e-01 -3.35951698e-03 -1.72524207e+01] [-2.15477231e-02 -7.52536686e-05 9.99767818e-01 -4.81808336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.40, Y:-17.26, Z:-4.82 [[ 9.87517563e-01 1.56224951e-01 2.00705656e-02 1.62395928e+02] [-1.56192860e-01 9.87721501e-01 -3.16640812e-03 -1.72617558e+01] [-2.03188011e-02 -7.99540404e-06 9.99793552e-01 -4.82083854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.42, Y:-17.27, Z:-4.82 [[ 9.87798705e-01 1.54466736e-01 1.98430465e-02 1.62423679e+02] [-1.54435020e-01 9.87997989e-01 -3.13015138e-03 -1.72689574e+01] [-2.00883943e-02 2.74981887e-05 9.99798207e-01 -4.82314152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50587156000003 meters Centerline goodness [0,1] 0.9999140154772141 Centerline is valid? [True, True] Translation: X:162.45, Y:-17.28, Z:-4.82 [[ 9.88051344e-01 1.52899253e-01 1.93999947e-02 1.62452349e+02] [-1.52868652e-01 9.88241780e-01 -3.05943903e-03 -1.72756664e+01] [-1.96396712e-02 5.72318009e-05 9.99807121e-01 -4.82298005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53587156000003 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:162.48, Y:-17.28, Z:-4.82 [[ 9.88362634e-01 1.50783070e-01 2.00940132e-02 1.62481147e+02] [-1.50749813e-01 9.88566869e-01 -3.16837753e-03 -1.72831968e+01] [-2.03420134e-02 1.02337228e-04 9.99793075e-01 -4.82299102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56587156000003 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:162.51, Y:-17.29, Z:-4.82 [[ 9.88366200e-01 1.50759684e-01 2.00940880e-02 1.62509951e+02] [-1.50726432e-01 9.88570436e-01 -3.16790305e-03 -1.72876928e+01] [-2.03420134e-02 1.02338118e-04 9.99793075e-01 -4.82387073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.54, Y:-17.29, Z:-4.83 [[ 9.88429730e-01 1.50316142e-01 2.02910168e-02 1.62539058e+02] [-1.50282152e-01 9.88637975e-01 -3.19845068e-03 -1.72930373e+01] [-2.05412486e-02 1.12066070e-04 9.99789000e-01 -4.82520218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62587156000004 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:162.57, Y:-17.30, Z:-4.82 [[ 9.88419410e-01 1.50352324e-01 2.05243564e-02 1.62567993e+02] [-1.50317565e-01 9.88632473e-01 -3.23472721e-03 -1.72970741e+01] [-2.07773940e-02 1.12095868e-04 9.99784120e-01 -4.82444903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.60, Y:-17.30, Z:-4.83 [[ 9.88340135e-01 1.50815693e-01 2.09381103e-02 1.62597374e+02] [-1.50779633e-01 9.88561893e-01 -3.29941274e-03 -1.73001557e+01] [-2.11962211e-02 1.03901439e-04 9.99775329e-01 -4.82524719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68587156000004 meters Centerline goodness [0,1] 0.9998707537212158 Centerline is valid? [True, True] Translation: X:162.63, Y:-17.30, Z:-4.82 [[ 9.88073741e-01 1.52546767e-01 2.09706029e-02 1.62627087e+02] [-1.52510997e-01 9.88296251e-01 -3.30401290e-03 -1.73011905e+01] [-2.12291847e-02 6.63608414e-05 9.99774633e-01 -4.82486454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.66, Y:-17.30, Z:-4.83 [[ 9.87945179e-01 1.53314365e-01 2.14249801e-02 1.62655701e+02] [-1.53277217e-01 9.88177465e-01 -3.37516003e-03 -1.73046756e+01] [-2.16891430e-02 5.05117545e-05 9.99764762e-01 -4.82803785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.68, Y:-17.31, Z:-4.83 [[ 9.87770007e-01 1.54442841e-01 2.13967996e-02 1.62684708e+02] [-1.54406070e-01 9.88001725e-01 -3.37002625e-03 -1.73062430e+01] [-2.16605514e-02 2.50151033e-05 9.99765382e-01 -4.82812973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.71, Y:-17.31, Z:-4.83 [[ 9.87725434e-01 1.54716784e-01 2.14752054e-02 1.62712978e+02] [-1.54679830e-01 9.87958864e-01 -3.38135699e-03 -1.73093137e+01] [-2.17397722e-02 1.80711776e-05 9.99763663e-01 -4.82751868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.74, Y:-17.31, Z:-4.83 [[ 9.87729434e-01 1.54657906e-01 2.17140008e-02 1.62741736e+02] [-1.54620136e-01 9.87968082e-01 -3.41787473e-03 -1.73131440e+01] [-2.19813411e-02 1.85137113e-05 9.99758381e-01 -4.82814544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.77, Y:-17.32, Z:-4.83 [[ 9.87776353e-01 1.54303888e-01 2.20949655e-02 1.62770491e+02] [-1.54264721e-01 9.88023436e-01 -3.47653606e-03 -1.73177362e+01] [-2.23667868e-02 2.55664048e-05 9.99749832e-01 -4.82895626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.80, Y:-17.32, Z:-4.83 [[ 9.88033150e-01 1.52675903e-01 2.19217734e-02 1.62799296e+02] [-1.52636959e-01 9.88276310e-01 -3.44871728e-03 -1.73242409e+01] [-2.21913053e-02 6.13741683e-05 9.99753741e-01 -4.82867211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.83, Y:-17.33, Z:-4.83 [[ 9.88151862e-01 1.51854334e-01 2.22746078e-02 1.62827352e+02] [-1.51813930e-01 9.88402881e-01 -3.50367611e-03 -1.73311340e+01] [-2.25483349e-02 8.05683259e-05 9.99745751e-01 -4.82982931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.86, Y:-17.34, Z:-4.83 [[ 9.88286094e-01 1.50908700e-01 2.27411707e-02 1.62856358e+02] [-1.50866352e-01 9.88547699e-01 -3.57635719e-03 -1.73377249e+01] [-2.30204354e-02 1.03586610e-04 9.99734989e-01 -4.82997115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.89, Y:-17.34, Z:-4.83 [[ 9.88458062e-01 1.49765417e-01 2.28249686e-02 1.62885283e+02] [-1.49722455e-01 9.88721550e-01 -3.58934505e-03 -1.73441082e+01] [-2.31050981e-02 1.30506704e-04 9.99733033e-01 -4.82997237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.92, Y:-17.35, Z:-4.83 [[ 9.88543789e-01 1.49232171e-01 2.26039172e-02 1.62915264e+02] [-1.49189915e-01 9.88802174e-01 -3.55387552e-03 -1.73501139e+01] [-2.28811551e-02 1.40885082e-04 9.99738182e-01 -4.83110412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01587156000002 meters Centerline goodness [0,1] 0.9998936147577608 Centerline is valid? [True, True] Translation: X:162.94, Y:-17.36, Z:-4.83 [[ 9.88667679e-01 1.48476151e-01 2.21597370e-02 1.62944380e+02] [-1.48435348e-01 9.88915976e-01 -3.48413055e-03 -1.73572420e+01] [-2.24314282e-02 1.55358993e-04 9.99748372e-01 -4.83296147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.97, Y:-17.37, Z:-4.84 [[ 9.89026663e-01 1.46166190e-01 2.14873250e-02 1.62973647e+02] [-1.46127288e-01 9.89260029e-01 -3.37806510e-03 -1.73669395e+01] [-2.17503106e-02 2.01111931e-04 9.99763414e-01 -4.83551508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07587156000002 meters Centerline goodness [0,1] 0.9998933583585718 Centerline is valid? [True, True] Translation: X:163.00, Y:-17.37, Z:-4.84 [[ 9.89215563e-01 1.44934120e-01 2.11345977e-02 1.63003734e+02] [-1.44896206e-01 9.89441282e-01 -3.32250798e-03 -1.73741819e+01] [-2.13929883e-02 2.24353569e-04 9.99771119e-01 -4.83599924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10587156000003 meters Centerline goodness [0,1] 0.9998297510108534 Centerline is valid? [True, True] Translation: X:163.03, Y:-17.38, Z:-4.84 [[ 9.89372257e-01 1.43842312e-01 2.12585402e-02 1.63032901e+02] [-1.43803694e-01 9.89600590e-01 -3.34225097e-03 -1.73814746e+01] [-2.15182210e-02 2.49673790e-04 9.99768425e-01 -4.83694606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13587156000003 meters Centerline goodness [0,1] 0.9999360354789877 Centerline is valid? [True, True] Translation: X:163.06, Y:-17.39, Z:-4.84 [[ 9.89488581e-01 1.42998090e-01 2.15382180e-02 1.63063661e+02] [-1.42958245e-01 9.89722927e-01 -3.38638372e-03 -1.73879406e+01] [-2.18011145e-02 2.71722172e-04 9.99762291e-01 -4.83736521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.09, Y:-17.40, Z:-4.84 [[ 9.89745027e-01 1.41206079e-01 2.15783321e-02 1.63092838e+02] [-1.41165648e-01 9.89980174e-01 -3.39321271e-03 -1.73991487e+01] [-2.18412632e-02 3.12296168e-04 9.99761402e-01 -4.83950198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.12, Y:-17.41, Z:-4.84 [[ 9.89836369e-01 1.40601352e-01 2.13359641e-02 1.63123811e+02] [-1.40561700e-01 9.90066239e-01 -3.35435567e-03 -1.74064511e+01] [-2.15956446e-02 3.21243848e-04 9.99766735e-01 -4.84021311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.15, Y:-17.42, Z:-4.84 [[ 9.89927762e-01 1.40079589e-01 2.05118347e-02 1.63153422e+02] [-1.40042759e-01 9.90140194e-01 -3.22824408e-03 -1.74159981e+01] [-2.07618031e-02 3.23194525e-04 9.99784398e-01 -4.84343859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.18, Y:-17.42, Z:-4.85 [[ 9.90096192e-01 1.39172673e-01 1.84525893e-02 1.63184553e+02] [-1.39142667e-01 9.90268080e-01 -2.90643587e-03 -1.74233604e+01] [-1.86775066e-02 3.10108600e-04 9.99825512e-01 -4.84665137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.22, Y:-17.43, Z:-4.85 [[ 9.90073984e-01 1.39401426e-01 1.79094608e-02 1.63215599e+02] [-1.39373147e-01 9.90235908e-01 -2.82369061e-03 -1.74317806e+01] [-1.81282176e-02 2.99564709e-04 9.99835625e-01 -4.85003578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.25, Y:-17.44, Z:-4.85 [[ 9.89987423e-01 1.40026785e-01 1.78157557e-02 1.63247626e+02] [-1.39998840e-01 9.90147673e-01 -2.81240520e-03 -1.74378711e+01] [-1.80340412e-02 2.90060651e-04 9.99837331e-01 -4.85115164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.28, Y:-17.44, Z:-4.85 [[ 9.89735506e-01 1.41709111e-01 1.84974442e-02 1.63278033e+02] [-1.41679215e-01 9.89908306e-01 -2.92343502e-03 -1.74447640e+01] [-1.87250510e-02 2.72724065e-04 9.99824634e-01 -4.85174380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.31, Y:-17.45, Z:-4.85 [[ 9.89564745e-01 1.42826971e-01 1.90282122e-02 1.63309558e+02] [-1.42795458e-01 9.89747638e-01 -3.01164864e-03 -1.74494516e+01] [-1.92632727e-02 2.63079051e-04 9.99814411e-01 -4.85100524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.34, Y:-17.46, Z:-4.85 [[ 9.89392736e-01 1.43974965e-01 1.93189884e-02 1.63341180e+02] [-1.43942714e-01 9.89581300e-01 -3.05699185e-03 -1.74551959e+01] [-1.95578399e-02 2.43737922e-04 9.99808697e-01 -4.85082485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.37, Y:-17.46, Z:-4.85 [[ 9.89231980e-01 1.45037346e-01 1.96024879e-02 1.63371606e+02] [-1.45004281e-01 9.89426155e-01 -3.10533577e-03 -1.74615557e+01] [-1.98456038e-02 2.29452808e-04 9.99803030e-01 -4.85174341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46587156000004 meters Centerline goodness [0,1] 0.9998923504209098 Centerline is valid? [True, True] Translation: X:163.40, Y:-17.47, Z:-4.85 [[ 9.88973837e-01 1.46814403e-01 1.93979432e-02 1.63403377e+02] [-1.46782311e-01 9.89164038e-01 -3.07565765e-03 -1.74671783e+01] [-1.96392987e-02 1.94470006e-04 9.99807111e-01 -4.84993150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.43, Y:-17.47, Z:-4.85 [[ 9.88856611e-01 1.47546829e-01 1.98125035e-02 1.63433361e+02] [-1.47513424e-01 9.89055053e-01 -3.14510785e-03 -1.74738286e+01] [-2.00597074e-02 1.87450463e-04 9.99798766e-01 -4.85261474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.46, Y:-17.48, Z:-4.85 [[ 9.88725538e-01 1.48430987e-01 1.97497608e-02 1.63463441e+02] [-1.48397904e-01 9.88922754e-01 -3.13838145e-03 -1.74805362e+01] [-1.99968209e-02 1.72174768e-04 9.99800029e-01 -4.85423628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55587156 meters Centerline goodness [0,1] 0.9999785940577104 Centerline is valid? [True, True] Translation: X:163.50, Y:-17.49, Z:-4.85 [[ 9.88597106e-01 1.49238864e-01 2.00878695e-02 1.63495103e+02] [-1.49204744e-01 9.88801161e-01 -3.19515688e-03 -1.74850813e+01] [-2.03397502e-02 1.61517421e-04 9.99793113e-01 -4.85265141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.53, Y:-17.49, Z:-4.85 [[ 9.88310614e-01 1.51082940e-01 2.03979046e-02 1.63525878e+02] [-1.51048073e-01 9.88521081e-01 -3.24828821e-03 -1.74925098e+01] [-2.06545196e-02 1.29253547e-04 9.99786664e-01 -4.85472323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.56, Y:-17.50, Z:-4.86 [[ 9.88155547e-01 1.52114613e-01 2.02425031e-02 1.63558229e+02] [-1.52080430e-01 9.88362855e-01 -3.22648126e-03 -1.74983712e+01] [-2.04977331e-02 1.09776779e-04 9.99789893e-01 -4.85540172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64587156000002 meters Centerline goodness [0,1] 0.9996592917527309 Centerline is valid? [True, True] Translation: X:163.59, Y:-17.50, Z:-4.86 [[ 9.87975439e-01 1.53300445e-01 2.00874661e-02 1.63589634e+02] [-1.53266948e-01 9.88179622e-01 -3.20577808e-03 -1.75044241e+01] [-2.03414719e-02 8.84853826e-05 9.99793087e-01 -4.85589218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67587156000002 meters Centerline goodness [0,1] 0.9999359617478174 Centerline is valid? [True, True] Translation: X:163.62, Y:-17.51, Z:-4.86 [[ 9.87640511e-01 1.55401570e-01 2.04101199e-02 1.63620377e+02] [-1.55367352e-01 9.87851380e-01 -3.26134712e-03 -1.75108303e+01] [-2.06689836e-02 4.99722533e-05 9.99786372e-01 -4.85851574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.65, Y:-17.52, Z:-4.86 [[ 9.87448235e-01 1.56614073e-01 2.04454075e-02 1.63652513e+02] [-1.56579933e-01 9.87659876e-01 -3.27003261e-03 -1.75159140e+01] [-2.07052418e-02 2.76473901e-05 9.99785623e-01 -4.85833750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.68, Y:-17.52, Z:-4.86 [[ 9.87314896e-01 1.57472850e-01 2.02878656e-02 1.63684426e+02] [-1.57439346e-01 9.87523317e-01 -3.24821432e-03 -1.75211096e+01] [-2.05462459e-02 1.29020851e-05 9.99788904e-01 -4.85979665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.72, Y:-17.53, Z:-4.86 [[ 9.87158846e-01 1.58439823e-01 2.03527583e-02 1.63716193e+02] [-1.58406239e-01 9.87368636e-01 -3.26206611e-03 -1.75265433e+01] [-2.06125164e-02 -3.82647776e-06 9.99787540e-01 -4.86010125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.75, Y:-17.53, Z:-4.86 [[ 9.87074077e-01 1.58908901e-01 2.08021041e-02 1.63746953e+02] [-1.58873844e-01 9.87293250e-01 -3.33773007e-03 -1.75338776e+01] [-2.10681720e-02 -1.03234234e-05 9.99778041e-01 -4.86164567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.78, Y:-17.54, Z:-4.86 [[ 9.87080385e-01 1.58859013e-01 2.08836715e-02 1.63778388e+02] [-1.58823584e-01 9.87301278e-01 -3.35487290e-03 -1.75414694e+01] [-2.11514274e-02 -5.29033261e-06 9.99776284e-01 -4.86240483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85587156000003 meters Centerline goodness [0,1] 0.9998506061123442 Centerline is valid? [True, True] Translation: X:163.81, Y:-17.55, Z:-4.86 [[ 9.87159490e-01 1.58421881e-01 2.04609330e-02 1.63810994e+02] [-1.58387714e-01 9.87371514e-01 -3.29008473e-03 -1.75495800e+01] [-2.07237638e-02 7.07797703e-06 9.99785240e-01 -4.86301704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.84, Y:-17.56, Z:-4.86 [[ 9.87192369e-01 1.58184106e-01 2.07126913e-02 1.63842873e+02] [-1.58148955e-01 9.87409636e-01 -3.33463161e-03 -1.75584577e+01] [-2.09793967e-02 1.62323997e-05 9.99779908e-01 -4.86451430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91587156000003 meters Centerline goodness [0,1] 0.9999359713151492 Centerline is valid? [True, True] Translation: X:163.87, Y:-17.56, Z:-4.86 [[ 9.87123279e-01 1.58582398e-01 2.09583963e-02 1.63874179e+02] [-1.58546408e-01 9.87345746e-01 -3.37840288e-03 -1.75641932e+01] [-2.12289387e-02 1.20216830e-05 9.99774641e-01 -4.86418693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.91, Y:-17.57, Z:-4.86 [[ 9.86956440e-01 1.59531853e-01 2.16003280e-02 1.63906984e+02] [-1.59493767e-01 9.87192782e-01 -3.48573117e-03 -1.75696912e+01] [-2.18797731e-02 -4.85286132e-06 9.99760609e-01 -4.86385267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.94, Y:-17.57, Z:-4.87 [[ 9.86750269e-01 1.60841169e-01 2.13078482e-02 1.63938605e+02] [-1.60804321e-01 9.86980302e-01 -3.44284052e-03 -1.75746461e+01] [-2.15841770e-02 -2.91702446e-05 9.99767034e-01 -4.86542356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.97, Y:-17.58, Z:-4.87 [[ 9.86187578e-01 1.64235874e-01 2.14624776e-02 1.63970993e+02] [-1.64199200e-01 9.86421091e-01 -3.47200735e-03 -1.75765795e+01] [-2.17412687e-02 -1.00071133e-04 9.99763626e-01 -4.86595874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.00, Y:-17.58, Z:-4.87 [[ 9.85891883e-01 1.65946807e-01 2.18826866e-02 1.64001744e+02] [-1.65909013e-01 9.86134696e-01 -3.54412412e-03 -1.75784432e+01] [-2.21674126e-02 -1.36411726e-04 9.99754263e-01 -4.86694339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06587156000003 meters Centerline goodness [0,1] 0.9998723892977157 Centerline is valid? [True, True] Translation: X:164.03, Y:-17.58, Z:-4.87 [[ 9.85660915e-01 1.67324359e-01 2.17972192e-02 1.64032829e+02] [-1.67287112e-01 9.85901888e-01 -3.53407618e-03 -1.75812357e+01] [-2.20812566e-02 -1.62993087e-04 9.99756166e-01 -4.86686514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09587156000003 meters Centerline goodness [0,1] 0.9999573050977714 Centerline is valid? [True, True] Translation: X:164.06, Y:-17.58, Z:-4.87 [[ 9.85524374e-01 1.68155328e-01 2.15752959e-02 1.64063788e+02] [-1.68119024e-01 9.85760495e-01 -3.49860303e-03 -1.75849556e+01] [-2.18563831e-02 -1.79259111e-04 9.99761105e-01 -4.86832280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.09, Y:-17.59, Z:-4.87 [[ 9.85533199e-01 1.68101284e-01 2.15933315e-02 1.64094101e+02] [-1.68064893e-01 9.85769713e-01 -3.50214304e-03 -1.75899183e+01] [-2.18747670e-02 -1.77602725e-04 9.99760703e-01 -4.87037105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.13, Y:-17.60, Z:-4.87 [[ 9.85628345e-01 1.67550467e-01 2.15315416e-02 1.64125970e+02] [-1.67514176e-01 9.85863486e-01 -3.49104997e-03 -1.75974374e+01] [-2.18120878e-02 -1.65960650e-04 9.99762074e-01 -4.87076664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.16, Y:-17.61, Z:-4.87 [[ 9.85821706e-01 1.66458087e-01 2.11487556e-02 1.64157229e+02] [-1.66422747e-01 9.86048522e-01 -3.43254605e-03 -1.76050142e+01] [-2.14250742e-02 -1.35755598e-04 9.99770448e-01 -4.87230151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.19, Y:-17.62, Z:-4.87 [[ 9.86388797e-01 1.63006593e-01 2.15868306e-02 1.64186934e+02] [-1.62968860e-01 9.86624978e-01 -3.50760978e-03 -1.76168492e+01] [-2.18698698e-02 -5.81141879e-05 9.99760824e-01 -4.87315619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.22, Y:-17.63, Z:-4.87 [[ 9.86634411e-01 1.61460312e-01 2.19796981e-02 1.64217178e+02] [-1.61420728e-01 9.86879206e-01 -3.57509947e-03 -1.76256583e+01] [-2.22685437e-02 -2.06627145e-05 9.99752025e-01 -4.87338367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.25, Y:-17.63, Z:-4.88 [[ 9.86868817e-01 1.60017193e-01 2.20099322e-02 1.64248208e+02] [-1.59977068e-01 9.87114227e-01 -3.58327349e-03 -1.76343230e+01] [-2.22997026e-02 1.51364508e-05 9.99751331e-01 -4.87507056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.28, Y:-17.64, Z:-4.87 [[ 9.87047990e-01 1.58898550e-01 2.20797585e-02 1.64279990e+02] [-1.58857804e-01 9.87294915e-01 -3.59849441e-03 -1.76424094e+01] [-2.23710288e-02 4.43447281e-05 9.99749736e-01 -4.87426527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.31, Y:-17.65, Z:-4.87 [[ 9.87364500e-01 1.56755059e-01 2.32205870e-02 1.64312075e+02] [-1.56709287e-01 9.87637505e-01 -3.78924374e-03 -1.76532886e+01] [-2.35275057e-02 1.02483117e-04 9.99723185e-01 -4.87329623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.34, Y:-17.66, Z:-4.87 [[ 9.87482446e-01 1.56015537e-01 2.31855744e-02 1.64344407e+02] [-1.55969594e-01 9.87754593e-01 -3.78798780e-03 -1.76620669e+01] [-2.34926426e-02 1.24326817e-04 9.99724002e-01 -4.87438848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.38, Y:-17.67, Z:-4.88 [[ 9.87577985e-01 1.55412241e-01 2.31680646e-02 1.64376927e+02] [-1.55366098e-01 9.87849692e-01 -3.78953675e-03 -1.76700031e+01] [-2.34755059e-02 1.42931261e-04 9.99724402e-01 -4.87517704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.41, Y:-17.68, Z:-4.88 [[ 9.87690507e-01 1.54834324e-01 2.22214724e-02 1.64408134e+02] [-1.54791632e-01 9.87940438e-01 -3.63903437e-03 -1.76787745e+01] [-2.25169386e-02 1.54541721e-04 9.99746450e-01 -4.87740613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45587156000002 meters Centerline goodness [0,1] 0.999892802778552 Centerline is valid? [True, True] Translation: X:164.44, Y:-17.69, Z:-4.88 [[ 9.87666395e-01 1.55034040e-01 2.18983813e-02 1.64439380e+02] [-1.54992549e-01 9.87909117e-01 -3.58970988e-03 -1.76857183e+01] [-2.21901377e-02 1.51349869e-04 9.99753757e-01 -4.87981257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48587156000002 meters Centerline goodness [0,1] 0.999892802778552 Centerline is valid? [True, True] Translation: X:164.47, Y:-17.69, Z:-4.88 [[ 9.87637580e-01 1.55217590e-01 2.18977484e-02 1.64471411e+02] [-1.55176059e-01 9.87880295e-01 -3.59356559e-03 -1.76911786e+01] [-2.21901387e-02 1.51134121e-04 9.99753757e-01 -4.88079342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.50, Y:-17.70, Z:-4.88 [[ 9.87579412e-01 1.55712719e-01 2.09869974e-02 1.64504213e+02] [-1.55674604e-01 9.87802374e-01 -3.44783316e-03 -1.76973691e+01] [-2.12678774e-02 1.37866539e-04 9.99773804e-01 -4.88314162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.54, Y:-17.70, Z:-4.89 [[ 9.87350501e-01 1.57259057e-01 2.02132955e-02 1.64535786e+02] [-1.57223946e-01 9.87557380e-01 -3.32458629e-03 -1.77036903e+01] [-2.04846105e-02 1.04517859e-04 9.99790163e-01 -4.88696629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57587156000002 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:164.57, Y:-17.71, Z:-4.89 [[ 9.87202889e-01 1.58184697e-01 2.02004586e-02 1.64569155e+02] [-1.58149751e-01 9.87409537e-01 -3.32602554e-03 -1.77075523e+01] [-2.04722519e-02 8.87645097e-05 9.99790418e-01 -4.88516099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60587156000003 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:164.60, Y:-17.71, Z:-4.89 [[ 9.87026881e-01 1.59268437e-01 2.02854725e-02 1.64601795e+02] [-1.59233343e-01 9.87235311e-01 -3.34402513e-03 -1.77125618e+01] [-2.05591324e-02 7.05190963e-05 9.99788636e-01 -4.88684222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.63, Y:-17.72, Z:-4.89 [[ 9.86903959e-01 1.59986935e-01 2.06096013e-02 1.64633792e+02] [-1.59950780e-01 9.87119130e-01 -3.40163828e-03 -1.77182287e+01] [-2.08883494e-02 6.05684917e-05 9.99781813e-01 -4.88807184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66587156000003 meters Centerline goodness [0,1] 0.9997659524670738 Centerline is valid? [True, True] Translation: X:164.66, Y:-17.72, Z:-4.89 [[ 9.86643828e-01 1.61513892e-01 2.11475513e-02 1.64664103e+02] [-1.61476075e-01 9.86870438e-01 -3.49507612e-03 -1.77246765e+01] [-2.14343965e-02 3.35717057e-05 9.99770256e-01 -4.88884493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69587156000003 meters Centerline goodness [0,1] 0.99984995605856 Centerline is valid? [True, True] Translation: X:164.70, Y:-17.73, Z:-4.89 [[ 9.86459946e-01 1.62600724e-01 2.13957712e-02 1.64695258e+02] [-1.62562198e-01 9.86691950e-01 -3.53942779e-03 -1.77297472e+01] [-2.16865487e-02 1.33601497e-05 9.99764819e-01 -4.88945511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.73, Y:-17.73, Z:-4.89 [[ 9.86271414e-01 1.63720509e-01 2.15474610e-02 1.64727582e+02] [-1.63681623e-01 9.86506764e-01 -3.56810863e-03 -1.77342775e+01] [-2.18408886e-02 -7.79985497e-06 9.99761459e-01 -4.88956864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.76, Y:-17.74, Z:-4.89 [[ 9.85876190e-01 1.66040130e-01 2.18818204e-02 1.64759802e+02] [-1.66000500e-01 9.86118995e-01 -3.62792934e-03 -1.77381427e+01] [-2.21804606e-02 -5.57039858e-05 9.99753982e-01 -4.89021770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.79, Y:-17.74, Z:-4.89 [[ 9.85695697e-01 1.67091264e-01 2.20114104e-02 1.64792305e+02] [-1.67051337e-01 9.85941430e-01 -3.65336216e-03 -1.77439569e+01] [-2.23124063e-02 -7.59321757e-05 9.99751044e-01 -4.89063923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.82, Y:-17.75, Z:-4.89 [[ 9.85518425e-01 1.68141907e-01 2.19484248e-02 1.64824814e+02] [-1.68102375e-01 9.85762796e-01 -3.64712312e-03 -1.77495850e+01] [-2.22491748e-02 -9.52753043e-05 9.99752452e-01 -4.89139519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84587156000003 meters Centerline goodness [0,1] 0.9997861465751374 Centerline is valid? [True, True] Translation: X:164.86, Y:-17.75, Z:-4.89 [[ 9.85341489e-01 1.69207258e-01 2.17037865e-02 1.64856578e+02] [-1.69168767e-01 9.85580484e-01 -3.61075840e-03 -1.77539825e+01] [-2.20017949e-02 -1.13772731e-04 9.99757925e-01 -4.89172939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87587156000004 meters Centerline goodness [0,1] 0.9999134124166594 Centerline is valid? [True, True] Translation: X:164.89, Y:-17.76, Z:-4.89 [[ 9.84998196e-01 1.71150284e-01 2.20484451e-02 1.64889486e+02] [-1.71110957e-01 9.85244922e-01 -3.67212056e-03 -1.77578404e+01] [-2.23516030e-02 -1.55698397e-04 9.99750160e-01 -4.89217389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.92, Y:-17.76, Z:-4.89 [[ 9.84763075e-01 1.72476333e-01 2.22171407e-02 1.64922522e+02] [-1.72436640e-01 9.85013645e-01 -3.70459157e-03 -1.77627231e+01] [-2.25231411e-02 -1.82904105e-04 9.99746305e-01 -4.89366564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.95, Y:-17.77, Z:-4.89 [[ 9.84469569e-01 1.74103476e-01 2.25310373e-02 1.64953746e+02] [-1.74062971e-01 9.84727339e-01 -3.76164873e-03 -1.77659254e+01] [-2.28418445e-02 -2.18590590e-04 9.99739067e-01 -4.89477097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.99, Y:-17.76, Z:-4.90 [[ 9.83765435e-01 1.78102899e-01 2.20210479e-02 1.64985366e+02] [-1.78065134e-01 9.84011822e-01 -3.67984564e-03 -1.77639707e+01] [-2.23243626e-02 -3.01075904e-04 9.99750735e-01 -4.89632762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99587156000004 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:165.02, Y:-17.77, Z:-4.90 [[ 9.83381912e-01 1.80241902e-01 2.17456074e-02 1.65017578e+02] [-1.80205529e-01 9.83622255e-01 -3.63698374e-03 -1.77662850e+01] [-2.20450002e-02 -3.42134661e-04 9.99756921e-01 -4.89723258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02587156 meters Centerline goodness [0,1] 0.9997439945385501 Centerline is valid? [True, True] Translation: X:165.05, Y:-17.77, Z:-4.90 [[ 9.83016064e-01 1.82248763e-01 2.15593726e-02 1.65049298e+02] [-1.82213387e-01 9.83252381e-01 -3.61064481e-03 -1.77675734e+01] [-2.18563400e-02 -3.79084463e-04 9.99761050e-01 -4.89802068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05587156 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:165.08, Y:-17.77, Z:-4.90 [[ 9.82727398e-01 1.83857274e-01 2.10562297e-02 1.65079440e+02] [-1.83823885e-01 9.82952867e-01 -3.52708380e-03 -1.77682350e+01] [-2.13457614e-02 -4.04476058e-04 9.99772071e-01 -4.90168160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.11, Y:-17.77, Z:-4.90 [[ 9.82452463e-01 1.85392054e-01 2.04192236e-02 1.65110209e+02] [-1.85360986e-01 9.82664544e-01 -3.42038028e-03 -1.77706149e+01] [-2.06993584e-02 -4.24566385e-04 9.99785655e-01 -4.90389856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11587156000002 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:165.14, Y:-17.78, Z:-4.90 [[ 9.82512439e-01 1.85005562e-01 2.10297085e-02 1.65140344e+02] [-1.84972520e-01 9.82737380e-01 -3.52264129e-03 -1.77766093e+01] [-2.13183889e-02 -4.28879280e-04 9.99772645e-01 -4.90326873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14587156000002 meters Centerline goodness [0,1] 0.999978645710991 Centerline is valid? [True, True] Translation: X:165.17, Y:-17.78, Z:-4.90 [[ 9.82683600e-01 1.84004153e-01 2.18039996e-02 1.65170276e+02] [-1.83968388e-01 9.82925375e-01 -3.65224619e-03 -1.77816686e+01] [-2.21037330e-02 -4.22244234e-04 9.99755593e-01 -4.90364931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.20, Y:-17.79, Z:-4.90 [[ 9.82979793e-01 1.82414448e-01 2.18104264e-02 1.65200473e+02] [-1.82378265e-01 9.83221653e-01 -3.65358417e-03 -1.77889182e+01] [-2.21109501e-02 -3.86348312e-04 9.99755448e-01 -4.90446721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20587156000002 meters Centerline goodness [0,1] 0.9997864023752056 Centerline is valid? [True, True] Translation: X:165.23, Y:-17.80, Z:-4.90 [[ 9.83692413e-01 1.78427593e-01 2.26457591e-02 1.65230932e+02] [-1.78387525e-01 9.83952996e-01 -3.79362450e-03 -1.78005901e+01] [-2.29592498e-02 -3.07961280e-04 9.99736354e-01 -4.90349713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.26, Y:-17.81, Z:-4.90 [[ 9.84017265e-01 1.76597136e-01 2.28795607e-02 1.65262202e+02] [-1.76555745e-01 9.84283181e-01 -3.83268338e-03 -1.78101825e+01] [-2.31968077e-02 -2.68091267e-04 9.99730882e-01 -4.90421098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.29, Y:-17.82, Z:-4.91 [[ 9.84261726e-01 1.75256354e-01 2.26729869e-02 1.65292702e+02] [-1.75215259e-01 9.84522807e-01 -3.80208103e-03 -1.78169597e+01] [-2.29884115e-02 -2.30410420e-04 9.99735705e-01 -4.90547855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.32, Y:-17.82, Z:-4.91 [[ 9.84466791e-01 1.74152668e-01 2.22707477e-02 1.65323277e+02] [-1.74112656e-01 9.84718645e-01 -3.73814888e-03 -1.78227056e+01] [-2.25814291e-02 -1.97535610e-04 9.99744988e-01 -4.90762571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.36, Y:-17.83, Z:-4.91 [[ 9.84581874e-01 1.73635532e-01 2.11951549e-02 1.65355021e+02] [-1.73599111e-01 9.84809967e-01 -3.56046901e-03 -1.78295930e+01] [-2.14914237e-02 -1.73886786e-04 9.99769018e-01 -4.91122395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.39, Y:-17.84, Z:-4.91 [[ 9.84543452e-01 1.73967879e-01 2.02328677e-02 1.65387077e+02] [-1.73934682e-01 9.84751313e-01 -3.40265660e-03 -1.78350756e+01] [-2.05162960e-02 -1.69134123e-04 9.99789504e-01 -4.91373446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.42, Y:-17.84, Z:-4.92 [[ 9.84418809e-01 1.74801425e-01 1.90806112e-02 1.65419068e+02] [-1.74772001e-01 9.84603693e-01 -3.21182915e-03 -1.78385832e+01] [-1.93482725e-02 -1.72971571e-04 9.99812790e-01 -4.91616253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.45, Y:-17.84, Z:-4.92 [[ 9.84185711e-01 1.76195010e-01 1.82703002e-02 1.65450386e+02] [-1.76168189e-01 9.84355263e-01 -3.07994992e-03 -1.78403732e+01] [-1.85271380e-02 -1.87402997e-04 9.99828340e-01 -4.91803988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.48, Y:-17.84, Z:-4.92 [[ 9.84041907e-01 1.76975489e-01 1.84716653e-02 1.65481452e+02] [-1.76948202e-01 9.84215238e-01 -3.11435695e-03 -1.78443785e+01] [-1.87312593e-02 -2.03870215e-04 9.99824534e-01 -4.91881758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.51, Y:-17.85, Z:-4.92 [[ 9.83902790e-01 1.77739594e-01 1.85455312e-02 1.65511460e+02] [-1.77712212e-01 9.84077532e-01 -3.12741009e-03 -1.78464613e+01] [-1.88061052e-02 -2.18699873e-04 9.99823126e-01 -4.92127089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50587156000003 meters Centerline goodness [0,1] 0.9998719125589736 Centerline is valid? [True, True] Translation: X:165.54, Y:-17.85, Z:-4.92 [[ 9.83775496e-01 1.78397130e-01 1.89799357e-02 1.65541399e+02] [-1.78368566e-01 9.83958540e-01 -3.20103798e-03 -1.78511844e+01] [-1.92465258e-02 -2.36321180e-04 9.99814741e-01 -4.91868470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.57, Y:-17.85, Z:-4.92 [[ 9.83580584e-01 1.79273970e-01 2.07383345e-02 1.65572507e+02] [-1.79240062e-01 9.83799150e-01 -3.49759859e-03 -1.78530666e+01] [-2.10293842e-02 -2.76970300e-04 9.99778820e-01 -4.91641249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56587156000003 meters Centerline goodness [0,1] 0.9999786571050497 Centerline is valid? [True, True] Translation: X:165.60, Y:-17.86, Z:-4.92 [[ 9.83452900e-01 1.79936680e-01 2.10519310e-02 1.65602537e+02] [-1.79901890e-01 9.83678151e-01 -3.55048783e-03 -1.78564104e+01] [-2.13471876e-02 -2.95544631e-04 9.99772079e-01 -4.91653771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.63, Y:-17.86, Z:-4.92 [[ 9.83369495e-01 1.80390082e-01 2.10678594e-02 1.65632069e+02] [-1.80355342e-01 9.83595102e-01 -3.55327796e-03 -1.78593149e+01] [-2.13632194e-02 -3.05515817e-04 9.99771734e-01 -4.91740951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62587156000004 meters Centerline goodness [0,1] 0.9999355753124597 Centerline is valid? [True, True] Translation: X:165.66, Y:-17.86, Z:-4.92 [[ 9.83066501e-01 1.81957389e-01 2.17201021e-02 1.65663141e+02] [-1.81920855e-01 9.83306354e-01 -3.66291756e-03 -1.78599255e+01] [-2.20240093e-02 -3.50447983e-04 9.99757381e-01 -4.91691051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65587156000004 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:165.69, Y:-17.86, Z:-4.92 [[ 9.82976907e-01 1.82434037e-01 2.17766462e-02 1.65693965e+02] [-1.82397428e-01 9.83218028e-01 -3.67245327e-03 -1.78630978e+01] [-2.20811716e-02 -3.62067513e-04 9.99756116e-01 -4.91831255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68587156000004 meters Centerline goodness [0,1] 0.9999360272950208 Centerline is valid? [True, True] Translation: X:165.72, Y:-17.87, Z:-4.92 [[ 9.82884054e-01 1.82952602e-01 2.16167131e-02 1.65724466e+02] [-1.82916655e-01 9.83121665e-01 -3.64548185e-03 -1.78684106e+01] [-2.19188093e-02 -3.70970863e-04 9.99759685e-01 -4.91846292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.75, Y:-17.87, Z:-4.92 [[ 9.82826344e-01 1.83360295e-01 2.07696683e-02 1.65754543e+02] [-1.83327201e-01 9.83045710e-01 -3.50263467e-03 -1.78722098e+01] [-2.10597774e-02 -3.65163526e-04 9.99778152e-01 -4.92115390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74587156000004 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:165.78, Y:-17.88, Z:-4.92 [[ 9.82784591e-01 1.83617499e-01 2.04709927e-02 1.65784300e+02] [-1.83585404e-01 9.82997701e-01 -3.45237818e-03 -1.78752433e+01] [-2.07568558e-02 -3.65231387e-04 9.99784487e-01 -4.92248962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.81, Y:-17.88, Z:-4.92 [[ 9.82772587e-01 1.83690463e-01 2.03925450e-02 1.65813805e+02] [-1.83658631e-01 9.82984069e-01 -3.43901548e-03 -1.78792628e+01] [-2.06772612e-02 -3.65496758e-04 9.99786136e-01 -4.92344809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.84, Y:-17.88, Z:-4.92 [[ 9.82815964e-01 1.83462050e-01 2.03581980e-02 1.65842835e+02] [-1.83430287e-01 9.83026727e-01 -3.43272807e-03 -1.78835050e+01] [-2.06424281e-02 -3.60570171e-04 9.99786857e-01 -4.92442136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.87, Y:-17.88, Z:-4.93 [[ 9.82912414e-01 1.82853243e-01 2.11631364e-02 1.65871804e+02] [-1.82818787e-01 9.83140153e-01 -3.56801432e-03 -1.78835242e+01] [-2.14587521e-02 -3.61973349e-04 9.99769669e-01 -4.92647048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.90, Y:-17.89, Z:-4.92 [[ 9.82953061e-01 1.82606927e-01 2.14007084e-02 1.65900750e+02] [-1.82571658e-01 9.83185933e-01 -3.60698182e-03 -1.78934636e+01] [-2.16995353e-02 -3.61668991e-04 9.99764472e-01 -4.92448586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.93, Y:-17.90, Z:-4.93 [[ 9.82927326e-01 1.82753230e-01 2.13337654e-02 1.65930287e+02] [-1.82718214e-01 9.83158748e-01 -3.59580121e-03 -1.78973332e+01] [-2.16316223e-02 -3.63656224e-04 9.99765943e-01 -4.92544708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.96, Y:-17.90, Z:-4.93 [[ 9.82895311e-01 1.82949560e-01 2.11250355e-02 1.65958336e+02] [-1.82915272e-01 9.83122233e-01 -3.56057201e-03 -1.79004595e+01] [-2.14198972e-02 -3.64422083e-04 9.99770501e-01 -4.92744695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.99, Y:-17.90, Z:-4.93 [[ 9.82729103e-01 1.83885097e-01 2.07311456e-02 1.65987788e+02] [-1.83852301e-01 9.82947673e-01 -3.49334881e-03 -1.79026209e+01] [-2.10200061e-02 -3.78453282e-04 9.99778984e-01 -4.92877871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.02, Y:-17.91, Z:-4.93 [[ 9.82637036e-01 1.84398932e-01 2.05302158e-02 1.66017060e+02] [-1.84366891e-01 9.82851405e-01 -3.45900072e-03 -1.79054162e+01] [-2.08159875e-02 -3.86149844e-04 9.99783249e-01 -4.93017260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01587156000002 meters Centerline goodness [0,1] 0.9999785853480951 Centerline is valid? [True, True] Translation: X:166.05, Y:-17.91, Z:-4.93 [[ 9.82440443e-01 1.85569607e-01 1.93570852e-02 1.66046900e+02] [-1.85541359e-01 9.82631045e-01 -3.26092760e-03 -1.79070107e+01] [-1.96260019e-02 -3.87872739e-04 9.99807316e-01 -4.93196886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04587156000002 meters Centerline goodness [0,1] 0.9999786324786325 Centerline is valid? [True, True] Translation: X:166.07, Y:-17.91, Z:-4.93 [[ 9.82405923e-01 1.85799085e-01 1.89024402e-02 1.66074831e+02] [-1.85772192e-01 9.82587682e-01 -3.18428431e-03 -1.79069785e+01] [-1.91649420e-02 -3.83287981e-04 9.99816262e-01 -4.93489361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07587156000002 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:166.10, Y:-17.91, Z:-4.94 [[ 9.82381356e-01 1.85926390e-01 1.89274719e-02 1.66102243e+02] [-1.85899472e-01 9.82563600e-01 -3.18731899e-03 -1.79092666e+01] [-1.91900517e-02 -3.87444290e-04 9.99815779e-01 -4.93657277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10587156000003 meters Centerline goodness [0,1] 0.9999146448157396 Centerline is valid? [True, True] Translation: X:166.13, Y:-17.91, Z:-4.94 [[ 9.82380327e-01 1.85944383e-01 1.88037330e-02 1.66130375e+02] [-1.85917843e-01 9.82560195e-01 -3.16524977e-03 -1.79127335e+01] [-1.90643599e-02 -3.86470361e-04 9.99818184e-01 -4.93796456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13587156000003 meters Centerline goodness [0,1] 0.9998709205515995 Centerline is valid? [True, True] Translation: X:166.16, Y:-17.92, Z:-4.94 [[ 9.82464726e-01 1.85438763e-01 1.93785432e-02 1.66158044e+02] [-1.85410493e-01 9.82655745e-01 -3.26117221e-03 -1.79160397e+01] [-1.96471845e-02 -3.88998594e-04 9.99806900e-01 -4.93769790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.19, Y:-17.92, Z:-4.94 [[ 9.82547607e-01 1.84908708e-01 2.02229916e-02 1.66186899e+02] [-1.84877836e-01 9.82755622e-01 -3.40189976e-03 -1.79200580e+01] [-2.05032995e-02 -3.96254452e-04 9.99789707e-01 -4.93656470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19587156000003 meters Centerline goodness [0,1] 0.9999787315496192 Centerline is valid? [True, True] Translation: X:166.21, Y:-17.92, Z:-4.94 [[ 9.82636463e-01 1.84351990e-01 2.09743852e-02 1.66214306e+02] [-1.84318674e-01 9.82860206e-01 -3.52737663e-03 -1.79231886e+01] [-2.12651675e-02 -3.99841978e-04 9.99773791e-01 -4.93615881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22587156000003 meters Centerline goodness [0,1] 0.9998299825732138 Centerline is valid? [True, True] Translation: X:166.24, Y:-17.93, Z:-4.94 [[ 9.82735530e-01 1.83785436e-01 2.13023772e-02 1.66241938e+02] [-1.83750964e-01 9.82966305e-01 -3.58127573e-03 -1.79262526e+01] [-2.15977053e-02 -3.94885434e-04 9.99766664e-01 -4.93625403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.27, Y:-17.93, Z:-4.94 [[ 9.83047896e-01 1.82056797e-01 2.17291752e-02 1.66270966e+02] [-1.82020533e-01 9.83287948e-01 -3.65185243e-03 -1.79308954e+01] [-2.20308807e-02 -3.65210218e-04 9.99757224e-01 -4.93683679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.30, Y:-17.94, Z:-4.94 [[ 9.83187059e-01 1.81256476e-01 2.21200663e-02 1.66299147e+02] [-1.81218733e-01 9.83435795e-01 -3.71582838e-03 -1.79384205e+01] [-2.24271829e-02 -3.55215999e-04 9.99748416e-01 -4.93537071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.33, Y:-17.94, Z:-4.94 [[ 9.83358124e-01 1.80287956e-01 2.24288426e-02 1.66327207e+02] [-1.80248926e-01 9.83613815e-01 -3.76650261e-03 -1.79424593e+01] [-2.27403745e-02 -3.38953856e-04 9.99741347e-01 -4.93657950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.36, Y:-17.95, Z:-4.94 [[ 9.83840578e-01 1.77650593e-01 2.23155295e-02 1.66355699e+02] [-1.77611297e-01 9.84093588e-01 -3.74666404e-03 -1.79463033e+01] [-2.26261666e-02 -2.77370011e-04 9.99743957e-01 -4.93908727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.38, Y:-17.95, Z:-4.94 [[ 9.83848310e-01 1.77607757e-01 2.23156483e-02 1.66383644e+02] [-1.77568466e-01 9.84101320e-01 -3.74595622e-03 -1.79508982e+01] [-2.26261698e-02 -2.77102736e-04 9.99743957e-01 -4.93994183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.41, Y:-17.96, Z:-4.94 [[ 9.84093047e-01 1.76208782e-01 2.26128445e-02 1.66412414e+02] [-1.76168094e-01 9.84352784e-01 -3.79466585e-03 -1.79591294e+01] [-2.29276698e-02 -2.49357432e-04 9.99737095e-01 -4.93934815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.44, Y:-17.96, Z:-4.94 [[ 9.84322138e-01 1.74963277e-01 2.23110117e-02 1.66441613e+02] [-1.74923360e-01 9.84574936e-01 -3.74349011e-03 -1.79647751e+01] [-2.26218363e-02 -2.17916961e-04 9.99744070e-01 -4.94076770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.47, Y:-17.97, Z:-4.94 [[ 9.84562911e-01 1.73707395e-01 2.14852283e-02 1.66470671e+02] [-1.73670091e-01 9.84797293e-01 -3.60444695e-03 -1.79708837e+01] [-2.17847137e-02 -1.82536767e-04 9.99762668e-01 -4.94325591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.50, Y:-17.98, Z:-4.95 [[ 9.84995404e-01 1.71373249e-01 2.03780319e-02 1.66500072e+02] [-1.71339205e-01 9.85206168e-01 -3.41802707e-03 -1.79779006e+01] [-2.06623211e-02 -1.24814816e-04 9.99786504e-01 -4.94585275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.53, Y:-17.98, Z:-4.95 [[ 9.85184328e-01 1.70349784e-01 1.98189384e-02 1.66528285e+02] [-1.70317368e-01 9.85383652e-01 -3.32461138e-03 -1.79822432e+01] [-2.00956048e-02 -1.00154405e-04 9.99798058e-01 -4.94880273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.56, Y:-17.99, Z:-4.95 [[ 9.85402643e-01 1.69118452e-01 1.95084910e-02 1.66556874e+02] [-1.69086818e-01 9.85595730e-01 -3.27171448e-03 -1.79884704e+01] [-1.97807927e-02 -7.46725783e-05 9.99804338e-01 -4.94969859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.59, Y:-17.99, Z:-4.95 [[ 9.85611882e-01 1.67914184e-01 1.93402602e-02 1.66585858e+02] [-1.67882872e-01 9.85801615e-01 -3.24303900e-03 -1.79947893e+01] [-1.96102120e-02 -5.05206478e-05 9.99807700e-01 -4.95097455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.61, Y:-18.00, Z:-4.95 [[ 9.86067481e-01 1.65175859e-01 1.96941178e-02 1.66614124e+02] [-1.65142856e-01 9.86264131e-01 -3.30176786e-03 -1.80034802e+01] [-1.99689743e-02 3.42306501e-06 9.99800600e-01 -4.95194336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.64, Y:-18.01, Z:-4.95 [[ 9.86256780e-01 1.63966927e-01 2.03078836e-02 1.66644148e+02] [-1.63931585e-01 9.86465836e-01 -3.40430215e-03 -1.80099121e+01] [-2.05912264e-02 2.84125249e-05 9.99787978e-01 -4.95140503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.67, Y:-18.02, Z:-4.95 [[ 9.86413733e-01 1.62970731e-01 2.06999696e-02 1.66672577e+02] [-1.62933789e-01 9.86630903e-01 -3.47013598e-03 -1.80161952e+01] [-2.09887602e-02 5.02653050e-05 9.99779710e-01 -4.95222310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.70, Y:-18.02, Z:-4.95 [[ 9.86683540e-01 1.61263397e-01 2.12063308e-02 1.66702235e+02] [-1.61224239e-01 9.86911399e-01 -3.55466277e-03 -1.80236045e+01] [-2.15020066e-02 8.83526978e-05 9.99768801e-01 -4.95169064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73587156000002 meters Centerline goodness [0,1] 0.9998500299940012 Centerline is valid? [True, True] Translation: X:166.73, Y:-18.03, Z:-4.95 [[ 9.86787966e-01 1.60649533e-01 2.10056626e-02 1.66733374e+02] [-1.60610979e-01 9.87011508e-01 -3.52081339e-03 -1.80295387e+01] [-2.12984477e-02 1.00556252e-04 9.99773157e-01 -4.95132190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76587156000002 meters Centerline goodness [0,1] 0.9998927475921835 Centerline is valid? [True, True] Translation: X:166.76, Y:-18.04, Z:-4.95 [[ 9.86928081e-01 1.59783177e-01 2.10309176e-02 1.66763745e+02] [-1.59744347e-01 9.87152127e-01 -3.52440314e-03 -1.80377542e+01] [-2.13238554e-02 1.18762228e-04 9.99772614e-01 -4.95411398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.80, Y:-18.04, Z:-4.95 [[ 9.87107983e-01 1.58621456e-01 2.13790454e-02 1.66796110e+02] [-1.58580991e-01 9.87339461e-01 -3.58581602e-03 -1.80446234e+01] [-2.16771626e-02 1.49277415e-04 9.99765012e-01 -4.95352646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82587156000002 meters Centerline goodness [0,1] 0.9998495820529901 Centerline is valid? [True, True] Translation: X:166.83, Y:-18.05, Z:-4.96 [[ 9.87260014e-01 1.57669622e-01 2.13998997e-02 1.66826025e+02] [-1.57628753e-01 9.87491904e-01 -3.59393164e-03 -1.80534141e+01] [-2.16988815e-02 1.74905491e-04 9.99764536e-01 -4.95524505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85587156000003 meters Centerline goodness [0,1] 0.9999135041626122 Centerline is valid? [True, True] Translation: X:166.86, Y:-18.06, Z:-4.95 [[ 9.87539717e-01 1.55763955e-01 2.24253895e-02 1.66856940e+02] [-1.55718499e-01 9.87794279e-01 -3.76989067e-03 -1.80620330e+01] [-2.27388845e-02 2.30868780e-04 9.99741411e-01 -4.95220008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.89, Y:-18.07, Z:-4.95 [[ 9.87663679e-01 1.54957178e-01 2.25550486e-02 1.66887340e+02] [-1.54910880e-01 9.87921155e-01 -3.79626283e-03 -1.80712779e+01] [-2.28708678e-02 2.55408506e-04 9.99738395e-01 -4.95460982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91587156000003 meters Centerline goodness [0,1] 0.9999142826529519 Centerline is valid? [True, True] Translation: X:166.92, Y:-18.08, Z:-4.96 [[ 9.87807299e-01 1.54197492e-01 2.14446415e-02 1.66918598e+02] [-1.54155432e-01 9.88040012e-01 -3.61070491e-03 -1.80816063e+01] [-2.17449255e-02 2.60872688e-04 9.99763517e-01 -4.95699698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.95, Y:-18.09, Z:-4.96 [[ 9.87844423e-01 1.54090813e-01 2.04797018e-02 1.66949883e+02] [-1.54052364e-01 9.88056657e-01 -3.45143956e-03 -1.80895774e+01] [-2.07669408e-02 2.54538836e-04 9.99784311e-01 -4.96004978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.98, Y:-18.10, Z:-4.96 [[ 9.87771343e-01 1.54646446e-01 1.98053265e-02 1.66982155e+02] [-1.54610543e-01 9.87969848e-01 -3.34061410e-03 -1.80958536e+01] [-2.00836795e-02 2.37650596e-04 9.99798274e-01 -4.96130736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00587156000003 meters Centerline goodness [0,1] 0.9998716522631984 Centerline is valid? [True, True] Translation: X:167.01, Y:-18.10, Z:-4.96 [[ 9.87628791e-01 1.55610201e-01 1.93607041e-02 1.67013656e+02] [-1.55576001e-01 9.87818515e-01 -3.26947014e-03 -1.81031128e+01] [-1.96336248e-02 2.16961920e-04 9.99807218e-01 -4.96315851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.05, Y:-18.10, Z:-4.96 [[ 9.87039073e-01 1.59158855e-01 2.05506136e-02 1.67046684e+02] [-1.59120980e-01 9.87252973e-01 -3.47572799e-03 -1.81042581e+01] [-2.08418473e-02 1.60645548e-04 9.99782772e-01 -4.96141108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.08, Y:-18.11, Z:-4.96 [[ 9.86609717e-01 1.61701338e-01 2.13059570e-02 1.67079104e+02] [-1.61661212e-01 9.86839736e-01 -3.60385574e-03 -1.81068406e+01] [-2.16083133e-02 1.11252256e-04 9.99766507e-01 -4.95983385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09587156000003 meters Centerline goodness [0,1] 0.9999133167190378 Centerline is valid? [True, True] Translation: X:167.11, Y:-18.11, Z:-4.96 [[ 9.86143354e-01 1.64480329e-01 2.16219005e-02 1.67111165e+02] [-1.64439586e-01 9.86380362e-01 -3.66119155e-03 -1.81105696e+01] [-2.19296120e-02 5.49633572e-05 9.99759516e-01 -4.95914921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12587156000004 meters Centerline goodness [0,1] 0.9999354297152451 Centerline is valid? [True, True] Translation: X:167.14, Y:-18.11, Z:-4.96 [[ 9.85598250e-01 1.67651975e-01 2.21111746e-02 1.67142864e+02] [-1.67610073e-01 9.85846243e-01 -3.74809699e-03 -1.81129883e+01] [-2.24265943e-02 -1.19377506e-05 9.99748492e-01 -4.96074586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.17, Y:-18.11, Z:-4.96 [[ 9.84552328e-01 1.73697052e-01 2.20465064e-02 1.67173975e+02] [-1.73656791e-01 9.84799123e-01 -3.74239349e-03 -1.81096004e+01] [-2.23614228e-02 -1.43943319e-04 9.99749942e-01 -4.96109927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.21, Y:-18.11, Z:-4.96 [[ 9.84001587e-01 1.76743432e-01 2.24195320e-02 1.67205135e+02] [-1.76702587e-01 9.84256934e-01 -3.80571458e-03 -1.81108881e+01] [-2.27392149e-02 -2.16760114e-04 9.99741407e-01 -4.96108572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.24, Y:-18.11, Z:-4.96 [[ 9.83478910e-01 1.79617906e-01 2.25086876e-02 1.67235393e+02] [-1.79577488e-01 9.83736411e-01 -3.82080706e-03 -1.81112093e+01] [-2.28289009e-02 -2.84370409e-04 9.99739346e-01 -4.96236031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.27, Y:-18.11, Z:-4.96 [[ 9.82588774e-01 1.84453760e-01 2.22735779e-02 1.67265230e+02] [-1.84415413e-01 9.82841115e-01 -3.78133768e-03 -1.81074553e+01] [-2.25888701e-02 -3.92091114e-04 9.99744762e-01 -4.96473136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27587156 meters Centerline goodness [0,1] 0.9999570511306289 Centerline is valid? [True, True] Translation: X:167.29, Y:-18.11, Z:-4.97 [[ 9.82287105e-01 1.86105317e-01 2.18370077e-02 1.67294549e+02] [-1.86068886e-01 9.82529711e-01 -3.70635671e-03 -1.81115989e+01] [-2.21452815e-02 -4.22481296e-04 9.99754674e-01 -4.96553746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30587156 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:167.32, Y:-18.12, Z:-4.97 [[ 9.82051966e-01 1.87386420e-01 2.14537901e-02 1.67323435e+02] [-1.87351573e-01 9.82286177e-01 -3.64081410e-03 -1.81163919e+01] [-2.17560006e-02 -4.43932666e-04 9.99763212e-01 -4.96648929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33587156000002 meters Centerline goodness [0,1] 0.9999786816747677 Centerline is valid? [True, True] Translation: X:167.35, Y:-18.12, Z:-4.97 [[ 9.81849165e-01 1.88543857e-01 2.05774318e-02 1.67351889e+02] [-1.88512058e-01 9.82064667e-01 -3.49183522e-03 -1.81166076e+01] [-2.08667327e-02 -4.50638513e-04 9.99782164e-01 -4.96976952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36587156000002 meters Centerline goodness [0,1] 0.9998932467920661 Centerline is valid? [True, True] Translation: X:167.38, Y:-18.12, Z:-4.97 [[ 9.81889927e-01 1.88320524e-01 2.06773043e-02 1.67380151e+02] [-1.88288388e-01 9.82107519e-01 -3.50773808e-03 -1.81222055e+01] [-2.09679151e-02 -4.49083605e-04 9.99780048e-01 -4.97031660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39587156000002 meters Centerline goodness [0,1] 0.9999573369739115 Centerline is valid? [True, True] Translation: X:167.41, Y:-18.13, Z:-4.97 [[ 9.81955404e-01 1.87983109e-01 2.06382181e-02 1.67408071e+02] [-1.87951039e-01 9.82172162e-01 -3.50021373e-03 -1.81256523e+01] [-2.09282643e-02 -4.41920750e-04 9.99780882e-01 -4.97150970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42587156000002 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:167.44, Y:-18.13, Z:-4.97 [[ 9.82077664e-01 1.87337178e-01 2.06940411e-02 1.67435920e+02] [-1.87304820e-01 9.82295575e-01 -3.50831258e-03 -1.81317918e+01] [-2.09849024e-02 -4.30658206e-04 9.99779700e-01 -4.97192430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.46, Y:-18.14, Z:-4.97 [[ 9.82365516e-01 1.85841215e-01 2.05191610e-02 1.67464397e+02] [-1.85809098e-01 9.82579710e-01 -3.47756908e-03 -1.81388231e+01] [-2.08079869e-02 -3.96402845e-04 9.99783412e-01 -4.97292776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.49, Y:-18.14, Z:-4.97 [[ 9.82481445e-01 1.85271233e-01 2.01191626e-02 1.67491623e+02] [-1.85240247e-01 9.82687350e-01 -3.40929973e-03 -1.81440938e+01] [-2.04024918e-02 -3.77304915e-04 9.99791776e-01 -4.97412600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51587156000002 meters Centerline goodness [0,1] 0.9998718852091474 Centerline is valid? [True, True] Translation: X:167.52, Y:-18.15, Z:-4.98 [[ 9.82520995e-01 1.85083792e-01 1.99119415e-02 1.67519032e+02] [-1.85053424e-01 9.82722673e-01 -3.37304681e-03 -1.81479289e+01] [-2.01922126e-02 -3.70683645e-04 9.99796048e-01 -4.97610056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54587156000002 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:167.55, Y:-18.15, Z:-4.98 [[ 9.82565817e-01 1.84899846e-01 1.94026282e-02 1.67547165e+02] [-1.84871003e-01 9.82757304e-01 -3.28540554e-03 -1.81545437e+01] [-1.96755456e-02 -3.58856170e-04 9.99806353e-01 -4.97679281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57587156000002 meters Centerline goodness [0,1] 0.9999155619353205 Centerline is valid? [True, True] Translation: X:167.57, Y:-18.16, Z:-4.98 [[ 9.82696571e-01 1.84247680e-01 1.89800367e-02 1.67574825e+02] [-1.84219973e-01 9.82879788e-01 -3.21309420e-03 -1.81596502e+01] [-1.92470996e-02 -3.39005203e-04 9.99814700e-01 -4.97908148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60587156000003 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:167.60, Y:-18.16, Z:-4.98 [[ 9.82717437e-01 1.84154554e-01 1.88026426e-02 1.67603784e+02] [-1.84127369e-01 9.82897242e-01 -3.18181418e-03 -1.81641540e+01] [-1.90670111e-02 -3.35256834e-04 9.99818152e-01 -4.97994232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.63, Y:-18.17, Z:-4.98 [[ 9.82713696e-01 1.84145227e-01 1.90873683e-02 1.67631929e+02] [-1.84117230e-01 9.82898987e-01 -3.22906488e-03 -1.81679744e+01] [-1.93555719e-02 -3.41067089e-04 9.99812605e-01 -4.97990296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.66, Y:-18.17, Z:-4.98 [[ 9.82540094e-01 1.85020799e-01 1.95516585e-02 1.67660462e+02] [-1.84991613e-01 9.82734536e-01 -3.30673937e-03 -1.81666649e+01] [-1.98259057e-02 -3.67888839e-04 9.99803380e-01 -4.97988236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.69, Y:-18.17, Z:-4.98 [[ 9.82391615e-01 1.85765024e-01 1.99517162e-02 1.67689543e+02] [-1.85734812e-01 9.82594119e-01 -3.37303208e-03 -1.81696322e+01] [-2.02310304e-02 -3.92089833e-04 9.99795255e-01 -4.97925252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72587156000003 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:167.72, Y:-18.17, Z:-4.98 [[ 9.82214695e-01 1.86660893e-01 2.02979021e-02 1.67718075e+02] [-1.86629833e-01 9.82424316e-01 -3.43066182e-03 -1.81699850e+01] [-2.05815229e-02 -4.18547627e-04 9.99788090e-01 -4.97974680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75587156000003 meters Centerline goodness [0,1] 0.99993580003852 Centerline is valid? [True, True] Translation: X:167.75, Y:-18.17, Z:-4.98 [[ 9.81999633e-01 1.87789315e-01 2.02951527e-02 1.67746833e+02] [-1.87758532e-01 9.82209233e-01 -3.42887767e-03 -1.81746953e+01] [-2.05779929e-02 -4.43431453e-04 9.99788152e-01 -4.97905589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78587156000003 meters Centerline goodness [0,1] 0.9998933629073536 Centerline is valid? [True, True] Translation: X:167.78, Y:-18.17, Z:-4.98 [[ 9.81671091e-01 1.89453357e-01 2.07194457e-02 1.67775203e+02] [-1.89421664e-01 9.81889600e-01 -3.49958669e-03 -1.81703423e+01] [-2.10072167e-02 -4.89268802e-04 9.99779204e-01 -4.98052380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81587156000003 meters Centerline goodness [0,1] 0.9999785724999465 Centerline is valid? [True, True] Translation: X:167.80, Y:-18.17, Z:-4.98 [[ 9.81568169e-01 1.89955132e-01 2.09994765e-02 1.67804059e+02] [-1.89922721e-01 9.81792641e-01 -3.54550272e-03 -1.81723248e+01] [-2.12906179e-02 -5.08125103e-04 9.99773200e-01 -4.98036226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.83, Y:-18.17, Z:-4.98 [[ 9.81533376e-01 1.90130536e-01 2.10383202e-02 1.67832445e+02] [-1.90098062e-01 9.81758685e-01 -3.55125411e-03 -1.81742909e+01] [-2.13297555e-02 -5.13669474e-04 9.99772363e-01 -4.98108946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87587156000004 meters Centerline goodness [0,1] 0.9999787021063616 Centerline is valid? [True, True] Translation: X:167.86, Y:-18.18, Z:-4.98 [[ 9.81577247e-01 1.89931334e-01 2.07893351e-02 1.67859395e+02] [-1.89899605e-01 9.81797247e-01 -3.50806290e-03 -1.81756587e+01] [-2.10772030e-02 -5.04451791e-04 9.99777724e-01 -4.98233385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.89, Y:-18.18, Z:-4.98 [[ 9.81871450e-01 1.88450515e-01 2.03681023e-02 1.67887333e+02] [-1.88419791e-01 9.82082576e-01 -3.43451537e-03 -1.81765410e+01] [-2.06503946e-02 -4.65500989e-04 9.99786649e-01 -4.98440072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93587156000004 meters Centerline goodness [0,1] 0.9999354032987382 Centerline is valid? [True, True] Translation: X:167.92, Y:-18.18, Z:-4.98 [[ 9.82127965e-01 1.87139730e-01 2.00843694e-02 1.67915444e+02] [-1.87109607e-01 9.82333209e-01 -3.38541046e-03 -1.81827072e+01] [-2.03630879e-02 -4.33072191e-04 9.99792557e-01 -4.98449292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96587156000004 meters Centerline goodness [0,1] 0.9999572914219821 Centerline is valid? [True, True] Translation: X:167.94, Y:-18.19, Z:-4.99 [[ 9.82821498e-01 1.83471586e-01 2.00019913e-02 1.67943247e+02] [-1.83440969e-01 9.83024949e-01 -3.37056270e-03 -1.81875085e+01] [-2.02808590e-02 -3.56523200e-04 9.99794259e-01 -4.98618404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.97, Y:-18.19, Z:-4.99 [[ 9.83182214e-01 1.81494130e-01 2.03129270e-02 1.67971221e+02] [-1.81462152e-01 9.83391976e-01 -3.42195263e-03 -1.81932613e+01] [-2.05966337e-02 -3.21624485e-04 9.99787815e-01 -4.98698559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02587156 meters Centerline goodness [0,1] 0.9998504401333219 Centerline is valid? [True, True] Translation: X:168.00, Y:-18.20, Z:-4.99 [[ 9.83512233e-01 1.79682619e-01 2.04412279e-02 1.67999663e+02] [-1.79649865e-01 9.83724593e-01 -3.44257921e-03 -1.81995032e+01] [-2.07271102e-02 -2.86445070e-04 9.99785129e-01 -4.98665267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05587156 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:168.03, Y:-18.21, Z:-4.99 [[ 9.83906503e-01 1.77453779e-01 2.09320494e-02 1.68028310e+02] [-1.77418954e-01 9.84129105e-01 -3.52409965e-03 -1.82054483e+01] [-2.12252039e-02 -2.46357745e-04 9.99774690e-01 -4.98767721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.06, Y:-18.21, Z:-4.99 [[ 9.84300766e-01 1.75244700e-01 2.10070648e-02 1.68055664e+02] [-1.75209133e-01 9.84524888e-01 -3.53618176e-03 -1.82102519e+01] [-2.13016752e-02 -1.99963202e-04 9.99773074e-01 -4.98876664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.08, Y:-18.21, Z:-4.99 [[ 9.84936398e-01 1.71701121e-01 2.04698876e-02 1.68083498e+02] [-1.71666609e-01 9.85149080e-01 -3.44458113e-03 -1.82144881e+01] [-2.07573294e-02 -1.21302855e-04 9.99784536e-01 -4.99077115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.11, Y:-18.22, Z:-4.99 [[ 9.85256080e-01 1.69873593e-01 2.03327042e-02 1.68112101e+02] [-1.69839180e-01 9.85465857e-01 -3.42019398e-03 -1.82205712e+01] [-2.06181864e-02 -8.35228810e-05 9.99787419e-01 -4.99238938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.14, Y:-18.23, Z:-4.99 [[ 9.85586158e-01 1.67972202e-01 2.01312032e-02 1.68138987e+02] [-1.67938087e-01 9.85791731e-01 -3.38547585e-03 -1.82266561e+01] [-2.04138395e-02 -4.41176347e-05 9.99791615e-01 -4.99344644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20587156000002 meters Centerline goodness [0,1] 0.9997857158163156 Centerline is valid? [True, True] Translation: X:168.17, Y:-18.23, Z:-4.99 [[ 9.86177664e-01 1.64538452e-01 1.95118681e-02 1.68166837e+02] [-1.64505756e-01 9.86370669e-01 -3.28010832e-03 -1.82335886e+01] [-1.97856383e-02 2.49549579e-05 9.99804245e-01 -4.99436051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23587156000002 meters Centerline goodness [0,1] 0.9999359070224539 Centerline is valid? [True, True] Translation: X:168.20, Y:-18.24, Z:-5.00 [[ 9.86444107e-01 1.62928914e-01 1.95497686e-02 1.68195303e+02] [-1.62895792e-01 9.86637809e-01 -3.28557335e-03 -1.82387200e+01] [-1.98238558e-02 5.64594132e-05 9.99803486e-01 -4.99564530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.22, Y:-18.24, Z:-5.00 [[ 9.86743783e-01 1.61082150e-01 1.97293448e-02 1.68223732e+02] [-1.61048066e-01 9.86940997e-01 -3.31482690e-03 -1.82444009e+01] [-2.00056587e-02 9.35120095e-05 9.99799862e-01 -4.99663534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.25, Y:-18.25, Z:-5.00 [[ 9.86750935e-01 1.61038316e-01 1.97294921e-02 1.68251674e+02] [-1.61004241e-01 9.86948151e-01 -3.31394960e-03 -1.82490005e+01] [-2.00056586e-02 9.35109568e-05 9.99799862e-01 -4.99748985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32587156000002 meters Centerline goodness [0,1] 0.9998078934448974 Centerline is valid? [True, True] Translation: X:168.28, Y:-18.26, Z:-5.00 [[ 9.87230793e-01 1.57982094e-01 2.04210408e-02 1.68280669e+02] [-1.57944959e-01 9.87441964e-01 -3.42892410e-03 -1.82550671e+01] [-2.07063012e-02 1.59739010e-04 9.99785589e-01 -4.99586040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.31, Y:-18.26, Z:-5.00 [[ 9.87529219e-01 1.56137949e-01 2.01738255e-02 1.68308703e+02] [-1.56101330e-01 9.87735239e-01 -3.38705592e-03 -1.82604583e+01] [-2.04552463e-02 1.95655695e-04 9.99790750e-01 -4.99713780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38587156000003 meters Centerline goodness [0,1] 0.9999355476303012 Centerline is valid? [True, True] Translation: X:168.34, Y:-18.27, Z:-5.00 [[ 9.87817459e-01 1.54328026e-01 1.99881830e-02 1.68338165e+02] [-1.54291729e-01 9.88019639e-01 -3.35484088e-03 -1.82672473e+01] [-2.02664633e-02 2.29959090e-04 9.99794588e-01 -4.99770000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:-18.27, Z:-5.00 [[ 9.88171953e-01 1.52009195e-01 2.02335290e-02 1.68368081e+02] [-1.51971515e-01 9.88379039e-01 -3.39602006e-03 -1.82741078e+01] [-2.05146223e-02 2.80931709e-04 9.99789514e-01 -4.99788964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44587156000003 meters Centerline goodness [0,1] 0.9998496886407559 Centerline is valid? [True, True] Translation: X:168.40, Y:-18.29, Z:-5.00 [[ 9.88843120e-01 1.47618012e-01 1.99551206e-02 1.68396841e+02] [-1.47580470e-01 9.89044381e-01 -3.34917098e-03 -1.82872849e+01] [-2.02308979e-02 3.66818602e-04 9.99795267e-01 -4.99991085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47587156000003 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:168.43, Y:-18.30, Z:-5.00 [[ 9.89148540e-01 1.45572689e-01 1.98433326e-02 1.68425417e+02] [-1.45535150e-01 9.89347475e-01 -3.33065765e-03 -1.82981853e+01] [-2.01168038e-02 4.06612773e-04 9.99797554e-01 -5.00308648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.46, Y:-18.31, Z:-5.00 [[ 9.89410396e-01 1.43772269e-01 1.99148709e-02 1.68455147e+02] [-1.43734087e-01 9.89610699e-01 -3.34301483e-03 -1.83064966e+01] [-2.01886021e-02 4.45167847e-04 9.99796090e-01 -5.00429086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53587156000003 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:168.49, Y:-18.31, Z:-5.00 [[ 9.89756282e-01 1.41411168e-01 1.96311934e-02 1.68487281e+02] [-1.41373612e-01 9.89950830e-01 -3.29490864e-03 -1.83108512e+01] [-1.98998531e-02 4.85823802e-04 9.99801860e-01 -5.00312661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56587156000003 meters Centerline goodness [0,1] 0.9997655034215183 Centerline is valid? [True, True] Translation: X:168.52, Y:-18.32, Z:-5.01 [[ 9.89834843e-01 1.40877827e-01 1.95043939e-02 1.68516689e+02] [-1.40840654e-01 9.90026866e-01 -3.27346832e-03 -1.83244476e+01] [-1.97710331e-02 4.93181410e-04 9.99804412e-01 -5.00718746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59587156000003 meters Centerline goodness [0,1] 0.999765708200213 Centerline is valid? [True, True] Translation: X:168.55, Y:-18.33, Z:-5.01 [[ 9.89828694e-01 1.40921229e-01 1.95029300e-02 1.68548262e+02] [-1.40884009e-01 9.90020688e-01 -3.27626496e-03 -1.83304072e+01] [-1.97699995e-02 4.95290083e-04 9.99804432e-01 -5.00819378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.58, Y:-18.33, Z:-5.01 [[ 9.89746722e-01 1.41510486e-01 1.93961187e-02 1.68581940e+02] [-1.41473733e-01 9.89936639e-01 -3.26102600e-03 -1.83270179e+01] [-1.96623979e-02 4.83548470e-04 9.99806559e-01 -5.00590269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.61, Y:-18.33, Z:-5.01 [[ 9.89408513e-01 1.43846314e-01 1.94687811e-02 1.68612794e+02] [-1.43809668e-01 9.89599941e-01 -3.27671738e-03 -1.83316548e+01] [-1.97376483e-02 4.42213127e-04 9.99805096e-01 -5.00739019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68587156000004 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:168.64, Y:-18.33, Z:-5.01 [[ 9.89130248e-01 1.45694302e-01 1.98626096e-02 1.68643967e+02] [-1.45656439e-01 9.89329569e-01 -3.34755268e-03 -1.83335045e+01] [-2.01383864e-02 4.18048628e-04 9.99797115e-01 -5.00728098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.67, Y:-18.33, Z:-5.01 [[ 9.88785761e-01 1.47975867e-01 2.01459921e-02 1.68674565e+02] [-1.47937375e-01 9.88990900e-01 -3.39603568e-03 -1.83334970e+01] [-2.04267342e-02 3.77606537e-04 9.99791281e-01 -5.00694179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.71, Y:-18.33, Z:-5.01 [[ 9.88424252e-01 1.50339247e-01 2.03864791e-02 1.68705070e+02] [-1.50300332e-01 9.88634412e-01 -3.43657487e-03 -1.83345835e+01] [-2.06714268e-02 3.32699372e-04 9.99786268e-01 -5.00714108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.74, Y:-18.33, Z:-5.01 [[ 9.87700790e-01 1.54994562e-01 2.05872414e-02 1.68735329e+02] [-1.54955885e-01 9.87915295e-01 -3.47052994e-03 -1.83332217e+01] [-2.08763639e-02 2.37730952e-04 9.99782037e-01 -5.00871687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.77, Y:-18.33, Z:-5.01 [[ 9.87331388e-01 1.57305885e-01 2.07747114e-02 1.68765763e+02] [-1.57267017e-01 9.87549909e-01 -3.50187296e-03 -1.83342897e+01] [-2.10669295e-02 1.90332202e-04 9.99778049e-01 -5.00887791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.79, Y:-18.34, Z:-5.01 [[ 9.87018591e-01 1.59220418e-01 2.10513486e-02 1.68794832e+02] [-1.59180944e-01 9.87243048e-01 -3.54845453e-03 -1.83358746e+01] [-2.13477840e-02 1.51417048e-04 9.99772099e-01 -5.00988419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.82, Y:-18.34, Z:-5.01 [[ 9.86710270e-01 1.61096161e-01 2.12337252e-02 1.68824123e+02] [-1.61056448e-01 9.86938709e-01 -3.57852199e-03 -1.83377151e+01] [-2.15328715e-02 1.11136036e-04 9.99768135e-01 -5.01111062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.85, Y:-18.34, Z:-5.01 [[ 9.86707487e-01 1.61120022e-01 2.11819094e-02 1.68851595e+02] [-1.61080528e-01 9.86934814e-01 -3.56887454e-03 -1.83422798e+01] [-2.14801809e-02 1.09442083e-04 9.99769268e-01 -5.01238483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92587156000002 meters Centerline goodness [0,1] 0.9998496466696737 Centerline is valid? [True, True] Translation: X:168.88, Y:-18.35, Z:-5.01 [[ 9.86841347e-01 1.60289446e-01 2.12473538e-02 1.68880636e+02] [-1.60249549e-01 9.87070047e-01 -3.57831574e-03 -1.83483430e+01] [-2.15461927e-02 1.26351064e-04 9.99767846e-01 -5.01302055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.91, Y:-18.35, Z:-5.01 [[ 9.86999395e-01 1.59252447e-01 2.16991417e-02 1.68909540e+02] [-1.59210597e-01 9.87237882e-01 -3.65387259e-03 -1.83546089e+01] [-2.20041028e-02 1.51636746e-04 9.99757869e-01 -5.01392622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.94, Y:-18.36, Z:-5.02 [[ 9.87486237e-01 1.56277098e-01 2.11754500e-02 1.68937354e+02] [-1.56236569e-01 9.87713229e-01 -3.56524423e-03 -1.83647687e+01] [-2.14724381e-02 2.12249960e-04 9.99769418e-01 -5.01581676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01587156000002 meters Centerline goodness [0,1] 0.9998502513637822 Centerline is valid? [True, True] Translation: X:168.97, Y:-18.37, Z:-5.02 [[ 9.87761126e-01 1.54592207e-01 2.07173079e-02 1.68966420e+02] [-1.54553056e-01 9.87978335e-01 -3.48748385e-03 -1.83732006e+01] [-2.10073892e-02 2.42877739e-04 9.99779291e-01 -5.01753519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.00, Y:-18.38, Z:-5.02 [[ 9.87980920e-01 1.53216297e-01 2.04564790e-02 1.68995816e+02] [-1.53177844e-01 9.88192640e-01 -3.44288929e-03 -1.83813417e+01] [-2.07424488e-02 2.68029575e-04 9.99784816e-01 -5.01978345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07587156000002 meters Centerline goodness [0,1] 0.9998283040734859 Centerline is valid? [True, True] Translation: X:169.02, Y:-18.39, Z:-5.02 [[ 9.88274437e-01 1.51361091e-01 2.00862570e-02 1.69023993e+02] [-1.51323632e-01 9.88478492e-01 -3.38069210e-03 -1.83922447e+01] [-2.03665382e-02 3.01526231e-04 9.99792535e-01 -5.02100042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.05, Y:-18.40, Z:-5.02 [[ 9.88300474e-01 1.51172649e-01 2.02238138e-02 1.69053601e+02] [-1.51134643e-01 9.88507327e-01 -3.40349572e-03 -1.83982984e+01] [-2.05059036e-02 3.07157549e-04 9.99789685e-01 -5.02247096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.08, Y:-18.40, Z:-5.02 [[ 9.88290420e-01 1.51235576e-01 2.02446808e-02 1.69082277e+02] [-1.51197507e-01 9.88497702e-01 -3.40689700e-03 -1.84046377e+01] [-2.05270645e-02 3.06058407e-04 9.99789251e-01 -5.02362463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.11, Y:-18.41, Z:-5.02 [[ 9.88250694e-01 1.51429424e-01 2.07291052e-02 1.69111883e+02] [-1.51389547e-01 9.88468024e-01 -3.48877301e-03 -1.84100566e+01] [-2.10183606e-02 3.09612500e-04 9.99779042e-01 -5.02360387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.14, Y:-18.42, Z:-5.02 [[ 9.88005522e-01 1.53022536e-01 2.07169725e-02 1.69140487e+02] [-1.52983053e-01 9.88222661e-01 -3.48683350e-03 -1.84161548e+01] [-2.10065458e-02 2.75665049e-04 9.99779300e-01 -5.02482932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.17, Y:-18.42, Z:-5.03 [[ 9.87821834e-01 1.54268922e-01 2.02267924e-02 1.69170666e+02] [-1.54231554e-01 9.88028866e-01 -3.40400256e-03 -1.84208315e+01] [-2.05097866e-02 2.42938427e-04 9.99789623e-01 -5.02621907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25587156000003 meters Centerline goodness [0,1] 0.9998277013202387 Centerline is valid? [True, True] Translation: X:169.20, Y:-18.42, Z:-5.03 [[ 9.87544261e-01 1.56068122e-01 1.99768510e-02 1.69200054e+02] [-1.56032035e-01 9.87746273e-01 -3.36215942e-03 -1.84243662e+01] [-2.02567861e-02 2.03252522e-04 9.99794790e-01 -5.02726926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.23, Y:-18.42, Z:-5.03 [[ 9.86792537e-01 1.60802616e-01 1.95705630e-02 1.69229963e+02] [-1.60768909e-01 9.86986579e-01 -3.29392132e-03 -1.84230118e+01] [-1.98455542e-02 1.04078912e-04 9.99803052e-01 -5.02990166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.26, Y:-18.42, Z:-5.03 [[ 9.86357711e-01 1.63392743e-01 2.00319070e-02 1.69258386e+02] [-1.63358002e-01 9.86561102e-01 -3.36961857e-03 -1.84245491e+01] [-2.03132715e-02 5.12769545e-05 9.99793663e-01 -5.03020783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.29, Y:-18.43, Z:-5.03 [[ 9.85873405e-01 1.66234844e-01 2.04842818e-02 1.69288099e+02] [-1.66199152e-01 9.86086191e-01 -3.44458184e-03 -1.84254605e+01] [-2.07718769e-02 -8.54864666e-06 9.99784241e-01 -5.02676719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37587156000004 meters Centerline goodness [0,1] 0.9998715340969918 Centerline is valid? [True, True] Translation: X:169.32, Y:-18.42, Z:-5.03 [[ 9.84889452e-01 1.71942126e-01 2.07044238e-02 1.69316660e+02] [-1.71906930e-01 9.85107044e-01 -3.48125505e-03 -1.84202298e+01] [-2.09946481e-02 -1.30582565e-04 9.99779580e-01 -5.02974342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40587156000004 meters Centerline goodness [0,1] 0.9999785610153503 Centerline is valid? [True, True] Translation: X:169.35, Y:-18.42, Z:-5.03 [[ 9.84419441e-01 1.74598841e-01 2.08232593e-02 1.69345625e+02] [-1.74563854e-01 9.84639634e-01 -3.50028148e-03 -1.84198428e+01] [-2.11145515e-02 -1.89243246e-04 9.99777045e-01 -5.03037466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.37, Y:-18.42, Z:-5.03 [[ 9.83987057e-01 1.77005897e-01 2.09376295e-02 1.69374161e+02] [-1.76971086e-01 9.84209761e-01 -3.51868864e-03 -1.84212473e+01] [-2.12298480e-02 -2.43010973e-04 9.99774592e-01 -5.03054395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.40, Y:-18.43, Z:-5.03 [[ 9.83608300e-01 1.79076327e-01 2.11277367e-02 1.69402171e+02] [-1.79041385e-01 9.83835141e-01 -3.54944353e-03 -1.84254168e+01] [-2.14218311e-02 -2.91477115e-04 9.99770484e-01 -5.02967647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.43, Y:-18.42, Z:-5.03 [[ 9.82957941e-01 1.82698760e-01 2.03678297e-02 1.69431013e+02] [-1.82667092e-01 9.83168874e-01 -3.42036624e-03 -1.84233267e+01] [-2.06499129e-02 -3.58456066e-04 9.99786704e-01 -5.03310061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.46, Y:-18.43, Z:-5.03 [[ 9.82738863e-01 1.83894606e-01 2.01767412e-02 1.69459949e+02] [-1.83863796e-01 9.82945893e-01 -3.38755574e-03 -1.84275680e+01] [-2.04555981e-02 -3.80689546e-04 9.99790690e-01 -5.03323532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55587156 meters Centerline goodness [0,1] 0.9999146502795203 Centerline is valid? [True, True] Translation: X:169.49, Y:-18.43, Z:-5.03 [[ 9.82526128e-01 1.85024880e-01 2.02040226e-02 1.69487734e+02] [-1.84994244e-01 9.82733753e-01 -3.39124258e-03 -1.84282125e+01] [-2.04826392e-02 -4.05643435e-04 9.99790126e-01 -5.03430474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.52, Y:-18.43, Z:-5.03 [[ 9.82169067e-01 1.86848859e-01 2.07708333e-02 1.69516619e+02] [-1.86816916e-01 9.82388566e-01 -3.48503446e-03 -1.84260520e+01] [-2.10562039e-02 -4.57449980e-04 9.99778189e-01 -5.03424353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61587156000002 meters Centerline goodness [0,1] 0.9999573715284439 Centerline is valid? [True, True] Translation: X:169.54, Y:-18.43, Z:-5.03 [[ 9.82178026e-01 1.86778305e-01 2.09806912e-02 1.69544530e+02] [-1.86745722e-01 9.82401981e-01 -3.51905576e-03 -1.84297098e+01] [-2.12687559e-02 -4.61715078e-04 9.99773688e-01 -5.03476325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64587156000002 meters Centerline goodness [0,1] 0.9999784751818848 Centerline is valid? [True, True] Translation: X:169.57, Y:-18.43, Z:-5.03 [[ 9.82257051e-01 1.86329915e-01 2.12661220e-02 1.69572500e+02] [-1.86296372e-01 9.82487125e-01 -3.56518230e-03 -1.84348744e+01] [-2.15579911e-02 -4.59875916e-04 9.99767494e-01 -5.03458682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.60, Y:-18.44, Z:-5.03 [[ 9.82423148e-01 1.85419536e-01 2.15488934e-02 1.69601251e+02] [-1.85384900e-01 9.82659349e-01 -3.61151873e-03 -1.84392785e+01] [-2.18448677e-02 -4.46799843e-04 9.99761273e-01 -5.03499858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70587156000002 meters Centerline goodness [0,1] 0.9999570160545036 Centerline is valid? [True, True] Translation: X:169.63, Y:-18.44, Z:-5.04 [[ 9.82636972e-01 1.84281753e-01 2.15595962e-02 1.69630032e+02] [-1.84246833e-01 9.82873368e-01 -3.61217370e-03 -1.84448143e+01] [-2.18560106e-02 -4.22831896e-04 9.99761039e-01 -5.03633832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.66, Y:-18.46, Z:-5.04 [[ 9.83385495e-01 1.80254863e-01 2.14744419e-02 1.69657779e+02] [-1.80219268e-01 9.83619883e-01 -3.59746510e-03 -1.84557376e+01] [-2.17711486e-02 -3.32413197e-04 9.99762925e-01 -5.03706624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.68, Y:-18.46, Z:-5.04 [[ 9.83846864e-01 1.77667938e-01 2.18964026e-02 1.69684988e+02] [-1.77630329e-01 9.84090455e-01 -3.66630974e-03 -1.84629399e+01] [-2.21994264e-02 -2.82377857e-04 9.99753522e-01 -5.03690080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.71, Y:-18.47, Z:-5.04 [[ 9.84354101e-01 1.74772377e-01 2.23968677e-02 1.69712409e+02] [-1.74732316e-01 9.84608839e-01 -3.74855985e-03 -1.84700667e+01] [-2.27072987e-02 -2.23546299e-04 9.99742131e-01 -5.03760005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.74, Y:-18.49, Z:-5.04 [[ 9.85503223e-01 1.68164528e-01 2.24519066e-02 1.69739282e+02] [-1.68122579e-01 9.85758939e-01 -3.75665933e-03 -1.84858255e+01] [-2.27639045e-02 -7.24725493e-05 9.99740866e-01 -5.03781110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85587156000003 meters Centerline goodness [0,1] 0.9998495044396191 Centerline is valid? [True, True] Translation: X:169.77, Y:-18.50, Z:-5.04 [[ 9.86102103e-01 1.64637347e-01 2.22976700e-02 1.69766072e+02] [-1.64595097e-01 9.86354168e-01 -3.72964200e-03 -1.84963360e+01] [-2.26074381e-02 7.72066390e-06 9.99744419e-01 -5.03895050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.79, Y:-18.51, Z:-5.04 [[ 9.86644399e-01 1.61338714e-01 2.24198184e-02 1.69794776e+02] [-1.61295169e-01 9.86899089e-01 -3.74913609e-03 -1.85066778e+01] [-2.27309792e-02 8.28557250e-05 9.99741614e-01 -5.04000677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91587156000003 meters Centerline goodness [0,1] 0.9998503825930835 Centerline is valid? [True, True] Translation: X:169.82, Y:-18.52, Z:-5.04 [[ 9.87589963e-01 1.55538655e-01 2.17667416e-02 1.69822858e+02] [-1.55496218e-01 9.87829785e-01 -3.63909846e-03 -1.85233953e+01] [-2.20678561e-02 2.09291117e-04 9.99756453e-01 -5.04241749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.85, Y:-18.53, Z:-5.04 [[ 9.87989336e-01 1.53051252e-01 2.12693780e-02 1.69852343e+02] [-1.53010150e-01 9.88218218e-01 -3.55620592e-03 -1.85332147e+01] [-2.15630686e-02 2.59062794e-04 9.99767456e-01 -5.04413342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.88, Y:-18.54, Z:-5.05 [[ 9.88310958e-01 1.50973719e-01 2.11751518e-02 1.69882159e+02] [-1.50932501e-01 9.88537730e-01 -3.54060332e-03 -1.85427167e+01] [-2.14669745e-02 3.03198450e-04 9.99769512e-01 -5.04535220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.91, Y:-18.55, Z:-5.05 [[ 9.88535716e-01 1.49569762e-01 2.06403364e-02 1.69912233e+02] [-1.49530310e-01 9.88751122e-01 -3.45044975e-03 -1.85527431e+01] [-2.09242387e-02 3.24536917e-04 9.99781011e-01 -5.04758983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.94, Y:-18.56, Z:-5.05 [[ 9.88815487e-01 1.47809118e-01 1.99097505e-02 1.69942644e+02] [-1.47771994e-01 9.89015845e-01 -3.33124187e-03 -1.85628008e+01] [-2.01834466e-02 3.51880034e-04 9.99796232e-01 -5.04822543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.97, Y:-18.57, Z:-5.05 [[ 9.88843264e-01 1.47611281e-01 1.99977398e-02 1.69973500e+02] [-1.47573726e-01 9.89045388e-01 -3.34898882e-03 -1.85727728e+01] [-2.02730208e-02 3.60484072e-04 9.99794416e-01 -5.05045121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.01, Y:-18.58, Z:-5.05 [[ 9.88800837e-01 1.47847864e-01 2.03448953e-02 1.70005040e+02] [-1.47808963e-01 9.89010048e-01 -3.41105466e-03 -1.85808268e+01] [-2.06256231e-02 3.65695829e-04 9.99787202e-01 -5.05090265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.04, Y:-18.59, Z:-5.05 [[ 9.88643041e-01 1.48836354e-01 2.08009099e-02 1.70036444e+02] [-1.48795825e-01 9.88861776e-01 -3.49143803e-03 -1.85875077e+01] [-2.10888776e-02 3.56697368e-04 9.99777541e-01 -5.05026988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.07, Y:-18.59, Z:-5.05 [[ 9.88100550e-01 1.52240727e-01 2.19103811e-02 1.70068212e+02] [-1.52196486e-01 9.88343396e-01 -3.68253557e-03 -1.85918679e+01] [-2.22156123e-02 3.04032418e-04 9.99753157e-01 -5.04809979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.10, Y:-18.60, Z:-5.05 [[ 9.88071216e-01 1.52430988e-01 2.19103904e-02 1.70100234e+02] [-1.52386795e-01 9.88314072e-01 -3.68248114e-03 -1.85974378e+01] [-2.22156713e-02 2.99699454e-04 9.99753157e-01 -5.04908060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21587156000004 meters Centerline goodness [0,1] 0.9999569290405944 Centerline is valid? [True, True] Translation: X:170.13, Y:-18.60, Z:-5.05 [[ 9.87711113e-01 1.54730592e-01 2.20272693e-02 1.70131562e+02] [-1.54686393e-01 9.87956669e-01 -3.70681420e-03 -1.86013425e+01] [-2.23355452e-02 2.53942733e-04 9.99750498e-01 -5.04975164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.16, Y:-18.60, Z:-5.05 [[ 9.87239639e-01 1.57716520e-01 2.19862206e-02 1.70163405e+02] [-1.57673149e-01 9.87484412e-01 -3.70331575e-03 -1.86042215e+01] [-2.22951242e-02 1.89423466e-04 9.99751415e-01 -5.05139963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.19, Y:-18.60, Z:-5.05 [[ 9.86263981e-01 1.63805826e-01 2.12370055e-02 1.70193829e+02] [-1.63766677e-01 9.86492599e-01 -3.58150845e-03 -1.86043228e+01] [-2.15368207e-02 5.43989598e-05 9.99768054e-01 -5.05439710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30587156 meters Centerline goodness [0,1] 0.9999354366633668 Centerline is valid? [True, True] Translation: X:170.22, Y:-18.61, Z:-5.06 [[ 9.85758067e-01 1.66880710e-01 2.07812866e-02 1.70224252e+02] [-1.66843865e-01 9.85977093e-01 -3.50661440e-03 -1.86059953e+01] [-2.10750589e-02 -1.05567440e-05 9.99777896e-01 -5.05549509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.25, Y:-18.61, Z:-5.06 [[ 9.85211078e-01 1.70123917e-01 2.04202100e-02 1.70254206e+02] [-1.70089034e-01 9.85422674e-01 -3.44579943e-03 -1.86067359e+01] [-2.07087509e-02 -7.84140419e-05 9.99785548e-01 -5.05792668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.28, Y:-18.60, Z:-5.06 [[ 9.84226791e-01 1.75852104e-01 1.93303352e-02 1.70283111e+02] [-1.75821946e-01 9.84416580e-01 -3.26205251e-03 -1.86036063e+01] [-1.96027412e-02 -1.88097678e-04 9.99807830e-01 -5.06082113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.31, Y:-18.60, Z:-5.06 [[ 9.83739061e-01 1.78573950e-01 1.92042988e-02 1.70311049e+02] [-1.78544716e-01 9.83926464e-01 -3.24007842e-03 -1.86043195e+01] [-1.94742114e-02 -2.41434369e-04 9.99810330e-01 -5.06247557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.34, Y:-18.61, Z:-5.06 [[ 9.83265162e-01 1.81196345e-01 1.89078245e-02 1.70339824e+02] [-1.81168521e-01 9.83446898e-01 -3.18856593e-03 -1.86058372e+01] [-1.91725979e-02 -2.90296794e-04 9.99816147e-01 -5.06317024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.37, Y:-18.60, Z:-5.06 [[ 9.82283597e-01 1.86315791e-01 2.01335781e-02 1.70370152e+02] [-1.86285342e-01 9.82489823e-01 -3.39398115e-03 -1.86046229e+01] [-2.04133879e-02 -4.16738470e-04 9.99791538e-01 -5.06065932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48587156000002 meters Centerline goodness [0,1] 0.9999784329372183 Centerline is valid? [True, True] Translation: X:170.40, Y:-18.60, Z:-5.06 [[ 9.81812716e-01 1.88733148e-01 2.05813059e-02 1.70399036e+02] [-1.88701866e-01 9.82028294e-01 -3.46915190e-03 -1.86049910e+01] [-2.08661687e-02 -4.77673396e-04 9.99782164e-01 -5.06051910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51587156000002 meters Centerline goodness [0,1] 0.9999571789491715 Centerline is valid? [True, True] Translation: X:170.43, Y:-18.60, Z:-5.06 [[ 9.81354253e-01 1.91086788e-01 2.07284628e-02 1.70427889e+02] [-1.91055605e-01 9.81573001e-01 -3.49284544e-03 -1.86037378e+01] [-2.10139360e-02 -5.32570254e-04 9.99779041e-01 -5.06144109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54587156000002 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:170.46, Y:-18.60, Z:-5.06 [[ 9.80658018e-01 1.94593207e-01 2.10555287e-02 1.70457782e+02] [-1.94561860e-01 9.80883837e-01 -3.54696573e-03 -1.85991415e+01] [-2.13432432e-02 -6.18242449e-04 9.99772016e-01 -5.06258931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57587156000002 meters Centerline goodness [0,1] 0.9998503729987389 Centerline is valid? [True, True] Translation: X:170.49, Y:-18.60, Z:-5.06 [[ 9.80447786e-01 1.95701570e-01 2.05678031e-02 1.70486891e+02] [-1.95671916e-01 9.80663296e-01 -3.46418107e-03 -1.86019088e+01] [-2.08480353e-02 -6.28092771e-04 9.99782459e-01 -5.06317842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60587156000003 meters Centerline goodness [0,1] 0.9997860733768318 Centerline is valid? [True, True] Translation: X:170.51, Y:-18.60, Z:-5.07 [[ 9.80405238e-01 1.95937343e-01 2.03501145e-02 1.70514769e+02] [-1.95908381e-01 9.80616217e-01 -3.42665505e-03 -1.86025908e+01] [-2.06270619e-02 -6.27247412e-04 9.99787043e-01 -5.06634436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63587156000003 meters Centerline goodness [0,1] 0.9997860504920839 Centerline is valid? [True, True] Translation: X:170.54, Y:-18.61, Z:-5.07 [[ 9.80574823e-01 1.95139349e-01 1.98406313e-02 1.70542923e+02] [-1.95111682e-01 9.80775346e-01 -3.33959861e-03 -1.86075971e+01] [-2.01108891e-02 -5.96412624e-04 9.99797578e-01 -5.06740876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66587156000003 meters Centerline goodness [0,1] 0.999935608499678 Centerline is valid? [True, True] Translation: X:170.57, Y:-18.61, Z:-5.07 [[ 9.80809654e-01 1.93947359e-01 1.99209562e-02 1.70571265e+02] [-1.93919241e-01 9.81011769e-01 -3.35215271e-03 -1.86119318e+01] [-2.01928337e-02 -5.75232973e-04 9.99795938e-01 -5.06842229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69587156000003 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:170.60, Y:-18.62, Z:-5.07 [[ 9.81145447e-01 1.92224208e-01 2.00864716e-02 1.70599733e+02] [-1.92195280e-01 9.81350884e-01 -3.37901988e-03 -1.86174906e+01] [-2.03614060e-02 -5.45215045e-04 9.99792536e-01 -5.06901593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72587156000003 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:170.63, Y:-18.62, Z:-5.07 [[ 9.81614695e-01 1.89785165e-01 2.03514620e-02 1.70627531e+02] [-1.89754966e-01 9.81825513e-01 -3.42258843e-03 -1.86227082e+01] [-2.06311412e-02 -5.02127875e-04 9.99787029e-01 -5.06954873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75587156000003 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:170.66, Y:-18.63, Z:-5.07 [[ 9.82700301e-01 1.84038919e-01 2.07315036e-02 1.70656210e+02] [-1.84006330e-01 9.82918880e-01 -3.48514946e-03 -1.86328502e+01] [-2.10187894e-02 -3.89870456e-04 9.99779005e-01 -5.06985664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78587156000003 meters Centerline goodness [0,1] 0.999978681220287 Centerline is valid? [True, True] Translation: X:170.68, Y:-18.64, Z:-5.07 [[ 9.83280324e-01 1.80880093e-01 2.10284783e-02 1.70683425e+02] [-1.80845837e-01 9.83505102e-01 -3.53523381e-03 -1.86406571e+01] [-2.13210691e-02 -3.26786914e-04 9.99772627e-01 -5.07045499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.71, Y:-18.65, Z:-5.07 [[ 9.83854753e-01 1.77683030e-01 2.14141486e-02 1.70711759e+02] [-1.77646782e-01 9.84087736e-01 -3.59855214e-03 -1.86488334e+01] [-2.17128026e-02 -2.63701946e-04 9.99764215e-01 -5.07057551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.74, Y:-18.66, Z:-5.07 [[ 9.84891510e-01 1.71781155e-01 2.19077100e-02 1.70739359e+02] [-1.71741774e-01 9.85135126e-01 -3.68068661e-03 -1.86621436e+01] [-2.22143272e-02 -1.37391972e-04 9.99753222e-01 -5.07024943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.77, Y:-18.67, Z:-5.07 [[ 9.85396227e-01 1.68892039e-01 2.16738322e-02 1.70768118e+02] [-1.68852813e-01 9.85634554e-01 -3.64053427e-03 -1.86709352e+01] [-2.19773352e-02 -7.23188029e-05 9.99758467e-01 -5.07109699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.80, Y:-18.68, Z:-5.07 [[ 9.85842628e-01 1.66315842e-01 2.12920836e-02 1.70795895e+02] [-1.66277394e-01 9.86072533e-01 -3.57600881e-03 -1.86780860e+01] [-2.15902857e-02 -1.50102449e-05 9.99766903e-01 -5.07281396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93587156000004 meters Centerline goodness [0,1] 0.9998070987654321 Centerline is valid? [True, True] Translation: X:170.82, Y:-18.69, Z:-5.07 [[ 9.86264777e-01 1.63811586e-01 2.11554710e-02 1.70824843e+02] [-1.63773072e-01 9.86491644e-01 -3.55219688e-03 -1.86851482e+01] [-2.14515864e-02 3.87101804e-05 9.99769887e-01 -5.07305222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96587156000004 meters Centerline goodness [0,1] 0.9998927360878705 Centerline is valid? [True, True] Translation: X:170.85, Y:-18.70, Z:-5.08 [[ 9.87083719e-01 1.58892367e-01 2.04681833e-02 1.70853247e+02] [-1.58855269e-01 9.87295901e-01 -3.43621346e-03 -1.86960740e+01] [-2.07541416e-02 1.40351596e-04 9.99784600e-01 -5.07581839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99587156000004 meters Centerline goodness [0,1] 0.9998289392092715 Centerline is valid? [True, True] Translation: X:170.88, Y:-18.71, Z:-5.08 [[ 9.87473053e-01 1.56538874e-01 1.98128767e-02 1.70882103e+02] [-1.56503644e-01 9.87671781e-01 -3.32597425e-03 -1.87051248e+01] [-2.00892635e-02 1.83522542e-04 9.99798174e-01 -5.07769879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.91, Y:-18.71, Z:-5.08 [[ 9.87835085e-01 1.54268892e-01 1.95692044e-02 1.70911027e+02] [-1.54234082e-01 9.88028875e-01 -3.28484214e-03 -1.87136399e+01] [-1.98416879e-02 2.26644035e-04 9.99803109e-01 -5.07965910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05587156 meters Centerline goodness [0,1] 0.9998493489723448 Centerline is valid? [True, True] Translation: X:170.94, Y:-18.73, Z:-5.08 [[ 9.88549860e-01 1.49675088e-01 1.91452860e-02 1.70939903e+02] [-1.49640932e-01 9.88735188e-01 -3.21247477e-03 -1.87276410e+01] [-1.94104454e-02 3.10773047e-04 9.99811551e-01 -5.08100285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.97, Y:-18.74, Z:-5.08 [[ 9.88808519e-01 1.47912398e-01 1.94842150e-02 1.70970567e+02] [-1.47876636e-01 9.89000403e-01 -3.27158337e-03 -1.87363417e+01] [-1.97538042e-02 3.53709344e-04 9.99804812e-01 -5.08211767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11587156000002 meters Centerline goodness [0,1] 0.99991391184573 Centerline is valid? [True, True] Translation: X:171.00, Y:-18.75, Z:-5.08 [[ 9.89037506e-01 1.46314177e-01 1.99241756e-02 1.71002083e+02] [-1.46276474e-01 9.89238094e-01 -3.34456305e-03 -1.87454756e+01] [-2.01991105e-02 3.93460133e-04 9.99795900e-01 -5.08204946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.03, Y:-18.75, Z:-5.08 [[ 9.89229323e-01 1.44995815e-01 2.00389740e-02 1.71033201e+02] [-1.44957339e-01 9.89432177e-01 -3.36718130e-03 -1.87513632e+01] [-2.03154329e-02 4.26118138e-04 9.99793529e-01 -5.08135313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17587156000002 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:171.06, Y:-18.76, Z:-5.08 [[ 9.89451211e-01 1.43509696e-01 1.97805037e-02 1.71062749e+02] [-1.43471848e-01 9.89648807e-01 -3.32681839e-03 -1.87622587e+01] [-2.00531826e-02 4.53779068e-04 9.99798812e-01 -5.08275520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20587156000002 meters Centerline goodness [0,1] 0.9998923504209098 Centerline is valid? [True, True] Translation: X:171.09, Y:-18.77, Z:-5.08 [[ 9.89478970e-01 1.43326371e-01 1.97210632e-02 1.71094389e+02] [-1.43288653e-01 9.89675371e-01 -3.31979458e-03 -1.87693473e+01] [-1.99932646e-02 4.59062327e-04 9.99800009e-01 -5.08314574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23587156000002 meters Centerline goodness [0,1] 0.9999786552828175 Centerline is valid? [True, True] Translation: X:171.13, Y:-18.78, Z:-5.08 [[ 9.89465800e-01 1.43361074e-01 2.01254209e-02 1.71126578e+02] [-1.43321735e-01 9.89670339e-01 -3.39110922e-03 -1.87764154e+01] [-2.04036852e-02 4.70976359e-04 9.99791712e-01 -5.08388649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:-18.78, Z:-5.09 [[ 9.89436020e-01 1.43584865e-01 1.99937216e-02 1.71157627e+02] [-1.43545993e-01 9.89637897e-01 -3.37341218e-03 -1.87839969e+01] [-2.02709155e-02 4.67756901e-04 9.99794414e-01 -5.08515781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29587156000002 meters Centerline goodness [0,1] 0.999957127545552 Centerline is valid? [True, True] Translation: X:171.19, Y:-18.79, Z:-5.09 [[ 9.89294981e-01 1.44590859e-01 1.97211801e-02 1.71189510e+02] [-1.44553182e-01 9.89491428e-01 -3.33033348e-03 -1.87909574e+01] [-1.99954745e-02 4.43922860e-04 9.99799972e-01 -5.08664935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.22, Y:-18.79, Z:-5.09 [[ 9.89172606e-01 1.45404552e-01 1.98764046e-02 1.71222334e+02] [-1.45366421e-01 9.89372190e-01 -3.35769546e-03 -1.87929115e+01] [-2.01533861e-02 4.31978586e-04 9.99796807e-01 -5.08588463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35587156000003 meters Centerline goodness [0,1] 0.9999137726616224 Centerline is valid? [True, True] Translation: X:171.25, Y:-18.80, Z:-5.09 [[ 9.89038074e-01 1.46323926e-01 1.98241597e-02 1.71252971e+02] [-1.46286176e-01 9.89236645e-01 -3.34900331e-03 -1.88015664e+01] [-2.01008245e-02 4.12291269e-04 9.99797873e-01 -5.08797203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.28, Y:-18.81, Z:-5.09 [[ 9.88708086e-01 1.48580894e-01 1.94945603e-02 1.71284224e+02] [-1.48544761e-01 9.88900190e-01 -3.29669343e-03 -1.88082116e+01] [-1.97680000e-02 3.63652645e-04 9.99804528e-01 -5.08943757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41587156000003 meters Centerline goodness [0,1] 0.9997835591532834 Centerline is valid? [True, True] Translation: X:171.32, Y:-18.81, Z:-5.09 [[ 9.88499480e-01 1.50038698e-01 1.88988829e-02 1.71315914e+02] [-1.50004949e-01 9.88680071e-01 -3.19898945e-03 -1.88125360e+01] [-1.91649211e-02 3.27273447e-04 9.99816282e-01 -5.08937541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.35, Y:-18.82, Z:-5.09 [[ 9.88260670e-01 1.51634600e-01 1.86493089e-02 1.71346879e+02] [-1.51601957e-01 9.88436574e-01 -3.16007648e-03 -1.88176332e+01] [-1.89128359e-02 2.95707568e-04 9.99821093e-01 -5.09210792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.38, Y:-18.82, Z:-5.09 [[ 9.88015585e-01 1.53214108e-01 1.87253901e-02 1.71378602e+02] [-1.53181427e-01 9.88192979e-01 -3.17582540e-03 -1.88219192e+01] [-1.89908803e-02 2.69383019e-04 9.99819621e-01 -5.09192196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.41, Y:-18.83, Z:-5.09 [[ 9.87536238e-01 1.56223338e-01 1.91427968e-02 1.71408465e+02] [-1.56189680e-01 9.87721732e-01 -3.25015657e-03 -1.88300386e+01] [-1.94155067e-02 2.19740089e-04 9.99811477e-01 -5.09285690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53587156000003 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:171.44, Y:-18.84, Z:-5.09 [[ 9.87320689e-01 1.57576540e-01 1.91700499e-02 1.71439342e+02] [-1.57542959e-01 9.87506757e-01 -3.25903332e-03 -1.88364803e+01] [-1.94441010e-02 1.97604645e-04 9.99810926e-01 -5.09356704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.47, Y:-18.84, Z:-5.09 [[ 9.87065730e-01 1.59111365e-01 1.96167776e-02 1.71470473e+02] [-1.59076475e-01 9.87260626e-01 -3.33639848e-03 -1.88417183e+01] [-1.98977311e-02 1.72676768e-04 9.99802006e-01 -5.09412721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.50, Y:-18.85, Z:-5.09 [[ 9.86545542e-01 1.62208727e-01 2.04015169e-02 1.71502291e+02] [-1.62171584e-01 9.86756462e-01 -3.47307155e-03 -1.88456855e+01] [-2.06946912e-02 1.17796938e-04 9.99785835e-01 -5.09243088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.53, Y:-18.85, Z:-5.09 [[ 9.86272110e-01 1.63856360e-01 2.04552990e-02 1.71533115e+02] [-1.63819286e-01 9.86484204e-01 -3.48652332e-03 -1.88506592e+01] [-2.07501184e-02 8.76882275e-05 9.99784689e-01 -5.09365856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.56, Y:-18.86, Z:-5.10 [[ 9.85989634e-01 1.65521048e-01 2.06694142e-02 1.71564137e+02] [-1.65483528e-01 9.86206256e-01 -3.52454346e-03 -1.88558463e+01] [-2.09676917e-02 5.47157300e-05 9.99780152e-01 -5.09535626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.60, Y:-18.86, Z:-5.10 [[ 9.85732955e-01 1.67077291e-01 2.03892019e-02 1.71595121e+02] [-1.67041022e-01 9.85943801e-01 -3.48121881e-03 -1.88606290e+01] [-2.06842399e-02 2.57189779e-05 9.99786058e-01 -5.09590876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71587156000004 meters Centerline goodness [0,1] 0.999893139559735 Centerline is valid? [True, True] Translation: X:171.62, Y:-18.87, Z:-5.10 [[ 9.85332224e-01 1.69500175e-01 1.97509239e-02 1.71624734e+02] [-1.69466616e-01 9.85530157e-01 -3.37282330e-03 -1.88662735e+01] [-2.00368252e-02 -2.37707537e-05 9.99799242e-01 -5.09791844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.66, Y:-18.87, Z:-5.10 [[ 9.85168485e-01 1.70490789e-01 1.93893644e-02 1.71655055e+02] [-1.70458632e-01 9.85359269e-01 -3.31143677e-03 -1.88711945e+01] [-1.96700594e-02 -4.27613911e-05 9.99806525e-01 -5.09986919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.69, Y:-18.88, Z:-5.10 [[ 9.84984044e-01 1.71580821e-01 1.91430102e-02 1.71685085e+02] [-1.71549682e-01 9.85170045e-01 -3.26936285e-03 -1.88754281e+01] [-1.94200801e-02 -6.37070730e-05 9.99811410e-01 -5.10060466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.72, Y:-18.88, Z:-5.10 [[ 9.84637084e-01 1.73467521e-01 1.99708009e-02 1.71715478e+02] [-1.73434018e-01 9.84839585e-01 -3.41073812e-03 -1.88791512e+01] [-2.02596876e-02 -1.05277009e-04 9.99794746e-01 -5.09941279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.75, Y:-18.88, Z:-5.10 [[ 9.84494095e-01 1.74259863e-01 2.01215487e-02 1.71745140e+02] [-1.74226018e-01 9.84699693e-01 -3.43648377e-03 -1.88840565e+01] [-2.04125240e-02 -1.22499329e-04 9.99791635e-01 -5.09975589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86587156000002 meters Centerline goodness [0,1] 0.9997867394595978 Centerline is valid? [True, True] Translation: X:171.77, Y:-18.89, Z:-5.10 [[ 9.84393166e-01 1.74851265e-01 1.99281174e-02 1.71773961e+02] [-1.74818187e-01 9.84594849e-01 -3.40356809e-03 -1.88890027e+01] [-2.02162400e-02 -1.33348187e-04 9.99795622e-01 -5.10117390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89587156000002 meters Centerline goodness [0,1] 0.9998079344416227 Centerline is valid? [True, True] Translation: X:171.80, Y:-18.89, Z:-5.10 [[ 9.84308444e-01 1.75347144e-01 1.97551562e-02 1.71802799e+02] [-1.75314742e-01 9.84506657e-01 -3.37378809e-03 -1.88934761e+01] [-2.00406669e-02 -1.42522010e-04 9.99799156e-01 -5.10274467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.83, Y:-18.90, Z:-5.10 [[ 9.84201981e-01 1.75834195e-01 2.07073839e-02 1.71833164e+02] [-1.75798714e-01 9.84419783e-01 -3.53580850e-03 -1.89014817e+01] [-2.10064744e-02 -1.60381730e-04 9.99779327e-01 -5.10144940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.86, Y:-18.91, Z:-5.10 [[ 9.84159719e-01 1.76065316e-01 2.07521570e-02 1.71863391e+02] [-1.76029720e-01 9.84378473e-01 -3.54408525e-03 -1.89066860e+01] [-2.10519671e-02 -1.65050447e-04 9.99778369e-01 -5.10265823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.89, Y:-18.91, Z:-5.10 [[ 9.84123064e-01 1.76303203e-01 2.04688741e-02 1.71893101e+02] [-1.76268616e-01 9.84335894e-01 -3.49606892e-03 -1.89121494e+01] [-2.07646156e-02 -1.67458040e-04 9.99784378e-01 -5.10359233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01587156000002 meters Centerline goodness [0,1] 0.9998290926958491 Centerline is valid? [True, True] Translation: X:171.92, Y:-18.92, Z:-5.10 [[ 9.84039368e-01 1.76811866e-01 2.01018923e-02 1.71923586e+02] [-1.76778620e-01 9.84244651e-01 -3.43314877e-03 -1.89177845e+01] [-2.03922014e-02 -1.75231224e-04 9.99792042e-01 -5.10397778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.95, Y:-18.92, Z:-5.11 [[ 9.83904755e-01 1.77570511e-01 2.00036856e-02 1.71953307e+02] [-1.77537727e-01 9.84108062e-01 -3.41723411e-03 -1.89204530e+01] [-2.02925882e-02 -1.89175981e-04 9.99794066e-01 -5.10641642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07587156000002 meters Centerline goodness [0,1] 0.9999139858936865 Centerline is valid? [True, True] Translation: X:171.98, Y:-18.92, Z:-5.11 [[ 9.83782415e-01 1.78272310e-01 1.97773658e-02 1.71982958e+02] [-1.78240411e-01 9.83981170e-01 -3.37832864e-03 -1.89241373e+01] [-2.00628180e-02 -2.01585482e-04 9.99798701e-01 -5.10721529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10587156000003 meters Centerline goodness [0,1] 0.9999139858936865 Centerline is valid? [True, True] Translation: X:172.01, Y:-18.93, Z:-5.11 [[ 9.83782415e-01 1.78272299e-01 1.97774258e-02 1.72012519e+02] [-1.78240407e-01 9.83981172e-01 -3.37797687e-03 -1.89291865e+01] [-2.00628144e-02 -2.01942187e-04 9.99798701e-01 -5.10812023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13587156000003 meters Centerline goodness [0,1] 0.999807651207523 Centerline is valid? [True, True] Translation: X:172.04, Y:-18.93, Z:-5.11 [[ 9.83606201e-01 1.79244082e-01 1.97585675e-02 1.72042785e+02] [-1.79212447e-01 9.83804610e-01 -3.37475586e-03 -1.89324948e+01] [-2.00434748e-02 -2.21550420e-04 9.99799085e-01 -5.10909714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.07, Y:-18.94, Z:-5.11 [[ 9.83523407e-01 1.79661065e-01 2.00900387e-02 1.72071691e+02] [-1.79628449e-01 9.83728543e-01 -3.43125853e-03 -1.89359679e+01] [-2.03796080e-02 -2.34019403e-04 9.99792287e-01 -5.11067978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.10, Y:-18.94, Z:-5.11 [[ 9.83540586e-01 1.79604612e-01 1.97509385e-02 1.72101725e+02] [-1.79573069e-01 9.83738853e-01 -3.37368331e-03 -1.89412171e+01] [-2.00356946e-02 -2.28582170e-04 9.99799239e-01 -5.11175782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22587156000003 meters Centerline goodness [0,1] 0.9998484422023514 Centerline is valid? [True, True] Translation: X:172.13, Y:-18.95, Z:-5.11 [[ 9.83536723e-01 1.79680701e-01 1.92447573e-02 1.72131565e+02] [-1.79650769e-01 9.83724959e-01 -3.28722186e-03 -1.89467815e+01] [-1.95221984e-02 -2.24232038e-04 9.99809399e-01 -5.11202771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.16, Y:-18.95, Z:-5.11 [[ 9.83515102e-01 1.79719994e-01 1.99691564e-02 1.72160753e+02] [-1.79687771e-01 9.83717779e-01 -3.41107732e-03 -1.89491069e+01] [-2.02570530e-02 -2.33367154e-04 9.99794778e-01 -5.11332823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.19, Y:-18.95, Z:-5.11 [[ 9.83465197e-01 1.79938119e-01 2.04567913e-02 1.72190675e+02] [-1.79904354e-01 9.83677901e-01 -3.49422313e-03 -1.89530012e+01] [-2.07516375e-02 -2.43818988e-04 9.99784632e-01 -5.11316923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.22, Y:-18.96, Z:-5.11 [[ 9.83443152e-01 1.80040233e-01 2.06174960e-02 1.72218724e+02] [-1.80005966e-01 9.83659216e-01 -3.52127861e-03 -1.89561267e+01] [-2.09145617e-02 -2.48294940e-04 9.99781236e-01 -5.11380436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34587156000003 meters Centerline goodness [0,1] 0.999957111916454 Centerline is valid? [True, True] Translation: X:172.25, Y:-18.96, Z:-5.11 [[ 9.83383619e-01 1.80383129e-01 2.04593477e-02 1.72247949e+02] [-1.80349478e-01 9.83596392e-01 -3.49343001e-03 -1.89600400e+01] [-2.07538964e-02 -2.54450824e-04 9.99784582e-01 -5.11428995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.28, Y:-18.96, Z:-5.11 [[ 9.83303389e-01 1.80752535e-01 2.10467801e-02 1.72277975e+02] [-1.80717019e-01 9.83528570e-01 -3.59321917e-03 -1.89632998e+01] [-2.13495930e-02 -2.70286781e-04 9.99772035e-01 -5.11359807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.31, Y:-18.96, Z:-5.12 [[ 9.83265006e-01 1.80949372e-01 2.11483692e-02 1.72307636e+02] [-1.80913571e-01 9.83492373e-01 -3.60991686e-03 -1.89643858e+01] [-2.14524720e-02 -2.76522069e-04 9.99769831e-01 -5.11571837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.34, Y:-18.97, Z:-5.12 [[ 9.83293177e-01 1.80852113e-01 2.06649877e-02 1.72336439e+02] [-1.80817911e-01 9.83510265e-01 -3.52726488e-03 -1.89690554e+01] [-2.09621408e-02 -2.68264417e-04 9.99780234e-01 -5.11654662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46587156000004 meters Centerline goodness [0,1] 0.9999569994194921 Centerline is valid? [True, True] Translation: X:172.37, Y:-18.97, Z:-5.12 [[ 9.83521054e-01 1.79657886e-01 2.02331379e-02 1.72365294e+02] [-1.79624853e-01 9.83729123e-01 -3.45321130e-03 -1.89735029e+01] [-2.05243236e-02 -2.38068407e-04 9.99789326e-01 -5.11821672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.39, Y:-18.98, Z:-5.12 [[ 9.83802153e-01 1.78158151e-01 1.98241658e-02 1.72394458e+02] [-1.78126162e-01 9.84001845e-01 -3.38211026e-03 -1.89790339e+01] [-2.01095663e-02 -2.03875228e-04 9.99797761e-01 -5.12069379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.42, Y:-18.99, Z:-5.12 [[ 9.84154999e-01 1.76238224e-01 1.94686099e-02 1.72424522e+02] [-1.76206988e-01 9.84347531e-01 -3.32186919e-03 -1.89868877e+01] [-1.97493184e-02 -1.61270940e-04 9.99804950e-01 -5.12209479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.45, Y:-19.00, Z:-5.12 [[ 9.84536541e-01 1.74110100e-01 1.93254537e-02 1.72453930e+02] [-1.74078910e-01 9.84726185e-01 -3.29752419e-03 -1.89950930e+01] [-1.96044126e-02 -1.17620860e-04 9.99807808e-01 -5.12279074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.48, Y:-19.00, Z:-5.12 [[ 9.84908438e-01 1.71879864e-01 2.03145684e-02 1.72483164e+02] [-1.71844925e-01 9.85117915e-01 -3.46629796e-03 -1.90033124e+01] [-2.06080321e-02 -7.69693779e-05 9.99787629e-01 -5.12224280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61587156000002 meters Centerline goodness [0,1] 0.9998503314090229 Centerline is valid? [True, True] Translation: X:172.51, Y:-19.01, Z:-5.12 [[ 9.85610110e-01 1.67700651e-01 2.11943940e-02 1.72513314e+02] [-1.67661683e-01 9.85837964e-01 -3.61503910e-03 -1.90141260e+01] [-2.15004826e-02 9.53131811e-06 9.99768838e-01 -5.12078133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.55, Y:-19.02, Z:-5.12 [[ 9.85922230e-01 1.65793998e-01 2.16727097e-02 1.72545139e+02] [-1.65752712e-01 9.86160406e-01 -3.70018392e-03 -1.90216873e+01] [-2.19862365e-02 5.57831695e-05 9.99758272e-01 -5.12182575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.58, Y:-19.03, Z:-5.12 [[ 9.86365072e-01 1.63190108e-01 2.12822198e-02 1.72576210e+02] [-1.63149614e-01 9.86594636e-01 -3.63703348e-03 -1.90306229e+01] [-2.15904518e-02 1.15256826e-04 9.99766892e-01 -5.12365532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.61, Y:-19.04, Z:-5.13 [[ 9.86475544e-01 1.62613612e-01 2.05624478e-02 1.72606559e+02] [-1.62575614e-01 9.86689818e-01 -3.51749713e-03 -1.90367165e+01] [-2.08607508e-02 1.26972322e-04 9.99782383e-01 -5.12659610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73587156000002 meters Centerline goodness [0,1] 0.9997617397331485 Centerline is valid? [True, True] Translation: X:172.64, Y:-19.04, Z:-5.13 [[ 9.86451538e-01 1.62892502e-01 1.94780861e-02 1.72638464e+02] [-1.62858408e-01 9.86643816e-01 -3.33465243e-03 -1.90415200e+01] [-1.97611231e-02 1.17302914e-04 9.99804723e-01 -5.12673729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76587156000002 meters Centerline goodness [0,1] 0.9998275527580781 Centerline is valid? [True, True] Translation: X:172.67, Y:-19.05, Z:-5.13 [[ 9.86397000e-01 1.63278935e-01 1.89986490e-02 1.72669794e+02] [-1.63246511e-01 9.86579940e-01 -3.25566417e-03 -1.90466012e+01] [-1.92752674e-02 1.09914196e-04 9.99814209e-01 -5.12866456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.70, Y:-19.05, Z:-5.13 [[ 9.86043579e-01 1.65331796e-01 1.95820528e-02 1.72700021e+02] [-1.65297654e-01 9.86237999e-01 -3.36070856e-03 -1.90474031e+01] [-1.98681966e-02 7.69377047e-05 9.99802605e-01 -5.13052951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82587156000002 meters Centerline goodness [0,1] 0.9998484651686366 Centerline is valid? [True, True] Translation: X:172.73, Y:-19.05, Z:-5.13 [[ 9.85740416e-01 1.67150522e-01 1.94045152e-02 1.72730373e+02] [-1.67117311e-01 9.85931388e-01 -3.33215251e-03 -1.90497254e+01] [-1.96884916e-02 4.18070125e-05 9.99806162e-01 -5.13033248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.76, Y:-19.05, Z:-5.13 [[ 9.85516660e-01 1.68376912e-01 2.01526258e-02 1.72760778e+02] [-1.68341347e-01 9.85722687e-01 -3.46061843e-03 -1.90512559e+01] [-2.04475887e-02 1.79769400e-05 9.99790926e-01 -5.13139824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.79, Y:-19.05, Z:-5.13 [[ 9.85281362e-01 1.69724266e-01 2.03546331e-02 1.72791656e+02] [-1.69688271e-01 9.85491590e-01 -3.49530722e-03 -1.90532434e+01] [-2.06525582e-02 -1.00814512e-05 9.99786713e-01 -5.13169581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.82, Y:-19.05, Z:-5.13 [[ 9.84895245e-01 1.71907092e-01 2.07197456e-02 1.72822250e+02] [-1.71870272e-01 9.85113165e-01 -3.55822324e-03 -1.90524178e+01] [-2.10229780e-02 -5.66311720e-05 9.99778991e-01 -5.13261029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:-19.06, Z:-5.13 [[ 9.84830911e-01 1.72302150e-01 2.04950344e-02 1.72851397e+02] [-1.72266223e-01 9.85044144e-01 -3.51903094e-03 -1.90557143e+01] [-2.07948502e-02 -6.49517216e-05 9.99783762e-01 -5.13430675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.88, Y:-19.06, Z:-5.13 [[ 9.84833672e-01 1.72299309e-01 2.03859553e-02 1.72880477e+02] [-1.72263765e-01 9.85044641e-01 -3.50016987e-03 -1.90602487e+01] [-2.06841529e-02 -6.46762855e-05 9.99786058e-01 -5.13491141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00587156000003 meters Centerline goodness [0,1] 0.99982828196102 Centerline is valid? [True, True] Translation: X:172.91, Y:-19.07, Z:-5.13 [[ 9.84875533e-01 1.72041401e-01 2.05412151e-02 1.72908974e+02] [-1.72005266e-01 9.85089718e-01 -3.52643356e-03 -1.90665097e+01] [-2.08416324e-02 -6.00990397e-05 9.99782788e-01 -5.13470469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.94, Y:-19.07, Z:-5.14 [[ 9.85009308e-01 1.71232494e-01 2.08829302e-02 1.72937771e+02] [-1.71194983e-01 9.85230649e-01 -3.58422164e-03 -1.90718422e+01] [-2.11882381e-02 -4.45612024e-05 9.99775503e-01 -5.13613604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.97, Y:-19.08, Z:-5.14 [[ 9.85140794e-01 1.70509358e-01 2.05954937e-02 1.72966735e+02] [-1.70472727e-01 9.85356057e-01 -3.53429354e-03 -1.90769984e+01] [-2.08965246e-02 -2.91932259e-05 9.99781643e-01 -5.13761730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09587156000003 meters Centerline goodness [0,1] 0.9999143193745315 Centerline is valid? [True, True] Translation: X:173.00, Y:-19.08, Z:-5.14 [[ 9.85198186e-01 1.70247141e-01 2.00111194e-02 1.72995528e+02] [-1.70212508e-01 9.85401396e-01 -3.43389597e-03 -1.90818059e+01] [-2.03035960e-02 -2.30747477e-05 9.99793860e-01 -5.13849567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.02, Y:-19.09, Z:-5.14 [[ 9.85329722e-01 1.69341775e-01 2.11825905e-02 1.73024306e+02] [-1.69302768e-01 9.85557387e-01 -3.63447955e-03 -1.90862939e+01] [-2.14921278e-02 -5.11049125e-06 9.99769018e-01 -5.13806702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.05, Y:-19.09, Z:-5.14 [[ 9.85355359e-01 1.69151639e-01 2.15067155e-02 1.73053457e+02] [-1.69111403e-01 9.85590038e-01 -3.68922223e-03 -1.90914136e+01] [-2.18208425e-02 -1.83593543e-06 9.99761897e-01 -5.13777189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18587156000004 meters Centerline goodness [0,1] 0.9998069539477917 Centerline is valid? [True, True] Translation: X:173.08, Y:-19.10, Z:-5.14 [[ 9.85305391e-01 1.69451280e-01 2.14371023e-02 1.73081611e+02] [-1.69411384e-01 9.85538565e-01 -3.67687744e-03 -1.90958127e+01] [-2.17501427e-02 -8.84201448e-06 9.99763438e-01 -5.13766987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21587156000004 meters Centerline goodness [0,1] 0.9998501038566137 Centerline is valid? [True, True] Translation: X:173.11, Y:-19.10, Z:-5.14 [[ 9.85196112e-01 1.70074976e-01 2.15203069e-02 1.73111508e+02] [-1.70034937e-01 9.85431125e-01 -3.69029959e-03 -1.90978891e+01] [-2.18344079e-02 -2.35352164e-05 9.99761601e-01 -5.13874392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24587156000004 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:173.14, Y:-19.10, Z:-5.14 [[ 9.85083933e-01 1.70755568e-01 2.12645443e-02 1.73141422e+02] [-1.70716644e-01 9.85313419e-01 -3.64595582e-03 -1.91006783e+01] [-2.15748081e-02 -3.86391497e-05 9.99767236e-01 -5.14026627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27587156 meters Centerline goodness [0,1] 0.9997429911546123 Centerline is valid? [True, True] Translation: X:173.17, Y:-19.10, Z:-5.14 [[ 9.85003146e-01 1.71235779e-01 2.11449994e-02 1.73170557e+02] [-1.71197412e-01 9.85230078e-01 -3.62498031e-03 -1.91038661e+01] [-2.14534158e-02 -4.93521748e-05 9.99769848e-01 -5.14075131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.20, Y:-19.10, Z:-5.14 [[ 9.84812714e-01 1.72334474e-01 2.10890330e-02 1.73199806e+02] [-1.72296571e-01 9.85038488e-01 -3.61498675e-03 -1.91031790e+01] [-2.13964961e-02 -7.34831519e-05 9.99771066e-01 -5.14353725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.23, Y:-19.11, Z:-5.14 [[ 9.84766359e-01 1.72595115e-01 2.11221400e-02 1.73228136e+02] [-1.72557167e-01 9.84992853e-01 -3.62000181e-03 -1.91059682e+01] [-2.14299516e-02 -7.99206360e-05 9.99770349e-01 -5.14487669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.26, Y:-19.11, Z:-5.15 [[ 9.84769031e-01 1.72603212e-01 2.09305211e-02 1.73255645e+02] [-1.72565970e-01 9.84991434e-01 -3.58629553e-03 -1.91092188e+01] [-2.12353902e-02 -8.02228987e-05 9.99774500e-01 -5.14635378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.28, Y:-19.11, Z:-5.15 [[ 9.84977658e-01 1.71467951e-01 2.04390562e-02 1.73284959e+02] [-1.71432223e-01 9.85189697e-01 -3.50062786e-03 -1.91139735e+01] [-2.07365930e-02 -5.58726058e-05 9.99784972e-01 -5.14606417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.31, Y:-19.12, Z:-5.15 [[ 9.85171918e-01 1.70384486e-01 2.01350413e-02 1.73314604e+02] [-1.70349596e-01 9.85377657e-01 -3.44808010e-03 -1.91188404e+01] [-2.04281192e-02 -3.30444644e-05 9.99791324e-01 -5.14776454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.34, Y:-19.12, Z:-5.15 [[ 9.85404476e-01 1.69034988e-01 2.01293470e-02 1.73342352e+02] [-1.68999844e-01 9.85610051e-01 -3.44673064e-03 -1.91243797e+01] [-2.04223048e-02 -5.43271285e-06 9.99791443e-01 -5.15053464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.37, Y:-19.13, Z:-5.15 [[ 9.85661730e-01 1.67551143e-01 1.99391142e-02 1.73371566e+02] [-1.67516376e-01 9.85863385e-01 -3.41321424e-03 -1.91315858e+01] [-2.02291306e-02 2.41465034e-05 9.99795370e-01 -5.15064579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51587156000002 meters Centerline goodness [0,1] 0.9998713991769548 Centerline is valid? [True, True] Translation: X:173.40, Y:-19.14, Z:-5.15 [[ 9.86158921e-01 1.64705094e-01 1.90477033e-02 1.73399267e+02] [-1.64672834e-01 9.86342854e-01 -3.26066446e-03 -1.91419735e+01] [-1.93246141e-02 7.88940572e-05 9.99813259e-01 -5.15169885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.43, Y:-19.15, Z:-5.16 [[ 9.86459803e-01 1.62895005e-01 1.90335263e-02 1.73427325e+02] [-1.62862469e-01 9.86643403e-01 -3.25755194e-03 -1.91497564e+01] [-1.93099421e-02 1.13596955e-04 9.99813539e-01 -5.15653273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.46, Y:-19.15, Z:-5.16 [[ 9.86681122e-01 1.61543079e-01 1.90839463e-02 1.73456442e+02] [-1.61510134e-01 9.86865651e-01 -3.26538042e-03 -1.91545523e+01] [-1.93607907e-02 1.39638499e-04 9.99812553e-01 -5.15501534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.49, Y:-19.16, Z:-5.16 [[ 9.86992428e-01 1.59571978e-01 1.95634938e-02 1.73485156e+02] [-1.59536980e-01 9.87186280e-01 -3.34683923e-03 -1.91610128e+01] [-1.98468744e-02 1.82204271e-04 9.99803015e-01 -5.15504191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.51, Y:-19.17, Z:-5.16 [[ 9.87105509e-01 1.58856635e-01 1.96795488e-02 1.73514987e+02] [-1.58821085e-01 9.87301641e-01 -3.36634537e-03 -1.91663657e+01] [-1.99644171e-02 1.97410768e-04 9.99800672e-01 -5.15593310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.54, Y:-19.17, Z:-5.16 [[ 9.87215952e-01 1.58172916e-01 1.96466981e-02 1.73543326e+02] [-1.58137352e-01 9.87411406e-01 -3.36062755e-03 -1.91732674e+01] [-1.99309340e-02 2.10788316e-04 9.99801337e-01 -5.15801602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.57, Y:-19.18, Z:-5.16 [[ 9.87244588e-01 1.57853280e-01 2.07476766e-02 1.73571245e+02] [-1.57813535e-01 9.87462551e-01 -3.54955456e-03 -1.91782995e+01] [-2.10478625e-02 2.30014355e-04 9.99778443e-01 -5.15665630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.60, Y:-19.18, Z:-5.15 [[ 9.87229967e-01 1.57928805e-01 2.08682888e-02 1.73603056e+02] [-1.57888638e-01 9.87450475e-01 -3.56898704e-03 -1.91794078e+01] [-2.11700475e-02 2.28545275e-04 9.99775863e-01 -5.15349769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75587156000003 meters Centerline goodness [0,1] 0.9999139322216245 Centerline is valid? [True, True] Translation: X:173.63, Y:-19.19, Z:-5.16 [[ 9.87226850e-01 1.57987459e-01 2.05696004e-02 1.73633150e+02] [-1.57948434e-01 9.87441093e-01 -3.51852083e-03 -1.91856373e+01] [-2.08671509e-02 2.24642059e-04 9.99782232e-01 -5.15504086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.66, Y:-19.19, Z:-5.16 [[ 9.87216271e-01 1.58047594e-01 2.06153475e-02 1.73662966e+02] [-1.58008403e-01 9.87431470e-01 -3.52660579e-03 -1.91911753e+01] [-2.09136144e-02 2.24124486e-04 9.99781261e-01 -5.15847020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.69, Y:-19.19, Z:-5.16 [[ 9.87131133e-01 1.58597538e-01 2.04682147e-02 1.73694359e+02] [-1.58559014e-01 9.87343292e-01 -3.50179021e-03 -1.91915150e+01] [-2.07645298e-02 2.11306192e-04 9.99784372e-01 -5.15822517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.72, Y:-19.20, Z:-5.16 [[ 9.87071198e-01 1.59030466e-01 1.99940218e-02 1.73724184e+02] [-1.58993796e-01 9.87273656e-01 -3.42066325e-03 -1.91953477e+01] [-2.02835607e-02 1.97512753e-04 9.99794248e-01 -5.15918059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.75, Y:-19.20, Z:-5.16 [[ 9.86993711e-01 1.59556379e-01 1.96259328e-02 1.73754838e+02] [-1.59521150e-01 9.87188801e-01 -3.35768901e-03 -1.91988422e+01] [-1.99102418e-02 1.83266553e-04 9.99801755e-01 -5.16106587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.78, Y:-19.21, Z:-5.16 [[ 9.86973699e-01 1.59673414e-01 1.96803932e-02 1.73783856e+02] [-1.59638011e-01 9.87169878e-01 -3.36713183e-03 -1.92059598e+01] [-1.99655328e-02 1.81531735e-04 9.99800652e-01 -5.16473985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.81, Y:-19.21, Z:-5.16 [[ 9.86900460e-01 1.60109755e-01 1.98077748e-02 1.73813142e+02] [-1.60073982e-01 9.87099203e-01 -3.38879338e-03 -1.92089903e+01] [-2.00948176e-02 1.73692360e-04 9.99798064e-01 -5.16390966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.84, Y:-19.21, Z:-5.16 [[ 9.86847042e-01 1.60459164e-01 1.96410879e-02 1.73842261e+02] [-1.60424072e-01 9.87042466e-01 -3.35968023e-03 -1.92134989e+01] [-1.99256793e-02 1.64587199e-04 9.99801450e-01 -5.16494134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.87, Y:-19.22, Z:-5.17 [[ 9.86850795e-01 1.60436076e-01 1.96411072e-02 1.73871005e+02] [-1.60400982e-01 9.87046219e-01 -3.35956749e-03 -1.92183699e+01] [-1.99256764e-02 1.64938974e-04 9.99801450e-01 -5.16582108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.90, Y:-19.22, Z:-5.17 [[ 9.86761710e-01 1.60933866e-01 2.00404214e-02 1.73901031e+02] [-1.60897443e-01 9.86965180e-01 -3.42737709e-03 -1.92212705e+01] [-2.03307791e-02 1.57551913e-04 9.99793296e-01 -5.16539340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.93, Y:-19.22, Z:-5.17 [[ 9.86448377e-01 1.62755219e-01 2.07445827e-02 1.73930432e+02] [-1.62716603e-01 9.86666470e-01 -3.54737831e-03 -1.92218653e+01] [-2.10453385e-02 1.23817552e-04 9.99778515e-01 -5.16532706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.96, Y:-19.22, Z:-5.17 [[ 9.86225283e-01 1.64102453e-01 2.07382679e-02 1.73959834e+02] [-1.64064177e-01 9.86443296e-01 -3.54541937e-03 -1.92241902e+01] [-2.10389373e-02 9.41753823e-05 9.99778653e-01 -5.16584642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.99, Y:-19.23, Z:-5.17 [[ 9.85953378e-01 1.65677165e-01 2.11427112e-02 1.73987218e+02] [-1.65637747e-01 9.86180041e-01 -3.61434930e-03 -1.92261469e+01] [-2.14493350e-02 6.15488376e-05 9.99769935e-01 -5.16724655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.02, Y:-19.22, Z:-5.17 [[ 9.85234439e-01 1.69940335e-01 2.08178462e-02 1.74016285e+02] [-1.69903096e-01 9.85454353e-01 -3.55759022e-03 -1.92214109e+01] [-2.11196153e-02 -3.19561232e-05 9.99776956e-01 -5.17050160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.05, Y:-19.22, Z:-5.17 [[ 9.84861609e-01 1.72153266e-01 2.02697821e-02 1.74045657e+02] [-1.72118455e-01 9.85070174e-01 -3.46272681e-03 -1.92219452e+01] [-2.05632775e-02 -7.84968918e-05 9.99788550e-01 -5.16924885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20587156000002 meters Centerline goodness [0,1] 0.9998288770053476 Centerline is valid? [True, True] Translation: X:174.07, Y:-19.22, Z:-5.17 [[ 9.84531530e-01 1.74088892e-01 1.97667326e-02 1.74073825e+02] [-1.74056193e-01 9.84729935e-01 -3.37599824e-03 -1.92227325e+01] [-2.00526171e-02 -1.16745517e-04 9.99798919e-01 -5.17121030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.10, Y:-19.22, Z:-5.18 [[ 9.83948898e-01 1.77349628e-01 1.97907729e-02 1.74103096e+02] [-1.77317533e-01 9.84147893e-01 -3.37890620e-03 -1.92164701e+01] [-2.00762953e-02 -1.84580009e-04 9.99798434e-01 -5.17594379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26587156000002 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:174.13, Y:-19.22, Z:-5.17 [[ 9.83730483e-01 1.78506907e-01 2.02391102e-02 1.74132080e+02] [-1.78473613e-01 9.83938636e-01 -3.45413098e-03 -1.92204131e+01] [-2.05306287e-02 -2.14213191e-04 9.99789201e-01 -5.17302048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.16, Y:-19.22, Z:-5.17 [[ 9.83543360e-01 1.79485615e-01 2.06729807e-02 1.74160663e+02] [-1.79451116e-01 9.83760568e-01 -3.52717830e-03 -1.92226684e+01] [-2.09703410e-02 -2.40656652e-04 9.99780069e-01 -5.17267262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.19, Y:-19.23, Z:-5.17 [[ 9.83418076e-01 1.80133502e-01 2.09954612e-02 1.74188855e+02] [-1.80098085e-01 9.83642137e-01 -3.58128107e-03 -1.92259801e+01] [-2.12971290e-02 -2.59345807e-04 9.99773157e-01 -5.17262198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.22, Y:-19.23, Z:-5.17 [[ 9.83342572e-01 1.80566543e-01 2.08112799e-02 1.74216844e+02] [-1.80531869e-01 9.83562734e-01 -3.54859096e-03 -1.92280370e+01] [-2.11099561e-02 -2.67618687e-04 9.99777124e-01 -5.17377000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.24, Y:-19.23, Z:-5.17 [[ 9.83287578e-01 1.80814867e-01 2.12490860e-02 1.74244694e+02] [-1.80778801e-01 9.83517110e-01 -3.62209557e-03 -1.92266752e+01] [-2.15537684e-02 -2.79822725e-04 9.99767651e-01 -5.17469954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41587156000003 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:174.27, Y:-19.23, Z:-5.18 [[ 9.83266434e-01 1.80940544e-01 2.11574735e-02 1.74272359e+02] [-1.80904860e-01 9.83493996e-01 -3.60447588e-03 -1.92285062e+01] [-2.14604440e-02 -2.83329652e-04 9.99769658e-01 -5.17598105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44587156000003 meters Centerline goodness [0,1] 0.9998059257342476 Centerline is valid? [True, True] Translation: X:174.30, Y:-19.23, Z:-5.17 [[ 9.83183671e-01 1.81418567e-01 2.09086858e-02 1.74300434e+02] [-1.81383850e-01 9.83405928e-01 -3.56095188e-03 -1.92327082e+01] [-2.12077484e-02 -2.91428192e-04 9.99775048e-01 -5.17402246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47587156000003 meters Centerline goodness [0,1] 0.9997857938479993 Centerline is valid? [True, True] Translation: X:174.33, Y:-19.24, Z:-5.17 [[ 9.83147178e-01 1.81634525e-01 2.07491001e-02 1.74329720e+02] [-1.81600414e-01 9.83366062e-01 -3.53234972e-03 -1.92351739e+01] [-2.10455575e-02 -2.95225517e-04 9.99778474e-01 -5.17478829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50587156000003 meters Centerline goodness [0,1] 0.9999364850845807 Centerline is valid? [True, True] Translation: X:174.36, Y:-19.23, Z:-5.18 [[ 9.83128034e-01 1.81705579e-01 2.10321679e-02 1.74357186e+02] [-1.81670563e-01 9.83352933e-01 -3.57977655e-03 -1.92328606e+01] [-2.13325094e-02 -3.01547103e-04 9.99772391e-01 -5.17829966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.38, Y:-19.24, Z:-5.18 [[ 9.83105907e-01 1.81805523e-01 2.12020476e-02 1.74384757e+02] [-1.81770005e-01 9.83334458e-01 -3.60670002e-03 -1.92374298e+01] [-2.15044220e-02 -3.08128199e-04 9.99768706e-01 -5.17738276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.41, Y:-19.23, Z:-5.18 [[ 9.83143832e-01 1.81643564e-01 2.08283572e-02 1.74412313e+02] [-1.81609281e-01 9.83364391e-01 -3.54171647e-03 -1.92347312e+01] [-2.11251948e-02 -3.00606287e-04 9.99776793e-01 -5.17982093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.44, Y:-19.24, Z:-5.18 [[ 9.83194720e-01 1.81339911e-01 2.10708089e-02 1.74441061e+02] [-1.81304802e-01 9.83420432e-01 -3.58074953e-03 -1.92387457e+01] [-2.13707968e-02 -2.99664808e-04 9.99771574e-01 -5.17986680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62587156000004 meters Centerline goodness [0,1] 0.999957040060144 Centerline is valid? [True, True] Translation: X:174.47, Y:-19.24, Z:-5.18 [[ 9.83267093e-01 1.80895917e-01 2.15056183e-02 1.74469215e+02] [-1.80859261e-01 9.83502201e-01 -3.65356159e-03 -1.92427861e+01] [-2.18117373e-02 -2.97063356e-04 9.99762052e-01 -5.17903853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65587156000004 meters Centerline goodness [0,1] 0.9999788753221514 Centerline is valid? [True, True] Translation: X:174.50, Y:-19.24, Z:-5.18 [[ 9.83331031e-01 1.80491190e-01 2.19775908e-02 1.74497722e+02] [-1.80452830e-01 9.83576557e-01 -3.73270559e-03 -1.92427784e+01] [-2.22903635e-02 -2.95433216e-04 9.99751495e-01 -5.18086754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.53, Y:-19.25, Z:-5.18 [[ 9.83497243e-01 1.79489071e-01 2.27342739e-02 1.74526182e+02] [-1.79447792e-01 9.83759927e-01 -3.85966465e-03 -1.92456748e+01] [-2.30578352e-02 -2.83645698e-04 9.99734093e-01 -5.17949859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.55, Y:-19.25, Z:-5.18 [[ 9.83653024e-01 1.78630911e-01 2.27536013e-02 1.74554283e+02] [-1.78589356e-01 9.83916118e-01 -3.86190134e-03 -1.92477138e+01] [-2.30774901e-02 -2.64780079e-04 9.99733644e-01 -5.18084575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.58, Y:-19.25, Z:-5.18 [[ 9.83747462e-01 1.78072803e-01 2.30435990e-02 1.74582665e+02] [-1.78030063e-01 9.84017282e-01 -3.90967334e-03 -1.92463307e+01] [-2.33715062e-02 -2.56322156e-04 9.99726816e-01 -5.18408959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.61, Y:-19.25, Z:-5.18 [[ 9.83910357e-01 1.77279211e-01 2.21921202e-02 1.74610290e+02] [-1.77239396e-01 9.84160571e-01 -3.76404396e-03 -1.92511460e+01] [-2.25078964e-02 -2.29836141e-04 9.99746639e-01 -5.18367527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.64, Y:-19.25, Z:-5.19 [[ 9.83985625e-01 1.76919939e-01 2.17169077e-02 1.74637047e+02] [-1.76881756e-01 9.84225222e-01 -3.68198524e-03 -1.92530948e+01] [-2.20257449e-02 -2.18304224e-04 9.99757380e-01 -5.18522905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.67, Y:-19.26, Z:-5.19 [[ 9.84039106e-01 1.76600928e-01 2.18895026e-02 1.74665400e+02] [-1.76562105e-01 9.84282513e-01 -3.70906978e-03 -1.92560866e+01] [-2.22004798e-02 -2.14986941e-04 9.99753516e-01 -5.18573455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86587156000002 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:174.69, Y:-19.26, Z:-5.19 [[ 9.84372264e-01 1.74691906e-01 2.22257537e-02 1.74693992e+02] [-1.74651418e-01 9.84623130e-01 -3.76494791e-03 -1.92593576e+01] [-2.25416971e-02 -1.75649110e-04 9.99745888e-01 -5.18561906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.72, Y:-19.26, Z:-5.19 [[ 9.84628671e-01 1.73212087e-01 2.24489186e-02 1.74722348e+02] [-1.73170423e-01 9.84884537e-01 -3.80165515e-03 -1.92645567e+01] [-2.27680854e-02 -1.44270081e-04 9.99740763e-01 -5.18653430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.75, Y:-19.27, Z:-5.19 [[ 9.84986365e-01 1.71198529e-01 2.22019061e-02 1.74751033e+02] [-1.71157291e-01 9.85236547e-01 -3.75865843e-03 -1.92705192e+01] [-2.25176061e-02 -9.77907858e-05 9.99746442e-01 -5.18805002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.78, Y:-19.28, Z:-5.19 [[ 9.85829473e-01 1.66325646e-01 2.18181219e-02 1.74777732e+02] [-1.66284641e-01 9.86070879e-01 -3.69308960e-03 -1.92792744e+01] [-2.21284701e-02 1.27380085e-05 9.99755135e-01 -5.19113101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.81, Y:-19.29, Z:-5.19 [[ 9.86251211e-01 1.63862650e-01 2.13911395e-02 1.74806157e+02] [-1.63822684e-01 9.86483161e-01 -3.61943939e-03 -1.92865976e+01] [-2.16950899e-02 6.53225832e-05 9.99764632e-01 -5.19192795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01587156000002 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:174.83, Y:-19.29, Z:-5.19 [[ 9.86711140e-01 1.61133345e-01 2.09086505e-02 1.74834074e+02] [-1.61094570e-01 9.86932637e-01 -3.53681747e-03 -1.92945394e+01] [-2.12053288e-02 1.21547136e-04 9.99775134e-01 -5.19337446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.86, Y:-19.30, Z:-5.19 [[ 9.87444784e-01 1.56541917e-01 2.11524781e-02 1.74861484e+02] [-1.56501198e-01 9.87671291e-01 -3.57713214e-03 -1.93025922e+01] [-2.14516665e-02 2.21832301e-04 9.99769862e-01 -5.19352147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.89, Y:-19.31, Z:-5.19 [[ 9.87753468e-01 1.54563777e-01 2.12867479e-02 1.74888460e+02] [-1.54522108e-01 9.87982777e-01 -3.59857790e-03 -1.93094168e+01] [-2.15871501e-02 2.65234649e-04 9.99766935e-01 -5.19493837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.92, Y:-19.32, Z:-5.20 [[ 9.88032346e-01 1.52774049e-01 2.12643613e-02 1.74916400e+02] [-1.52732089e-01 9.88261098e-01 -3.59311336e-03 -1.93151359e+01] [-2.15636755e-02 3.02361892e-04 9.99767431e-01 -5.19528235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.94, Y:-19.32, Z:-5.20 [[ 9.88468862e-01 1.49974130e-01 2.09062127e-02 1.74942869e+02] [-1.49932962e-01 9.88689857e-01 -3.53182510e-03 -1.93239567e+01] [-2.11994429e-02 3.56568745e-04 9.99775203e-01 -5.19725205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.97, Y:-19.33, Z:-5.20 [[ 9.88670344e-01 1.48615617e-01 2.10796046e-02 1.74971747e+02] [-1.48573490e-01 9.88894963e-01 -3.55942874e-03 -1.93285359e+01] [-2.13745015e-02 3.87231221e-04 9.99771464e-01 -5.19690556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19587156000003 meters Centerline goodness [0,1] 0.9998492191707055 Centerline is valid? [True, True] Translation: X:175.00, Y:-19.33, Z:-5.20 [[ 9.88884859e-01 1.47116113e-01 2.15310397e-02 1.74999535e+02] [-1.47071828e-01 9.89119137e-01 -3.63469082e-03 -1.93340517e+01] [-2.18314850e-02 4.27681348e-04 9.99761573e-01 -5.19629067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.03, Y:-19.34, Z:-5.20 [[ 9.89025966e-01 1.46088935e-01 2.20377474e-02 1.75026820e+02] [-1.46042317e-01 9.89271354e-01 -3.71884758e-03 -1.93397433e+01] [-2.23445947e-02 4.59593137e-04 9.99750223e-01 -5.19688583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25587156000003 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:175.05, Y:-19.35, Z:-5.20 [[ 9.89472751e-01 1.42881741e-01 2.29887430e-02 1.75054206e+02] [-1.42830185e-01 9.89739613e-01 -3.87768939e-03 -1.93493013e+01] [-2.33069206e-02 5.53381574e-04 9.99728204e-01 -5.19619222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28587156000003 meters Centerline goodness [0,1] 0.9999570409829023 Centerline is valid? [True, True] Translation: X:175.08, Y:-19.36, Z:-5.20 [[ 9.89686509e-01 1.41321266e-01 2.34288981e-02 1.75081413e+02] [-1.41267297e-01 9.89963605e-01 -3.95117242e-03 -1.93575085e+01] [-2.37521412e-02 6.00684919e-04 9.99717698e-01 -5.19693897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.11, Y:-19.36, Z:-5.20 [[ 9.89912725e-01 1.39750131e-01 2.32958558e-02 1.75110778e+02] [-1.39696368e-01 9.90186598e-01 -3.92749864e-03 -1.93632269e+01] [-2.36161126e-02 6.33534435e-04 9.99720900e-01 -5.19752150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34587156000003 meters Centerline goodness [0,1] 0.9999782120835784 Centerline is valid? [True, True] Translation: X:175.14, Y:-19.37, Z:-5.20 [[ 9.90337572e-01 1.36760962e-01 2.29767926e-02 1.75139790e+02] [-1.36707874e-01 9.90603835e-01 -3.87300440e-03 -1.93744151e+01] [-2.32905746e-02 6.94473307e-04 9.99728497e-01 -5.19848576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37587156000004 meters Centerline goodness [0,1] 0.9997853294120173 Centerline is valid? [True, True] Translation: X:175.17, Y:-19.38, Z:-5.20 [[ 9.90519439e-01 1.35470156e-01 2.27833016e-02 1.75169465e+02] [-1.35417617e-01 9.90781167e-01 -3.84038925e-03 -1.93832644e+01] [-2.30935243e-02 7.18719796e-04 9.99733051e-01 -5.19921740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40587156000004 meters Centerline goodness [0,1] 0.9998717976111622 Centerline is valid? [True, True] Translation: X:175.20, Y:-19.39, Z:-5.20 [[ 9.90647218e-01 1.34544741e-01 2.27112571e-02 1.75197776e+02] [-1.34492290e-01 9.90907245e-01 -3.82833012e-03 -1.93948823e+01] [-2.30198308e-02 7.38035616e-04 9.99734736e-01 -5.20194641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43587156000004 meters Centerline goodness [0,1] 0.9998935966461663 Centerline is valid? [True, True] Translation: X:175.23, Y:-19.40, Z:-5.20 [[ 9.90729062e-01 1.33994632e-01 2.23911755e-02 1.75227518e+02] [-1.33943516e-01 9.90981781e-01 -3.77402176e-03 -1.94029047e+01] [-2.26949457e-02 7.39880259e-04 9.99742163e-01 -5.20306523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46587156000004 meters Centerline goodness [0,1] 0.9996807491752687 Centerline is valid? [True, True] Translation: X:175.26, Y:-19.41, Z:-5.20 [[ 9.90733395e-01 1.34043600e-01 2.19009931e-02 1.75256517e+02] [-1.33994709e-01 9.90975172e-01 -3.69149164e-03 -1.94112007e+01] [-2.21981612e-02 7.22666852e-04 9.99753329e-01 -5.20415817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49587156000004 meters Centerline goodness [0,1] 0.9999146375296101 Centerline is valid? [True, True] Translation: X:175.29, Y:-19.42, Z:-5.21 [[ 9.90574874e-01 1.35189874e-01 2.20253758e-02 1.75286079e+02] [-1.35140714e-01 9.90819462e-01 -3.71220183e-03 -1.94163725e+01] [-2.23250231e-02 7.00688849e-04 9.99750520e-01 -5.20547608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52587156000004 meters Centerline goodness [0,1] 0.9999144641176974 Centerline is valid? [True, True] Translation: X:175.32, Y:-19.42, Z:-5.21 [[ 9.90386529e-01 1.36594515e-01 2.18280129e-02 1.75316435e+02] [-1.36546580e-01 9.90626821e-01 -3.67860198e-03 -1.94180783e+01] [-2.21258919e-02 6.62697333e-04 9.99754973e-01 -5.20541163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55587156 meters Centerline goodness [0,1] 0.9998925401362591 Centerline is valid? [True, True] Translation: X:175.35, Y:-19.42, Z:-5.21 [[ 9.89845769e-01 1.40481326e-01 2.16875749e-02 1.75345818e+02] [-1.40434933e-01 9.90083163e-01 -3.65512419e-03 -1.94214986e+01] [-2.19859794e-02 5.72316081e-04 9.99758115e-01 -5.20641556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58587156000002 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:175.38, Y:-19.42, Z:-5.21 [[ 9.89523142e-01 1.42719355e-01 2.17976192e-02 1.75375575e+02] [-1.42673045e-01 9.89763058e-01 -3.67315499e-03 -1.94243083e+01] [-2.20987085e-02 5.24739166e-04 9.99755656e-01 -5.20789095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61587156000002 meters Centerline goodness [0,1] 0.9999784431654056 Centerline is valid? [True, True] Translation: X:175.41, Y:-19.43, Z:-5.21 [[ 9.89192126e-01 1.44992600e-01 2.18193662e-02 1.75405429e+02] [-1.44946760e-01 9.89432626e-01 -3.67630626e-03 -1.94260084e+01] [-2.21218300e-02 4.73926759e-04 9.99755170e-01 -5.20796378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64587156000002 meters Centerline goodness [0,1] 0.9999574087482431 Centerline is valid? [True, True] Translation: X:175.43, Y:-19.43, Z:-5.21 [[ 9.88500440e-01 1.49652467e-01 2.17029675e-02 1.75433579e+02] [-1.49608247e-01 9.88738592e-01 -3.65626437e-03 -1.94300586e+01] [-2.20057306e-02 3.67276016e-04 9.99757777e-01 -5.21093256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67587156000002 meters Centerline goodness [0,1] 0.9999576127500848 Centerline is valid? [True, True] Translation: X:175.46, Y:-19.43, Z:-5.21 [[ 9.88197224e-01 1.51687048e-01 2.13842543e-02 1.75462917e+02] [-1.51644610e-01 9.88428520e-01 -3.60178710e-03 -1.94322865e+01] [-2.16831513e-02 3.16469117e-04 9.99764843e-01 -5.21208804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.49, Y:-19.44, Z:-5.21 [[ 9.87950719e-01 1.53311565e-01 2.11882434e-02 1.75491272e+02] [-1.53270289e-01 9.88177862e-01 -3.56815441e-03 -1.94352259e+01] [-2.14847924e-02 2.77632537e-04 9.99769137e-01 -5.21287237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.52, Y:-19.44, Z:-5.21 [[ 9.87511579e-01 1.56174287e-01 2.07478499e-02 1.75519784e+02] [-1.56135360e-01 9.87729491e-01 -3.49304869e-03 -1.94377481e+01] [-2.10387877e-02 2.09952999e-04 9.99778638e-01 -5.21403755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.55, Y:-19.44, Z:-5.21 [[ 9.87296279e-01 1.57524106e-01 2.07897423e-02 1.75548616e+02] [-1.57485342e-01 9.87515126e-01 -3.49910573e-03 -1.94407180e+01] [-2.10813785e-02 1.80574387e-04 9.99777747e-01 -5.21422241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79587156000002 meters Centerline goodness [0,1] 0.9999149099108682 Centerline is valid? [True, True] Translation: X:175.58, Y:-19.44, Z:-5.21 [[ 9.87106395e-01 1.58649863e-01 2.12411269e-02 1.75575859e+02] [-1.58609677e-01 9.87334895e-01 -3.57414349e-03 -1.94442790e+01] [-2.15391432e-02 1.59011600e-04 9.99767993e-01 -5.21354701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.60, Y:-19.45, Z:-5.21 [[ 9.86923184e-01 1.59653031e-01 2.22157082e-02 1.75604930e+02] [-1.59609364e-01 9.87173181e-01 -3.73651547e-03 -1.94476776e+01] [-2.25272973e-02 1.41818700e-04 9.99746218e-01 -5.21355776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.63, Y:-19.45, Z:-5.21 [[ 9.86696076e-01 1.60916503e-01 2.31674923e-02 1.75632707e+02] [-1.60869387e-01 9.86968016e-01 -3.89550563e-03 -1.94520217e+01] [-2.34924250e-02 1.16739841e-04 9.99724008e-01 -5.21322709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.66, Y:-19.46, Z:-5.21 [[ 9.86681774e-01 1.61038885e-01 2.29249878e-02 1.75660833e+02] [-1.60992816e-01 9.86948056e-01 -3.85330250e-03 -1.94570485e+01] [-2.32463036e-02 1.11225011e-04 9.99729762e-01 -5.21425002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.69, Y:-19.46, Z:-5.22 [[ 9.86689143e-01 1.60993701e-01 2.29251636e-02 1.75688771e+02] [-1.60947644e-01 9.86955428e-01 -3.85225606e-03 -1.94616518e+01] [-2.32463036e-02 1.11228161e-04 9.99729762e-01 -5.21510452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.72, Y:-19.47, Z:-5.22 [[ 9.86668337e-01 1.61136269e-01 2.28187743e-02 1.75716964e+02] [-1.61090702e-01 9.86932162e-01 -3.83330957e-03 -1.94671439e+01] [-2.31382675e-02 1.06312798e-04 9.99732269e-01 -5.21657002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.75, Y:-19.47, Z:-5.22 [[ 9.86731597e-01 1.60773427e-01 2.26419994e-02 1.75745535e+02] [-1.60728492e-01 9.86991333e-01 -3.80257985e-03 -1.94726434e+01] [-2.29588110e-02 1.12911275e-04 9.99736405e-01 -5.21641144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.77, Y:-19.48, Z:-5.22 [[ 9.86789690e-01 1.60386463e-01 2.28536872e-02 1.75773134e+02] [-1.60340604e-01 9.87054288e-01 -3.83707603e-03 -1.94782564e+01] [-2.31732450e-02 1.22013057e-04 9.99731457e-01 -5.21742804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.80, Y:-19.48, Z:-5.22 [[ 9.86864333e-01 1.59927178e-01 2.28492129e-02 1.75801304e+02] [-1.59881248e-01 9.87128806e-01 -3.83484393e-03 -1.94839898e+01] [-2.31684120e-02 1.31310014e-04 9.99731568e-01 -5.21817666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.83, Y:-19.49, Z:-5.22 [[ 9.87026422e-01 1.58981516e-01 2.24437157e-02 1.75829746e+02] [-1.58936982e-01 9.87281548e-01 -3.76573237e-03 -1.94904289e+01] [-2.27569482e-02 1.49740923e-04 9.99741016e-01 -5.21943502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.86, Y:-19.50, Z:-5.22 [[ 9.87088693e-01 1.58608898e-01 2.23411965e-02 1.75857268e+02] [-1.58564698e-01 9.87341477e-01 -3.74745582e-03 -1.94961182e+01] [-2.26527698e-02 1.56546186e-04 9.99743381e-01 -5.22136789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.89, Y:-19.50, Z:-5.22 [[ 9.87144731e-01 1.58237004e-01 2.25017959e-02 1.75886119e+02] [-1.58192095e-01 9.87401146e-01 -3.77331051e-03 -1.95013526e+01] [-2.28153764e-02 1.65197362e-04 9.99739682e-01 -5.22153214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15587156000004 meters Centerline goodness [0,1] 0.9997447405926273 Centerline is valid? [True, True] Translation: X:175.91, Y:-19.51, Z:-5.22 [[ 9.87260419e-01 1.57531239e-01 2.23779961e-02 1.75913221e+02] [-1.57486663e-01 9.87513988e-01 -3.75156079e-03 -1.95080522e+01] [-2.26895722e-02 1.79531525e-04 9.99742542e-01 -5.22128654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.94, Y:-19.52, Z:-5.22 [[ 9.87458079e-01 1.56264067e-01 2.25407238e-02 1.75941167e+02] [-1.56218545e-01 9.87715292e-01 -3.77738273e-03 -1.95153587e+01] [-2.28540868e-02 2.08728023e-04 9.99738789e-01 -5.22347161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.97, Y:-19.52, Z:-5.23 [[ 9.87573407e-01 1.55561285e-01 2.23484419e-02 1.75968297e+02] [-1.55516378e-01 9.87826218e-01 -3.74418416e-03 -1.95217467e+01] [-2.26588270e-02 2.22107962e-04 9.99743231e-01 -5.22508140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.00, Y:-19.53, Z:-5.23 [[ 9.87761055e-01 1.54323451e-01 2.26355939e-02 1.75996444e+02] [-1.54277091e-01 9.88020348e-01 -3.79082339e-03 -1.95307100e+01] [-2.29494403e-02 2.52274130e-04 9.99736595e-01 -5.22510594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.02, Y:-19.54, Z:-5.23 [[ 9.87877894e-01 1.53501909e-01 2.31177458e-02 1.76024296e+02] [-1.53453357e-01 9.88148313e-01 -3.87035602e-03 -1.95383286e+01] [-2.34378686e-02 2.75943463e-04 9.99725257e-01 -5.22547746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.05, Y:-19.55, Z:-5.23 [[ 9.87946156e-01 1.53025899e-01 2.33552162e-02 1.76053270e+02] [-1.52976233e-01 9.88222136e-01 -3.90918808e-03 -1.95458967e+01] [-2.36783486e-02 2.89274358e-04 9.99719587e-01 -5.22612542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.08, Y:-19.55, Z:-5.23 [[ 9.87986311e-01 1.52759301e-01 2.34018294e-02 1.76081925e+02] [-1.52709375e-01 9.88263380e-01 -3.91644020e-03 -1.95522815e+01] [-2.37254437e-02 2.95710579e-04 9.99718468e-01 -5.22658875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.11, Y:-19.56, Z:-5.23 [[ 9.88039191e-01 1.52420550e-01 2.33780367e-02 1.76109961e+02] [-1.52370641e-01 9.88315680e-01 -3.91197835e-03 -1.95610148e+01] [-2.37011461e-02 3.03061486e-04 9.99719042e-01 -5.22752669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.14, Y:-19.57, Z:-5.23 [[ 9.88018820e-01 1.52558309e-01 2.33403925e-02 1.76138999e+02] [-1.52508621e-01 9.88294426e-01 -3.90477893e-03 -1.95680684e+01] [-2.36628863e-02 2.98384011e-04 9.99719950e-01 -5.22869657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.17, Y:-19.57, Z:-5.23 [[ 9.87984299e-01 1.52781633e-01 2.33409003e-02 1.76166655e+02] [-1.52732016e-01 9.88259929e-01 -3.90439082e-03 -1.95748502e+01] [-2.36633956e-02 2.92574064e-04 9.99719940e-01 -5.22968456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.20, Y:-19.58, Z:-5.23 [[ 9.87967143e-01 1.52913978e-01 2.31999975e-02 1.76195370e+02] [-1.52865015e-01 9.88239461e-01 -3.87994057e-03 -1.95803521e+01] [-2.35204502e-02 2.86785826e-04 9.99723315e-01 -5.23049034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.22, Y:-19.59, Z:-5.23 [[ 9.87847175e-01 1.53678811e-01 2.32547300e-02 1.76223206e+02] [-1.53629848e-01 9.88120818e-01 -3.88828566e-03 -1.95899886e+01] [-2.35760299e-02 2.68411365e-04 9.99722011e-01 -5.23159290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.25, Y:-19.60, Z:-5.23 [[ 9.87779445e-01 1.54075477e-01 2.35056422e-02 1.76252314e+02] [-1.54025550e-01 9.88059046e-01 -3.93080613e-03 -1.95967944e+01] [-2.38306032e-02 2.62300029e-04 9.99715976e-01 -5.23221500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.28, Y:-19.60, Z:-5.23 [[ 9.87548852e-01 1.55556031e-01 2.34432582e-02 1.76280394e+02] [-1.55506798e-01 9.87827045e-01 -3.91990523e-03 -1.96033717e+01] [-2.37676494e-02 2.25511899e-04 9.99717484e-01 -5.23365219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57587156000002 meters Centerline goodness [0,1] 0.9998072763870747 Centerline is valid? [True, True] Translation: X:176.31, Y:-19.61, Z:-5.23 [[ 9.87401453e-01 1.56496175e-01 2.33948239e-02 1.76309263e+02] [-1.56447431e-01 9.87678544e-01 -3.91084822e-03 -1.96092504e+01] [-2.37185984e-02 2.01517127e-04 9.99718654e-01 -5.23351894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.34, Y:-19.61, Z:-5.23 [[ 9.87213669e-01 1.57655236e-01 2.35371654e-02 1.76338642e+02] [-1.57606231e-01 9.87494201e-01 -3.93444922e-03 -1.96128519e+01] [-2.38631008e-02 1.74538129e-04 9.99715220e-01 -5.23487125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63587156000003 meters Centerline goodness [0,1] 0.9999357986646122 Centerline is valid? [True, True] Translation: X:176.37, Y:-19.62, Z:-5.23 [[ 9.86696916e-01 1.60842431e-01 2.36412456e-02 1.76368822e+02] [-1.60793923e-01 9.86980093e-01 -3.95113261e-03 -1.96166083e+01] [-2.39689485e-02 9.72017517e-05 9.99712699e-01 -5.23395787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.40, Y:-19.62, Z:-5.24 [[ 9.86309258e-01 1.63206465e-01 2.36156044e-02 1.76397429e+02] [-1.63158734e-01 9.86591936e-01 -3.94707458e-03 -1.96203118e+01] [-2.39431530e-02 3.99440782e-05 9.99713321e-01 -5.23848486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.43, Y:-19.62, Z:-5.24 [[ 9.85943774e-01 1.65410713e-01 2.35408459e-02 1.76426414e+02] [-1.65363931e-01 9.86224769e-01 -3.93377629e-03 -1.96231882e+01] [-2.38672541e-02 -1.43245642e-05 9.99715136e-01 -5.23787420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.46, Y:-19.62, Z:-5.24 [[ 9.85268739e-01 1.69413657e-01 2.33350442e-02 1.76455517e+02] [-1.69368837e-01 9.85545027e-01 -3.89828896e-03 -1.96241440e+01] [-2.36581602e-02 -1.11367058e-04 9.99720100e-01 -5.23891830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.48, Y:-19.63, Z:-5.24 [[ 9.85012869e-01 1.70930318e-01 2.30754032e-02 1.76484347e+02] [-1.70886932e-01 9.85283109e-01 -3.85381856e-03 -1.96271219e+01] [-2.33945394e-02 -1.47223977e-04 9.99726299e-01 -5.24040967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.51, Y:-19.63, Z:-5.24 [[ 9.84843236e-01 1.71923667e-01 2.29358388e-02 1.76512580e+02] [-1.71881098e-01 9.85110260e-01 -3.82941947e-03 -1.96318775e+01] [-2.32526980e-02 -1.70859304e-04 9.99729605e-01 -5.24112291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81587156000003 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:176.54, Y:-19.64, Z:-5.24 [[ 9.84762960e-01 1.72412153e-01 2.27148213e-02 1.76540025e+02] [-1.72370554e-01 9.85024881e-01 -3.79150630e-03 -1.96369368e+01] [-2.30283659e-02 -1.81631354e-04 9.99734796e-01 -5.24289047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84587156000003 meters Centerline goodness [0,1] 0.999914528088207 Centerline is valid? [True, True] Translation: X:176.57, Y:-19.64, Z:-5.24 [[ 9.84785798e-01 1.72314014e-01 2.24680160e-02 1.76568318e+02] [-1.72273322e-01 9.85042054e-01 -3.74888144e-03 -1.96440633e+01] [-2.27779254e-02 -1.78794542e-04 9.99740533e-01 -5.24303429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.59, Y:-19.65, Z:-5.25 [[ 9.84878869e-01 1.71796981e-01 2.23475093e-02 1.76594998e+02] [-1.71756613e-01 9.85132361e-01 -3.72777987e-03 -1.96522397e+01] [-2.26556759e-02 -1.66920887e-04 9.99743313e-01 -5.24525085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.62, Y:-19.66, Z:-5.24 [[ 9.84963040e-01 1.71242354e-01 2.28881022e-02 1.76623620e+02] [-1.71199896e-01 9.85228923e-01 -3.81635940e-03 -1.96591593e+01] [-2.32035426e-02 -1.59467755e-04 9.99730749e-01 -5.24471178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.65, Y:-19.67, Z:-5.25 [[ 9.85031152e-01 1.70818483e-01 2.31230507e-02 1.76651341e+02] [-1.70775053e-01 9.85302503e-01 -3.85467180e-03 -1.96665276e+01] [-2.34416489e-02 -1.51868399e-04 9.99725195e-01 -5.24587470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96587156000004 meters Centerline goodness [0,1] 0.9998293515358362 Centerline is valid? [True, True] Translation: X:176.68, Y:-19.67, Z:-5.25 [[ 9.85020646e-01 1.70852638e-01 2.33174284e-02 1.76680312e+02] [-1.70808506e-01 9.85296581e-01 -3.88613592e-03 -1.96732934e+01] [-2.36385390e-02 -1.54890996e-04 9.99720559e-01 -5.24516919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99587156000004 meters Centerline goodness [0,1] 0.9999786009287197 Centerline is valid? [True, True] Translation: X:176.71, Y:-19.68, Z:-5.25 [[ 9.84958483e-01 1.71170107e-01 2.36131691e-02 1.76708989e+02] [-1.71124952e-01 9.85241477e-01 -3.93490765e-03 -1.96778253e+01] [-2.39382122e-02 -1.65081760e-04 9.99713426e-01 -5.24662894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.74, Y:-19.68, Z:-5.25 [[ 9.84888591e-01 1.71550782e-01 2.37653811e-02 1.76738399e+02] [-1.71505177e-01 9.85175263e-01 -3.95931585e-03 -1.96832967e+01] [-2.40922893e-02 -1.76400870e-04 9.99709723e-01 -5.24694212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05587156 meters Centerline goodness [0,1] 0.9999137503503892 Centerline is valid? [True, True] Translation: X:176.77, Y:-19.69, Z:-5.25 [[ 9.84710915e-01 1.72610848e-01 2.34501536e-02 1.76766217e+02] [-1.72566757e-01 9.84990079e-01 -3.90631387e-03 -1.96883514e+01] [-2.37724408e-02 -2.00127068e-04 9.99717376e-01 -5.24780448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08587156000002 meters Centerline goodness [0,1] 0.9998278422173923 Centerline is valid? [True, True] Translation: X:176.79, Y:-19.69, Z:-5.25 [[ 9.84653971e-01 1.73021121e-01 2.28089609e-02 1.76794875e+02] [-1.72979539e-01 9.84918093e-01 -3.79862352e-03 -1.96944005e+01] [-2.31222003e-02 -2.05153796e-04 9.99732625e-01 -5.24918355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.82, Y:-19.70, Z:-5.25 [[ 9.84627497e-01 1.73194614e-01 2.26344531e-02 1.76824172e+02] [-1.73153724e-01 9.84887599e-01 -3.76901242e-03 -1.96996140e+01] [-2.29451649e-02 -2.08166587e-04 9.99736703e-01 -5.25197896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14587156000002 meters Centerline goodness [0,1] 0.9998926255207662 Centerline is valid? [True, True] Translation: X:176.85, Y:-19.70, Z:-5.25 [[ 9.84642069e-01 1.73159806e-01 2.22638332e-02 1.76852832e+02] [-1.73120246e-01 9.84893720e-01 -3.70684907e-03 -1.97030767e+01] [-2.25693867e-02 -2.04400729e-04 9.99745258e-01 -5.25377528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.88, Y:-19.71, Z:-5.25 [[ 9.84661967e-01 1.72985518e-01 2.27337220e-02 1.76881420e+02] [-1.72944245e-01 9.84924347e-01 -3.78413409e-03 -1.97102884e+01] [-2.30455966e-02 -2.05573474e-04 9.99734394e-01 -5.25387070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20587156000002 meters Centerline goodness [0,1] 0.9998718633208756 Centerline is valid? [True, True] Translation: X:176.91, Y:-19.72, Z:-5.25 [[ 9.84748469e-01 1.72408969e-01 2.33580718e-02 1.76910770e+02] [-1.72365250e-01 9.85025435e-01 -3.88747076e-03 -1.97169320e+01] [-2.36785297e-02 -1.97938992e-04 9.99719605e-01 -5.25235963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.94, Y:-19.73, Z:-5.25 [[ 9.85035822e-01 1.70639115e-01 2.42223580e-02 1.76938041e+02] [-1.70591579e-01 9.85333581e-01 -4.03076488e-03 -1.97254542e+01] [-2.45549089e-02 -1.61682503e-04 9.99698470e-01 -5.25344399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.97, Y:-19.73, Z:-5.25 [[ 9.85246675e-01 1.69435657e-01 2.40945449e-02 1.76967877e+02] [-1.69388287e-01 9.85541243e-01 -4.00842210e-03 -1.97335416e+01] [-2.44253373e-02 -1.32049146e-04 9.99701648e-01 -5.25349857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.00, Y:-19.74, Z:-5.25 [[ 9.85452334e-01 1.68183801e-01 2.44521430e-02 1.76997890e+02] [-1.68134630e-01 9.85755648e-01 -4.06791291e-03 -1.97414020e+01] [-2.47879951e-02 -1.02517734e-04 9.99692725e-01 -5.25413937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.03, Y:-19.75, Z:-5.25 [[ 9.85855368e-01 1.65740058e-01 2.48882670e-02 1.77027982e+02] [-1.65688340e-01 9.86169474e-01 -4.14034718e-03 -1.97526568e+01] [-2.52302706e-02 -4.19121640e-05 9.99681665e-01 -5.25443920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35587156000003 meters Centerline goodness [0,1] 0.9999146648461834 Centerline is valid? [True, True] Translation: X:177.06, Y:-19.76, Z:-5.25 [[ 9.86014438e-01 1.64809239e-01 2.47677754e-02 1.77059326e+02] [-1.64757730e-01 9.86325461e-01 -4.12017068e-03 -1.97607803e+01] [-2.51081297e-02 -1.81346870e-05 9.99684741e-01 -5.25476253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.09, Y:-19.77, Z:-5.26 [[ 9.86102808e-01 1.64278603e-01 2.47748453e-02 1.77090077e+02] [-1.64226788e-01 9.86413980e-01 -4.12570833e-03 -1.97680671e+01] [-2.51160194e-02 -3.20691438e-07 9.99684543e-01 -5.25768613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.12, Y:-19.78, Z:-5.26 [[ 9.86277257e-01 1.63208234e-01 2.49047194e-02 1.77121392e+02] [-1.63155433e-01 9.86591644e-01 -4.15130337e-03 -1.97778950e+01] [-2.52483150e-02 3.09958246e-05 9.99681210e-01 -5.25854291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.15, Y:-19.79, Z:-5.26 [[ 9.86334795e-01 1.62859111e-01 2.49114807e-02 1.77153441e+02] [-1.62806067e-01 9.86649334e-01 -4.15651355e-03 -1.97853716e+01] [-2.52558219e-02 4.39737480e-05 9.99681020e-01 -5.25872185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.19, Y:-19.79, Z:-5.26 [[ 9.86329282e-01 1.62897714e-01 2.48773597e-02 1.77185776e+02] [-1.62844701e-01 9.86642961e-01 -4.15582156e-03 -1.97926964e+01] [-2.52220456e-02 4.78623043e-05 9.99681872e-01 -5.26006173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.22, Y:-19.80, Z:-5.26 [[ 9.86384283e-01 1.62684328e-01 2.40801782e-02 1.77216497e+02] [-1.62634480e-01 9.86678168e-01 -4.02735661e-03 -1.98021155e+01] [-2.44145739e-02 5.62540155e-05 9.99701918e-01 -5.26329485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53587156000003 meters Centerline goodness [0,1] 0.9998282487816398 Centerline is valid? [True, True] Translation: X:177.25, Y:-19.81, Z:-5.26 [[ 9.86440439e-01 1.62314402e-01 2.42754215e-02 1.77248282e+02] [-1.62263518e-01 9.86739089e-01 -4.06454966e-03 -1.98094711e+01] [-2.46132422e-02 7.04208454e-05 9.99697046e-01 -5.26230360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:-19.82, Z:-5.26 [[ 9.86411655e-01 1.62467329e-01 2.44215815e-02 1.77279334e+02] [-1.62415755e-01 9.86713921e-01 -4.09397602e-03 -1.98163822e+01] [-2.47622518e-02 7.18960485e-05 9.99693366e-01 -5.26460003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59587156000003 meters Centerline goodness [0,1] 0.9999354449991392 Centerline is valid? [True, True] Translation: X:177.31, Y:-19.82, Z:-5.26 [[ 9.86463672e-01 1.62143756e-01 2.44709230e-02 1.77311806e+02] [-1.62091763e-01 9.86767143e-01 -4.10672191e-03 -1.98236106e+01] [-2.48129821e-02 8.45969201e-05 9.99692107e-01 -5.26410595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.34, Y:-19.83, Z:-5.27 [[ 9.86739765e-01 1.60469910e-01 2.43730114e-02 1.77342931e+02] [-1.60417699e-01 9.87040724e-01 -4.09525936e-03 -1.98348289e+01] [-2.47143207e-02 1.31092857e-04 9.99694546e-01 -5.26641531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.37, Y:-19.84, Z:-5.27 [[ 9.86902846e-01 1.59464008e-01 2.43721520e-02 1.77373661e+02] [-1.59411391e-01 9.87203730e-01 -4.09929945e-03 -1.98448878e+01] [-2.47139701e-02 1.60411659e-04 9.99694550e-01 -5.26796176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.40, Y:-19.85, Z:-5.27 [[ 9.87099315e-01 1.58257437e-01 2.42801697e-02 1.77404240e+02] [-1.58204735e-01 9.87397866e-01 -4.08850051e-03 -1.98541347e+01] [-2.46212234e-02 1.94518225e-04 9.99696833e-01 -5.26883876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:-19.86, Z:-5.27 [[ 9.87277205e-01 1.57131937e-01 2.43572517e-02 1.77435015e+02] [-1.57078464e-01 9.87577593e-01 -4.10531470e-03 -1.98632759e+01] [-2.46997521e-02 2.27083948e-04 9.99694889e-01 -5.26949130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.46, Y:-19.88, Z:-5.27 [[ 9.87552275e-01 1.55309671e-01 2.48879415e-02 1.77464039e+02] [-1.55253150e-01 9.87865793e-01 -4.19923893e-03 -1.98763636e+01] [-2.52381285e-02 2.83036649e-04 9.99681428e-01 -5.27001208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.49, Y:-19.89, Z:-5.27 [[ 9.87577949e-01 1.55079123e-01 2.53033701e-02 1.77494552e+02] [-1.55020520e-01 9.87902008e-01 -4.27334013e-03 -1.98853140e+01] [-2.56599559e-02 2.97714899e-04 9.99670685e-01 -5.26991691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.53, Y:-19.89, Z:-5.27 [[ 9.87548735e-01 1.55265173e-01 2.53026220e-02 1.77526559e+02] [-1.55206518e-01 9.87872784e-01 -4.27776478e-03 -1.98909185e+01] [-2.56599595e-02 2.97369362e-04 9.99670685e-01 -5.27089777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83587156000002 meters Centerline goodness [0,1] 0.9998919339500303 Centerline is valid? [True, True] Translation: X:177.56, Y:-19.90, Z:-5.27 [[ 9.87512374e-01 1.55340112e-01 2.62442457e-02 1.77557947e+02] [-1.55276894e-01 9.87860999e-01 -4.44225879e-03 -1.99027021e+01] [-2.66157277e-02 3.11660559e-04 9.99645690e-01 -5.26917852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.59, Y:-19.91, Z:-5.27 [[ 9.87377131e-01 1.56149320e-01 2.65290607e-02 1.77588023e+02] [-1.56084871e-01 9.87733416e-01 -4.49578811e-03 -1.99102990e+01] [-2.69056540e-02 2.98253352e-04 9.99637933e-01 -5.27026395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.62, Y:-19.92, Z:-5.27 [[ 9.87237095e-01 1.57025231e-01 2.65705706e-02 1.77619098e+02] [-1.56960787e-01 9.87594552e-01 -4.50694578e-03 -1.99172671e+01] [-2.69486549e-02 2.78886401e-04 9.99636780e-01 -5.27103201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.65, Y:-19.92, Z:-5.27 [[ 9.86760575e-01 1.60016923e-01 2.64225547e-02 1.77650611e+02] [-1.59954148e-01 9.87114251e-01 -4.48625409e-03 -1.99242291e+01] [-2.67999569e-02 2.00461444e-04 9.99640797e-01 -5.27213079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.68, Y:-19.93, Z:-5.27 [[ 9.86451022e-01 1.62009658e-01 2.58312036e-02 1.77681619e+02] [-1.61950232e-01 9.86789161e-01 -4.39013367e-03 -1.99297252e+01] [-2.62011958e-02 1.47282430e-04 9.99656679e-01 -5.27454981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.71, Y:-19.93, Z:-5.28 [[ 9.85656676e-01 1.66938897e-01 2.47451414e-02 1.77713065e+02] [-1.66885824e-01 9.85967243e-01 -4.20922815e-03 -1.99319458e+01] [-2.51005828e-02 1.92405189e-05 9.99684931e-01 -5.27761599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.74, Y:-19.93, Z:-5.28 [[ 9.85156471e-01 1.69971727e-01 2.40070578e-02 1.77744630e+02] [-1.69922590e-01 9.85448938e-01 -4.08709330e-03 -1.99349659e+01] [-2.43524200e-02 -5.29150288e-05 9.99703434e-01 -5.28026573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.78, Y:-19.94, Z:-5.28 [[ 9.84615823e-01 1.73155321e-01 2.34289431e-02 1.77776810e+02] [-1.73109325e-01 9.84894522e-01 -3.99277471e-03 -1.99382818e+01] [-2.37664079e-02 -1.24419369e-04 9.99717531e-01 -5.28177156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.81, Y:-19.94, Z:-5.28 [[ 9.84009531e-01 1.76573223e-01 2.33910246e-02 1.77808621e+02] [-1.76528250e-01 9.84287486e-01 -3.99014556e-03 -1.99408899e+01] [-2.37280457e-02 -2.02835375e-04 9.99718430e-01 -5.28287464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.84, Y:-19.95, Z:-5.28 [[ 9.83402403e-01 1.79901267e-01 2.35637124e-02 1.77840632e+02] [-1.79856489e-01 9.83684632e-01 -4.02348248e-03 -1.99450337e+01] [-2.39030913e-02 -2.81384227e-04 9.99714241e-01 -5.28255004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13587156000003 meters Centerline goodness [0,1] 0.9999574440921761 Centerline is valid? [True, True] Translation: X:177.87, Y:-19.94, Z:-5.29 [[ 9.82301144e-01 1.85924695e-01 2.27259865e-02 1.77871458e+02] [-1.85884539e-01 9.82563912e-01 -3.88546453e-03 -1.99422035e+01] [-2.30521380e-02 -4.07713274e-04 9.99734181e-01 -5.28586891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16587156000003 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:177.90, Y:-19.95, Z:-5.29 [[ 9.81816198e-01 1.88470880e-01 2.27085887e-02 1.77902481e+02] [-1.88431491e-01 9.82078667e-01 -3.88135433e-03 -1.99486389e+01] [-2.30331428e-02 -4.68236672e-04 9.99734592e-01 -5.28600322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19587156000003 meters Centerline goodness [0,1] 0.9999147303346835 Centerline is valid? [True, True] Translation: X:177.93, Y:-19.95, Z:-5.29 [[ 9.81395401e-01 1.90653547e-01 2.26780021e-02 1.77933882e+02] [-1.90614762e-01 9.81657252e-01 -3.87979813e-03 -1.99506750e+01] [-2.30017225e-02 -5.15145916e-04 9.99735293e-01 -5.28745706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22587156000003 meters Centerline goodness [0,1] 0.9999139229610502 Centerline is valid? [True, True] Translation: X:177.97, Y:-19.95, Z:-5.29 [[ 9.80814242e-01 1.93450937e-01 2.40864433e-02 1.77965412e+02] [-1.93407915e-01 9.81109759e-01 -4.12532195e-03 -1.99545853e+01] [-2.44294920e-02 -6.12334266e-04 9.99701368e-01 -5.28543725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.00, Y:-19.96, Z:-5.29 [[ 9.80524306e-01 1.94916465e-01 2.40760584e-02 1.77997141e+02] [-1.94873881e-01 9.80819633e-01 -4.12519366e-03 -1.99602358e+01] [-2.44183390e-02 -6.46942286e-04 9.99701619e-01 -5.28679130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28587156000003 meters Centerline goodness [0,1] 0.9999142440614013 Centerline is valid? [True, True] Translation: X:178.03, Y:-19.96, Z:-5.29 [[ 9.80347201e-01 1.95765011e-01 2.44013514e-02 1.78028243e+02] [-1.95721424e-01 9.80650604e-01 -4.18528044e-03 -1.99641914e+01] [-2.47485315e-02 -6.72839287e-04 9.99693482e-01 -5.28759707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31587156000003 meters Centerline goodness [0,1] 0.9998507908087139 Centerline is valid? [True, True] Translation: X:178.06, Y:-19.97, Z:-5.29 [[ 9.80061307e-01 1.97162763e-01 2.46308486e-02 1.78057965e+02] [-1.97118674e-01 9.80370512e-01 -4.22936207e-03 -1.99683910e+01] [-2.49812304e-02 -7.10166118e-04 9.99687668e-01 -5.28856521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34587156000003 meters Centerline goodness [0,1] 0.9999146101955426 Centerline is valid? [True, True] Translation: X:178.09, Y:-19.97, Z:-5.29 [[ 9.79993576e-01 1.97510162e-01 2.45423653e-02 1.78088833e+02] [-1.97466493e-01 9.80300578e-01 -4.21439947e-03 -1.99737285e+01] [-2.48912816e-02 -7.16210390e-04 9.99689907e-01 -5.28909739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37587156000004 meters Centerline goodness [0,1] 0.9997659176029963 Centerline is valid? [True, True] Translation: X:178.12, Y:-19.97, Z:-5.29 [[ 9.79952022e-01 1.97697393e-01 2.46936191e-02 1.78118724e+02] [-1.97653224e-01 9.80262830e-01 -4.24114406e-03 -1.99717470e+01] [-2.50447001e-02 -7.24655733e-04 9.99686070e-01 -5.29085616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40587156000004 meters Centerline goodness [0,1] 0.9998724598248449 Centerline is valid? [True, True] Translation: X:178.15, Y:-19.98, Z:-5.29 [[ 9.80055982e-01 1.97198043e-01 2.45601983e-02 1.78148572e+02] [-1.97154205e-01 9.80363417e-01 -4.21775820e-03 -1.99820574e+01] [-2.49096536e-02 -7.08507210e-04 9.99689455e-01 -5.29142831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43587156000004 meters Centerline goodness [0,1] 0.9998084046493805 Centerline is valid? [True, True] Translation: X:178.18, Y:-19.99, Z:-5.29 [[ 9.80234458e-01 1.96384403e-01 2.39493870e-02 1.78178660e+02] [-1.96342463e-01 9.80526755e-01 -4.11340245e-03 -1.99894874e+01] [-2.42908228e-02 -6.70182807e-04 9.99704710e-01 -5.29334515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46587156000004 meters Centerline goodness [0,1] 0.9999785357058533 Centerline is valid? [True, True] Translation: X:178.21, Y:-20.00, Z:-5.29 [[ 9.80444341e-01 1.95328166e-01 2.39958892e-02 1.78209017e+02] [-1.95285733e-01 9.80737729e-01 -4.12195525e-03 -1.99980291e+01] [-2.43388078e-02 -6.44707101e-04 9.99703559e-01 -5.29418774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49587156000004 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:178.24, Y:-20.01, Z:-5.29 [[ 9.80860812e-01 1.93150905e-01 2.45925942e-02 1.78239418e+02] [-1.93105637e-01 9.81168875e-01 -4.22505216e-03 -2.00079601e+01] [-2.49455607e-02 -6.04780471e-04 9.99688628e-01 -5.29325547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52587156000004 meters Centerline goodness [0,1] 0.9999364433710436 Centerline is valid? [True, True] Translation: X:178.27, Y:-20.01, Z:-5.29 [[ 9.81015510e-01 1.92295349e-01 2.51210671e-02 1.78270622e+02] [-1.92247835e-01 9.81336917e-01 -4.31580744e-03 -2.00129966e+01] [-2.54821403e-02 -5.95596724e-04 9.99675100e-01 -5.29377838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.30, Y:-20.02, Z:-5.29 [[ 9.81088253e-01 1.91847003e-01 2.57015116e-02 1.78301937e+02] [-1.91797002e-01 9.81424666e-01 -4.41980436e-03 -2.00234457e+01] [-2.60720236e-02 -5.93254721e-04 9.99659891e-01 -5.29285521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.33, Y:-20.03, Z:-5.29 [[ 9.81062127e-01 1.91910445e-01 2.62199161e-02 1.78333808e+02] [-1.91858308e-01 9.81412257e-01 -4.51346375e-03 -2.00265569e+01] [-2.65987278e-02 -6.02520392e-04 9.99646010e-01 -5.29316545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.37, Y:-20.03, Z:-5.29 [[ 9.80862349e-01 1.92845793e-01 2.68244732e-02 1.78366027e+02] [-1.92791437e-01 9.81228869e-01 -4.62254591e-03 -2.00300842e+01] [-2.72123860e-02 -6.37447496e-04 9.99629471e-01 -5.29277347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.40, Y:-20.03, Z:-5.29 [[ 9.80668183e-01 1.93800256e-01 2.70439592e-02 1.78396924e+02] [-1.93745247e-01 9.81040783e-01 -4.66483232e-03 -2.00326687e+01] [-2.74352727e-02 -6.64985921e-04 9.99623361e-01 -5.29330792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67587156000002 meters Centerline goodness [0,1] 0.9998939059582413 Centerline is valid? [True, True] Translation: X:178.43, Y:-20.02, Z:-5.30 [[ 9.80202227e-01 1.96179416e-01 2.67811751e-02 1.78428417e+02] [-1.96126243e-01 9.80567753e-01 -4.62373641e-03 -2.00246708e+01] [-2.71678386e-02 -7.20294538e-04 9.99630627e-01 -5.29588007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70587156000002 meters Centerline goodness [0,1] 0.9999787129872065 Centerline is valid? [True, True] Translation: X:178.46, Y:-20.04, Z:-5.30 [[ 9.80021717e-01 1.97149168e-01 2.62609946e-02 1.78457884e+02] [-1.97098345e-01 9.80373231e-01 -4.53555912e-03 -2.00351786e+01] [-2.66397579e-02 -7.31052147e-04 9.99644831e-01 -5.29717390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73587156000002 meters Centerline goodness [0,1] 0.9999359152372205 Centerline is valid? [True, True] Translation: X:178.49, Y:-20.04, Z:-5.30 [[ 9.79931685e-01 1.97673322e-01 2.56739467e-02 1.78489057e+02] [-1.97624919e-01 9.80267681e-01 -4.43441528e-03 -2.00386231e+01] [-2.60439058e-02 -7.28387608e-04 9.99660535e-01 -5.29937694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.52, Y:-20.04, Z:-5.30 [[ 9.79952593e-01 1.97623976e-01 2.52523321e-02 1.78520170e+02] [-1.97577118e-01 9.80277641e-01 -4.36217703e-03 -2.00424952e+01] [-2.56163673e-02 -7.14556311e-04 9.99671592e-01 -5.30105284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79587156000002 meters Centerline goodness [0,1] 0.9998934628824683 Centerline is valid? [True, True] Translation: X:178.55, Y:-20.04, Z:-5.30 [[ 9.80355410e-01 1.95765967e-01 2.40615092e-02 1.78550672e+02] [-1.95722852e-01 9.80650439e-01 -4.15706797e-03 -2.00448245e+01] [-2.44097420e-02 -6.33983123e-04 9.99701837e-01 -5.30465373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82587156000002 meters Centerline goodness [0,1] 0.9999358426005133 Centerline is valid? [True, True] Translation: X:178.58, Y:-20.05, Z:-5.31 [[ 9.80597572e-01 1.94577726e-01 2.38308819e-02 1.78580122e+02] [-1.94535071e-01 9.80886920e-01 -4.11770001e-03 -2.00506682e+01] [-2.41766131e-02 -5.98135666e-04 9.99707524e-01 -5.30670643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85587156000003 meters Centerline goodness [0,1] 0.9999357354012253 Centerline is valid? [True, True] Translation: X:178.61, Y:-20.06, Z:-5.31 [[ 9.80839312e-01 1.93348408e-01 2.38880137e-02 1.78609707e+02] [-1.93305200e-01 9.81129996e-01 -4.12689651e-03 -2.00575270e+01] [-2.42351756e-02 -5.69854922e-04 9.99706123e-01 -5.30660631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88587156000003 meters Centerline goodness [0,1] 0.9999786798567286 Centerline is valid? [True, True] Translation: X:178.64, Y:-20.06, Z:-5.31 [[ 9.81248280e-01 1.91226140e-01 2.41738699e-02 1.78639456e+02] [-1.91181248e-01 9.81545867e-01 -4.17628108e-03 -2.00607897e+01] [-2.45263762e-02 -5.23621997e-04 9.99699046e-01 -5.30679031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.67, Y:-20.06, Z:-5.31 [[ 9.81405544e-01 1.90393759e-01 2.43592675e-02 1.78668657e+02] [-1.90347916e-01 9.81707675e-01 -4.20843336e-03 -2.00640466e+01] [-2.47149394e-02 -5.06555991e-04 9.99694411e-01 -5.30691966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94587156000003 meters Centerline goodness [0,1] 0.9999789699480558 Centerline is valid? [True, True] Translation: X:178.70, Y:-20.07, Z:-5.31 [[ 9.81511475e-01 1.89755419e-01 2.50620314e-02 1.78698393e+02] [-1.89706699e-01 9.81831261e-01 -4.32925154e-03 -2.00667711e+01] [-2.54281849e-02 -5.05225194e-04 9.99676524e-01 -5.30692941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97587156000003 meters Centerline goodness [0,1] 0.9999787310972627 Centerline is valid? [True, True] Translation: X:178.73, Y:-20.07, Z:-5.31 [[ 9.81780641e-01 1.88347218e-01 2.51415604e-02 1.78727636e+02] [-1.88297740e-01 9.82102390e-01 -4.34246569e-03 -2.00682057e+01] [-2.55094779e-02 -4.70750264e-04 9.99674469e-01 -5.30764526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00587156000003 meters Centerline goodness [0,1] 0.9999358439725412 Centerline is valid? [True, True] Translation: X:178.76, Y:-20.08, Z:-5.31 [[ 9.81957883e-01 1.87485818e-01 2.46532626e-02 1.78757997e+02] [-1.87438001e-01 9.82267211e-01 -4.25701097e-03 -2.00754495e+01] [-2.50142207e-02 -4.40752775e-04 9.99686998e-01 -5.30867948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03587156000003 meters Centerline goodness [0,1] 0.9998507399036206 Centerline is valid? [True, True] Translation: X:178.79, Y:-20.08, Z:-5.31 [[ 9.82173068e-01 1.86397840e-01 2.43291991e-02 1.78788088e+02] [-1.86350920e-01 9.82474264e-01 -4.20175468e-03 -2.00774985e+01] [-2.46860100e-02 -4.06918365e-04 9.99695171e-01 -5.30983027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.82, Y:-20.08, Z:-5.31 [[ 9.82709774e-01 1.83580611e-01 2.40761178e-02 1.78816690e+02] [-1.83533820e-01 9.83004602e-01 -4.15791958e-03 -2.00832401e+01] [-2.44302480e-02 -3.32753673e-04 9.99701482e-01 -5.31328374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.85, Y:-20.09, Z:-5.31 [[ 9.83036127e-01 1.81836177e-01 2.39911938e-02 1.78846749e+02] [-1.81789180e-01 9.83328796e-01 -4.14391902e-03 -2.00897137e+01] [-2.43447462e-02 -2.87717346e-04 9.99703581e-01 -5.31473948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.88, Y:-20.10, Z:-5.32 [[ 9.83405579e-01 1.79834332e-01 2.39390819e-02 1.78877009e+02] [-1.79786947e-01 9.83696882e-01 -4.13485353e-03 -2.00960751e+01] [-2.42923889e-02 -2.37696425e-04 9.99704868e-01 -5.31608317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.91, Y:-20.10, Z:-5.32 [[ 9.84095515e-01 1.76075666e-01 2.35239842e-02 1.78905991e+02] [-1.76028830e-01 9.84376625e-01 -4.06341254e-03 -2.01037507e+01] [-2.38719283e-02 -1.42113372e-04 9.99715015e-01 -5.31801400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.94, Y:-20.11, Z:-5.32 [[ 9.84421991e-01 1.74276088e-01 2.32634722e-02 1.78937599e+02] [-1.74229799e-01 9.84696824e-01 -4.01765948e-03 -2.01122366e+01] [-2.36076491e-02 -9.81177426e-05 9.99721296e-01 -5.31848237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.97, Y:-20.12, Z:-5.32 [[ 9.84757547e-01 1.72382531e-01 2.31697359e-02 1.78967763e+02] [-1.72335997e-01 9.85030081e-01 -4.00540587e-03 -2.01186751e+01] [-2.35133488e-02 -4.86258769e-05 9.99723522e-01 -5.32135844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.00, Y:-20.13, Z:-5.32 [[ 9.85326216e-01 1.69040371e-01 2.36135670e-02 1.78999700e+02] [-1.68990994e-01 9.85609127e-01 -4.08561796e-03 -2.01286637e+01] [-2.39643816e-02 3.51863365e-05 9.99712812e-01 -5.31897577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.03, Y:-20.14, Z:-5.32 [[ 9.85564308e-01 1.67620681e-01 2.37971113e-02 1.79030544e+02] [-1.67570002e-01 9.85851562e-01 -4.12220782e-03 -2.01367529e+01] [-2.41513867e-02 7.50188966e-05 9.99708310e-01 -5.32021059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.06, Y:-20.14, Z:-5.32 [[ 9.85807136e-01 1.66178571e-01 2.38531762e-02 1.79062580e+02] [-1.66127126e-01 9.86095669e-01 -4.13626677e-03 -2.01449124e+01] [-2.42088726e-02 1.14901696e-04 9.99706916e-01 -5.32083154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.09, Y:-20.15, Z:-5.32 [[ 9.86023263e-01 1.64865687e-01 2.40297895e-02 1.79093370e+02] [-1.64812960e-01 9.86316015e-01 -4.17213671e-03 -2.01525199e+01] [-2.43888084e-02 1.53403120e-04 9.99702537e-01 -5.32147127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.12, Y:-20.16, Z:-5.32 [[ 9.86243363e-01 1.63472770e-01 2.45088007e-02 1.79124933e+02] [-1.63417442e-01 9.86547827e-01 -4.25721431e-03 -2.01597579e+01] [-2.48750427e-02 1.93483856e-04 9.99690550e-01 -5.32083701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.16, Y:-20.17, Z:-5.32 [[ 9.86280179e-01 1.63198033e-01 2.48558012e-02 1.79157391e+02] [-1.63140933e-01 9.86593310e-01 -4.32170170e-03 -2.01662704e+01] [-2.52278604e-02 2.07410133e-04 9.99681705e-01 -5.32107974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.19, Y:-20.17, Z:-5.32 [[ 9.86272547e-01 1.63164004e-01 2.53765708e-02 1.79188422e+02] [-1.63104341e-01 9.86598936e-01 -4.41740739e-03 -2.01736348e+01] [-2.57572596e-02 2.17738782e-04 9.99668203e-01 -5.32161202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.22, Y:-20.18, Z:-5.32 [[ 9.86084348e-01 1.64198711e-01 2.60084840e-02 1.79220489e+02] [-1.64136269e-01 9.86427262e-01 -4.53231880e-03 -2.01780675e+01] [-2.63996786e-02 2.00313105e-04 9.99651448e-01 -5.31991793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48587156000002 meters Centerline goodness [0,1] 0.9998503538063578 Centerline is valid? [True, True] Translation: X:179.25, Y:-20.18, Z:-5.32 [[ 9.85898512e-01 1.65335838e-01 2.58492572e-02 1.79252369e+02] [-1.65274431e-01 9.86237309e-01 -4.50907365e-03 -2.01826373e+01] [-2.62390133e-02 1.73267721e-04 9.99655683e-01 -5.32027800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.28, Y:-20.18, Z:-5.32 [[ 9.85372714e-01 1.68496600e-01 2.54854864e-02 1.79283840e+02] [-1.68437844e-01 9.85702231e-01 -4.45031376e-03 -2.01846810e+01] [-2.58709635e-02 9.24973545e-05 9.99665286e-01 -5.32366020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.32, Y:-20.19, Z:-5.33 [[ 9.85077536e-01 1.70271967e-01 2.50939159e-02 1.79315236e+02] [-1.70215526e-01 9.85397105e-01 -4.38402498e-03 -2.01882972e+01] [-2.54739487e-02 4.72304335e-05 9.99675485e-01 -5.32589442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.35, Y:-20.19, Z:-5.33 [[ 9.84783261e-01 1.72047536e-01 2.45270287e-02 1.79347805e+02] [-1.71994063e-01 9.85088648e-01 -4.28916117e-03 -2.01911468e+01] [-2.48992372e-02 5.39080172e-06 9.99689966e-01 -5.32674734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:-20.19, Z:-5.33 [[ 9.84453568e-01 1.73952487e-01 2.43249894e-02 1.79380698e+02] [-1.73900359e-01 9.84754046e-01 -4.25845241e-03 -2.01938931e+01] [-2.46949002e-02 -3.78757264e-05 9.99695034e-01 -5.32766540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.41, Y:-20.19, Z:-5.33 [[ 9.83960616e-01 1.76718697e-01 2.43312363e-02 1.79413535e+02] [-1.76667263e-01 9.84261394e-01 -4.26455322e-03 -2.01940409e+01] [-2.47019228e-02 -1.02380504e-04 9.99694856e-01 -5.33033359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.45, Y:-20.20, Z:-5.33 [[ 9.83723569e-01 1.78066321e-01 2.40899269e-02 1.79445551e+02] [-1.78016193e-01 9.84018480e-01 -4.22690153e-03 -2.01984704e+01] [-2.44576020e-02 -1.30294409e-04 9.99700860e-01 -5.33165235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.48, Y:-20.20, Z:-5.33 [[ 9.83410312e-01 1.79857092e-01 2.35708365e-02 1.79476387e+02] [-1.79809501e-01 9.83692736e-01 -4.14059336e-03 -2.02015183e+01] [-2.39311757e-02 -1.66358145e-04 9.99713595e-01 -5.33305565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.51, Y:-20.21, Z:-5.33 [[ 9.83406018e-01 1.79880583e-01 2.35707373e-02 1.79506736e+02] [-1.79832985e-01 9.83688441e-01 -4.14115818e-03 -2.02068956e+01] [-2.39311757e-02 -1.66356170e-04 9.99713595e-01 -5.33398574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.54, Y:-20.21, Z:-5.33 [[ 9.83232858e-01 1.80854215e-01 2.33430772e-02 1.79538344e+02] [-1.80807793e-01 9.83509897e-01 -4.10172609e-03 -2.02101880e+01] [-2.36999619e-02 -1.87658419e-04 9.99719099e-01 -5.33493668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.57, Y:-20.21, Z:-5.34 [[ 9.83054335e-01 1.81831697e-01 2.32681647e-02 1.79569180e+02] [-1.81785833e-01 9.83329644e-01 -4.08913936e-03 -2.02135853e+01] [-2.36238113e-02 -2.09976534e-04 9.99720897e-01 -5.33654656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.60, Y:-20.22, Z:-5.34 [[ 9.82897519e-01 1.82721207e-01 2.29222299e-02 1.79598519e+02] [-1.82676919e-01 9.83164742e-01 -4.02916328e-03 -2.02164186e+01] [-2.32725418e-02 -2.27107745e-04 9.99729132e-01 -5.33828192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.63, Y:-20.22, Z:-5.34 [[ 9.82734012e-01 1.83633373e-01 2.26416986e-02 1.79628853e+02] [-1.83590413e-01 9.82994773e-01 -3.97948694e-03 -2.02202751e+01] [-2.29874380e-02 -2.46021628e-04 9.99735724e-01 -5.33971354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.66, Y:-20.22, Z:-5.34 [[ 9.82436024e-01 1.85237168e-01 2.25088923e-02 1.79658427e+02] [-1.85195130e-01 9.82693804e-01 -3.95623301e-03 -2.02204588e+01] [-2.28521904e-02 -2.81791401e-04 9.99738815e-01 -5.34143307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.69, Y:-20.23, Z:-5.34 [[ 9.82291679e-01 1.85993930e-01 2.25680273e-02 1.79688274e+02] [-1.85951879e-01 9.82550847e-01 -3.96626260e-03 -2.02250827e+01] [-2.29119351e-02 -3.00540331e-04 9.99737442e-01 -5.34166137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.72, Y:-20.23, Z:-5.34 [[ 9.82214548e-01 1.86411676e-01 2.24781665e-02 1.79716553e+02] [-1.86370061e-01 9.82471675e-01 -3.95073901e-03 -2.02274155e+01] [-2.28206257e-02 -3.08783934e-04 9.99739528e-01 -5.34355853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96587156000004 meters Centerline goodness [0,1] 0.9999576109533297 Centerline is valid? [True, True] Translation: X:179.75, Y:-20.23, Z:-5.34 [[ 9.82082570e-01 1.87081664e-01 2.26776896e-02 1.79745599e+02] [-1.87039506e-01 9.82344310e-01 -3.98494225e-03 -2.02299552e+01] [-2.30228089e-02 -3.28081523e-04 9.99734886e-01 -5.34401867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.77, Y:-20.23, Z:-5.35 [[ 9.82072099e-01 1.87124695e-01 2.27759026e-02 1.79774589e+02] [-1.87082200e-01 9.82336113e-01 -4.00146469e-03 -2.02339654e+01] [-2.31223645e-02 -3.31239138e-04 9.99732588e-01 -5.34502862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.80, Y:-20.24, Z:-5.35 [[ 9.82090140e-01 1.87072572e-01 2.24234389e-02 1.79802893e+02] [-1.87031392e-01 9.82346042e-01 -3.93848876e-03 -2.02367426e+01] [-2.27643597e-02 -3.25936025e-04 9.99740805e-01 -5.34674746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05587156 meters Centerline goodness [0,1] 0.9999139951407254 Centerline is valid? [True, True] Translation: X:179.83, Y:-20.24, Z:-5.35 [[ 9.82134863e-01 1.86827732e-01 2.25057527e-02 1.79832090e+02] [-1.86786214e-01 9.82392638e-01 -3.95170013e-03 -2.02421243e+01] [-2.28477729e-02 -3.22661859e-04 9.99738903e-01 -5.34634674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.86, Y:-20.25, Z:-5.35 [[ 9.82268619e-01 1.86084917e-01 2.28202590e-02 1.79861531e+02] [-1.86042043e-01 9.82533616e-01 -4.00635670e-03 -2.02471880e+01] [-2.31671942e-02 -3.10209137e-04 9.99731556e-01 -5.34768780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.89, Y:-20.25, Z:-5.35 [[ 9.82542598e-01 1.84569736e-01 2.33250019e-02 1.79889591e+02] [-1.84524529e-01 9.82819380e-01 -4.09445987e-03 -2.02521830e+01] [-2.36799773e-02 -2.81053733e-04 9.99719551e-01 -5.34789113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.92, Y:-20.26, Z:-5.35 [[ 9.82687650e-01 1.83783827e-01 2.34198112e-02 1.79918264e+02] [-1.83738050e-01 9.82966650e-01 -4.11024389e-03 -2.02567224e+01] [-2.37762898e-02 -2.64024530e-04 9.99717269e-01 -5.34862137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.95, Y:-20.26, Z:-5.35 [[ 9.82852271e-01 1.82872489e-01 2.36445692e-02 1.79948144e+02] [-1.82825590e-01 9.83136609e-01 -4.14861257e-03 -2.02635084e+01] [-2.40045087e-02 -2.45359023e-04 9.99711820e-01 -5.34812175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.98, Y:-20.27, Z:-5.35 [[ 9.82999308e-01 1.82016547e-01 2.41316824e-02 1.79978233e+02] [-1.81967437e-01 9.83295441e-01 -4.23408015e-03 -2.02681424e+01] [-2.44992460e-02 -2.29082558e-04 9.99699822e-01 -5.34824451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.01, Y:-20.27, Z:-5.35 [[ 9.83383445e-01 1.79944153e-01 2.40229648e-02 1.80007080e+02] [-1.79894869e-01 9.83676812e-01 -4.21491071e-03 -2.02715394e+01] [-2.43892819e-02 -1.76734692e-04 9.99702522e-01 -5.35057088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.04, Y:-20.28, Z:-5.35 [[ 9.83563823e-01 1.78957528e-01 2.40085061e-02 1.80037348e+02] [-1.78907998e-01 9.83856788e-01 -4.21286553e-03 -2.02776914e+01] [-2.43748557e-02 -1.51691640e-04 9.99702878e-01 -5.35106268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29587156000002 meters Centerline goodness [0,1] 0.9998284954765682 Centerline is valid? [True, True] Translation: X:180.07, Y:-20.28, Z:-5.35 [[ 9.83668809e-01 1.78424222e-01 2.36742731e-02 1.80067878e+02] [-1.78375906e-01 9.83953647e-01 -4.15421636e-03 -2.02829347e+01] [-2.40356002e-02 -1.36546860e-04 9.99711094e-01 -5.35130262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.10, Y:-20.29, Z:-5.35 [[ 9.83912476e-01 1.77052711e-01 2.38448478e-02 1.80097414e+02] [-1.77003293e-01 9.84201365e-01 -4.18422096e-03 -2.02863209e+01] [-2.42089594e-02 -1.03709368e-04 9.99706915e-01 -5.35379659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.13, Y:-20.29, Z:-5.35 [[ 9.84048747e-01 1.76228406e-01 2.43230946e-02 1.80126109e+02] [-1.76176741e-01 9.84349299e-01 -4.26783000e-03 -2.02910843e+01] [-2.46945340e-02 -8.54107667e-05 9.99695040e-01 -5.35416990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.16, Y:-20.30, Z:-5.36 [[ 9.84209637e-01 1.75318144e-01 2.43913585e-02 1.80155314e+02] [-1.75265916e-01 9.84511831e-01 -4.27950670e-03 -2.02956619e+01] [-2.47638562e-02 -6.30420572e-05 9.99693327e-01 -5.35597491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.18, Y:-20.30, Z:-5.35 [[ 9.84546522e-01 1.73353793e-01 2.48316142e-02 1.80184925e+02] [-1.73299047e-01 9.84859616e-01 -4.35638288e-03 -2.03019207e+01] [-2.52108495e-02 -1.42334429e-05 9.99682156e-01 -5.35494982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.22, Y:-20.31, Z:-5.36 [[ 9.84736833e-01 1.72250595e-01 2.49620182e-02 1.80215011e+02] [-1.72194919e-01 9.85053162e-01 -4.37920126e-03 -2.03079909e+01] [-2.53432349e-02 1.40280827e-05 9.99678809e-01 -5.35619378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.24, Y:-20.31, Z:-5.36 [[ 9.84937954e-01 1.71087864e-01 2.50233836e-02 1.80243543e+02] [-1.71031529e-01 9.85255774e-01 -4.39033901e-03 -2.03139921e+01] [-2.54055669e-02 4.44239556e-05 9.99677226e-01 -5.35721257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.27, Y:-20.32, Z:-5.36 [[ 9.85329274e-01 1.68760389e-01 2.54195477e-02 1.80272716e+02] [-1.68701481e-01 9.85657101e-01 -4.45984579e-03 -2.03216102e+01] [-2.58076030e-02 1.06101260e-04 9.99666923e-01 -5.35773093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.30, Y:-20.33, Z:-5.36 [[ 9.85461092e-01 1.68011333e-01 2.52711022e-02 1.80303099e+02] [-1.67952868e-01 9.85785056e-01 -4.43369536e-03 -2.03276756e+01] [-2.56567859e-02 1.24880189e-04 9.99670803e-01 -5.35865357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.33, Y:-20.33, Z:-5.36 [[ 9.85648786e-01 1.66963726e-01 2.48914549e-02 1.80334083e+02] [-1.66906656e-01 9.85963028e-01 -4.36767095e-03 -2.03341959e+01] [-2.52712969e-02 1.50440062e-04 9.99680618e-01 -5.36048928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.36, Y:-20.34, Z:-5.36 [[ 9.85678556e-01 1.66788309e-01 2.48886475e-02 1.80364640e+02] [-1.66731181e-01 9.85992716e-01 -4.36776711e-03 -2.03390758e+01] [-2.52685176e-02 1.55500782e-04 9.99680688e-01 -5.36139656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.39, Y:-20.34, Z:-5.36 [[ 9.85638511e-01 1.67022040e-01 2.49071085e-02 1.80394917e+02] [-1.66964885e-01 9.85953151e-01 -4.37167261e-03 -2.03443361e+01] [-2.52874078e-02 1.50276367e-04 9.99680211e-01 -5.36295709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65587156000004 meters Centerline goodness [0,1] 0.9999358919565775 Centerline is valid? [True, True] Translation: X:180.43, Y:-20.35, Z:-5.36 [[ 9.85576968e-01 1.67409781e-01 2.47387467e-02 1.80425529e+02] [-1.67353512e-01 9.85887390e-01 -4.34236019e-03 -2.03485344e+01] [-2.51165720e-02 1.39614034e-04 9.99684519e-01 -5.36288416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68587156000004 meters Centerline goodness [0,1] 0.9997874465959572 Centerline is valid? [True, True] Translation: X:180.46, Y:-20.35, Z:-5.37 [[ 9.85305161e-01 1.69062636e-01 2.43220928e-02 1.80455525e+02] [-1.69008735e-01 9.85605304e-01 -4.26986371e-03 -2.03519339e+01] [-2.46938581e-02 9.64726111e-05 9.99695056e-01 -5.36519453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.49, Y:-20.36, Z:-5.37 [[ 9.85134274e-01 1.70040492e-01 2.44273149e-02 1.80485816e+02] [-1.69986415e-01 9.85437074e-01 -4.28869229e-03 -2.03551850e+01] [-2.48008330e-02 7.26260836e-05 9.99692409e-01 -5.36723618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.52, Y:-20.36, Z:-5.37 [[ 9.84966853e-01 1.71115728e-01 2.36581124e-02 1.80515556e+02] [-1.71065312e-01 9.85250935e-01 -4.15371586e-03 -2.03582774e+01] [-2.40199435e-02 4.41900554e-05 9.99711479e-01 -5.37010071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77587156000004 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:180.54, Y:-20.36, Z:-5.37 [[ 9.84756623e-01 1.72454029e-01 2.26715916e-02 1.80543686e+02] [-1.72408087e-01 9.85017567e-01 -3.98042072e-03 -2.03606631e+01] [-2.30183556e-02 1.09799225e-05 9.99735042e-01 -5.37258998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80587156 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:180.57, Y:-20.36, Z:-5.37 [[ 9.84407551e-01 1.74563910e-01 2.16613826e-02 1.80573620e+02] [-1.74522500e-01 9.84645845e-01 -3.80225280e-03 -2.03619847e+01] [-2.19925265e-02 -3.74322685e-05 9.99758134e-01 -5.37337083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.60, Y:-20.36, Z:-5.37 [[ 9.84228783e-01 1.75544038e-01 2.18630659e-02 1.80603253e+02] [-1.75502107e-01 9.84471578e-01 -3.83709785e-03 -2.03648390e+01] [-2.21971466e-02 -6.04319888e-05 9.99753611e-01 -5.37475949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86587156000002 meters Centerline goodness [0,1] 0.9998931121467356 Centerline is valid? [True, True] Translation: X:180.63, Y:-20.37, Z:-5.37 [[ 9.83902534e-01 1.77290017e-01 2.24511185e-02 1.80631900e+02] [-1.77246260e-01 9.84158645e-01 -3.94003114e-03 -2.03655579e+01] [-2.27939906e-02 -1.02770168e-04 9.99740178e-01 -5.37359905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.66, Y:-20.37, Z:-5.38 [[ 9.83766877e-01 1.77934952e-01 2.32784053e-02 1.80659196e+02] [-1.77888132e-01 9.84042244e-01 -4.08351557e-03 -2.03681933e+01] [-2.36335344e-02 -1.23724670e-04 9.99720681e-01 -5.37505110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92587156000002 meters Centerline goodness [0,1] 0.9998507430862066 Centerline is valid? [True, True] Translation: X:180.69, Y:-20.37, Z:-5.37 [[ 9.83657343e-01 1.78498991e-01 2.35868992e-02 1.80686812e+02] [-1.78451118e-01 9.83940085e-01 -4.13615988e-03 -2.03708548e+01] [-2.39463960e-02 -1.40544506e-04 9.99713234e-01 -5.37414169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95587156000002 meters Centerline goodness [0,1] 0.9999568202426702 Centerline is valid? [True, True] Translation: X:180.72, Y:-20.37, Z:-5.37 [[ 9.83398538e-01 1.79720704e-01 2.50556193e-02 1.80715914e+02] [-1.79667120e-01 9.83717660e-01 -4.39210083e-03 -2.03739601e+01] [-2.54370067e-02 -1.82485433e-04 9.99676410e-01 -5.37073989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.74, Y:-20.37, Z:-5.37 [[ 9.83261327e-01 1.80360227e-01 2.58331506e-02 1.80744612e+02] [-1.80303523e-01 9.83600603e-01 -4.52699189e-03 -2.03746748e+01] [-2.62259917e-02 -2.06592010e-04 9.99656018e-01 -5.37243136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01587156000002 meters Centerline goodness [0,1] 0.9998288843258042 Centerline is valid? [True, True] Translation: X:180.77, Y:-20.38, Z:-5.37 [[ 9.83202222e-01 1.80631342e-01 2.61860335e-02 1.80772622e+02] [-1.80573199e-01 9.83550848e-01 -4.58787032e-03 -2.03796140e+01] [-2.65840086e-02 -2.17691547e-04 9.99646559e-01 -5.37054453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.80, Y:-20.39, Z:-5.37 [[ 9.83297566e-01 1.80156748e-01 2.58736047e-02 1.80801403e+02] [-1.80099856e-01 9.83637893e-01 -4.53179957e-03 -2.03852125e+01] [-2.62666922e-02 -2.03724981e-04 9.99654950e-01 -5.37328481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.83, Y:-20.39, Z:-5.38 [[ 9.83446715e-01 1.79444692e-01 2.51428344e-02 1.80829553e+02] [-1.79390752e-01 9.83768047e-01 -4.40319306e-03 -2.03907329e+01] [-2.55248467e-02 -1.80086232e-04 9.99674172e-01 -5.37575195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.86, Y:-20.40, Z:-5.38 [[ 9.83696161e-01 1.78128793e-01 2.47385506e-02 1.80858648e+02] [-1.78076172e-01 9.84007171e-01 -4.33179178e-03 -2.03981460e+01] [-2.51145280e-02 -1.44179457e-04 9.99684570e-01 -5.37738867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.89, Y:-20.41, Z:-5.38 [[ 9.84226068e-01 1.75290622e-01 2.39216296e-02 1.80886355e+02] [-1.75240594e-01 9.84516731e-01 -4.18823859e-03 -2.04067221e+01] [-2.42854035e-02 -6.98669844e-05 9.99705064e-01 -5.38042512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.92, Y:-20.41, Z:-5.38 [[ 9.84469259e-01 1.73941065e-01 2.37651768e-02 1.80915218e+02] [-1.73891319e-01 9.84756064e-01 -4.15988282e-03 -2.04141524e+01] [-2.41264764e-02 -3.72811755e-05 9.99708914e-01 -5.38198977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.94, Y:-20.42, Z:-5.38 [[ 9.84700402e-01 1.72624628e-01 2.37877296e-02 1.80942734e+02] [-1.72574416e-01 9.84987684e-01 -4.16332473e-03 -2.04212405e+01] [-2.41493131e-02 -5.52600820e-06 9.99708363e-01 -5.38278236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22587156000003 meters Centerline goodness [0,1] 0.999871512088571 Centerline is valid? [True, True] Translation: X:180.97, Y:-20.43, Z:-5.38 [[ 9.84904403e-01 1.71520829e-01 2.33221548e-02 1.80972063e+02] [-1.71472275e-01 9.85180494e-01 -4.08094597e-03 -2.04280468e+01] [-2.36764992e-02 2.02387181e-05 9.99719672e-01 -5.38208587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.00, Y:-20.43, Z:-5.39 [[ 9.85173870e-01 1.70021889e-01 2.29129263e-02 1.81002189e+02] [-1.69974636e-01 9.85440284e-01 -4.00862626e-03 -2.04346860e+01] [-2.32608748e-02 5.45775589e-05 9.99729428e-01 -5.38506783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.03, Y:-20.44, Z:-5.39 [[ 9.85190844e-01 1.69986618e-01 2.24399389e-02 1.81031187e+02] [-1.69941284e-01 9.85446369e-01 -3.92596603e-03 -2.04399492e+01] [-2.27807180e-02 5.43537579e-05 9.99740484e-01 -5.38690236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.06, Y:-20.45, Z:-5.39 [[ 9.85193521e-01 1.69883647e-01 2.30926831e-02 1.81060108e+02] [-1.69835614e-01 9.85464126e-01 -4.03995850e-03 -2.04450043e+01] [-2.34433336e-02 5.81809382e-05 9.99725166e-01 -5.38606785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.09, Y:-20.45, Z:-5.38 [[ 9.85075114e-01 1.70384234e-01 2.44178903e-02 1.81089513e+02] [-1.70330700e-01 9.85377699e-01 -4.27107199e-03 -2.04500514e+01] [-2.47885679e-02 4.82103751e-05 9.99692715e-01 -5.38442608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37587156000004 meters Centerline goodness [0,1] 0.9997445068983137 Centerline is valid? [True, True] Translation: X:181.12, Y:-20.45, Z:-5.38 [[ 9.84971366e-01 1.70877288e-01 2.51467930e-02 1.81118027e+02] [-1.70820677e-01 9.85292318e-01 -4.39834967e-03 -2.04536359e+01] [-2.55285200e-02 3.66562758e-05 9.99674094e-01 -5.38220991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.15, Y:-20.46, Z:-5.38 [[ 9.84838577e-01 1.71511162e-01 2.60172604e-02 1.81146923e+02] [-1.71450810e-01 9.85182176e-01 -4.54962743e-03 -2.04569252e+01] [-2.64120531e-02 1.99682479e-05 9.99651141e-01 -5.38334137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.18, Y:-20.46, Z:-5.38 [[ 9.84523937e-01 1.73357435e-01 2.56868870e-02 1.81176999e+02] [-1.73299259e-01 9.84858974e-01 -4.49091264e-03 -2.04577142e+01] [-2.60764942e-02 -3.01074738e-05 9.99659950e-01 -5.38456942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46587156000004 meters Centerline goodness [0,1] 0.9998512094545764 Centerline is valid? [True, True] Translation: X:181.21, Y:-20.46, Z:-5.38 [[ 9.84348920e-01 1.74390140e-01 2.54024010e-02 1.81206206e+02] [-1.74333603e-01 9.84676635e-01 -4.44059364e-03 -2.04609021e+01] [-2.57875465e-02 -5.73985507e-05 9.99667444e-01 -5.38388511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.24, Y:-20.46, Z:-5.39 [[ 9.84129220e-01 1.75618229e-01 2.54541966e-02 1.81236115e+02] [-1.75561888e-01 9.84458343e-01 -4.44902818e-03 -2.04638385e+01] [-2.58399267e-02 -9.03681956e-05 9.99666089e-01 -5.38590824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.26, Y:-20.46, Z:-5.39 [[ 9.83646713e-01 1.78383597e-01 2.48683815e-02 1.81264233e+02] [-1.78330712e-01 9.83961009e-01 -4.34627560e-03 -2.04612864e+01] [-2.52448220e-02 -1.59596478e-04 9.99681286e-01 -5.38827302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.29, Y:-20.46, Z:-5.39 [[ 9.83393751e-01 1.79870370e-01 2.41532590e-02 1.81292608e+02] [-1.79820975e-01 9.83690303e-01 -4.21951654e-03 -2.04619335e+01] [-2.45182927e-02 -1.93816393e-04 9.99699363e-01 -5.38996415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.32, Y:-20.46, Z:-5.39 [[ 9.83162895e-01 1.81129636e-01 2.41407794e-02 1.81321591e+02] [-1.81080713e-01 9.83459203e-01 -4.21563236e-03 -2.04641478e+01] [-2.45050476e-02 -2.26776243e-04 9.99699681e-01 -5.39030381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.35, Y:-20.47, Z:-5.39 [[ 9.83171683e-01 1.81081899e-01 2.41409842e-02 1.81349502e+02] [-1.81032991e-01 9.83467994e-01 -4.21445914e-03 -2.04689304e+01] [-2.45050476e-02 -2.26777700e-04 9.99699681e-01 -5.39115833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.38, Y:-20.46, Z:-5.39 [[ 9.82667476e-01 1.83738723e-01 2.45909245e-02 1.81378917e+02] [-1.83688835e-01 9.82975072e-01 -4.29186859e-03 -2.04640809e+01] [-2.49608483e-02 -2.99598599e-04 9.99688385e-01 -5.39181863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:-20.46, Z:-5.39 [[ 9.82469962e-01 1.84790533e-01 2.46014809e-02 1.81406568e+02] [-1.84740978e-01 9.82777875e-01 -4.29184463e-03 -2.04647680e+01] [-2.49708834e-02 -3.28293212e-04 9.99688125e-01 -5.39279011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.43, Y:-20.47, Z:-5.39 [[ 9.82335615e-01 1.85554428e-01 2.42134925e-02 1.81434360e+02] [-1.85506690e-01 9.82633928e-01 -4.22273940e-03 -2.04662015e+01] [-2.45765472e-02 -3.43617547e-04 9.99697892e-01 -5.39431751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.46, Y:-20.47, Z:-5.40 [[ 9.82207986e-01 1.86252005e-01 2.40346321e-02 1.81463638e+02] [-1.86205215e-01 9.82501940e-01 -4.19007836e-03 -2.04676060e+01] [-2.43944831e-02 -3.59845402e-04 9.99702346e-01 -5.39547128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76587156000002 meters Centerline goodness [0,1] 0.9998059089928834 Centerline is valid? [True, True] Translation: X:181.49, Y:-20.47, Z:-5.40 [[ 9.82268527e-01 1.85981531e-01 2.36518602e-02 1.81492010e+02] [-1.85936164e-01 9.82553179e-01 -4.12237112e-03 -2.04701916e+01] [-2.40058953e-02 -3.48460762e-04 9.99711756e-01 -5.39590461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79587156000002 meters Centerline goodness [0,1] 0.9998286827847613 Centerline is valid? [True, True] Translation: X:181.52, Y:-20.47, Z:-5.40 [[ 9.82395134e-01 1.85316447e-01 2.36138589e-02 1.81521042e+02] [-1.85271080e-01 9.82678840e-01 -4.11382387e-03 -2.04741823e+01] [-2.39671987e-02 -3.33564606e-04 9.99712690e-01 -5.39718321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.55, Y:-20.48, Z:-5.40 [[ 9.82569497e-01 1.84390346e-01 2.36089827e-02 1.81548895e+02] [-1.84344748e-01 9.82853043e-01 -4.11226116e-03 -2.04783592e+01] [-2.39624217e-02 -3.11609579e-04 9.99712811e-01 -5.39962638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.58, Y:-20.49, Z:-5.40 [[ 9.83092186e-01 1.81511141e-01 2.41549070e-02 1.81577549e+02] [-1.81462580e-01 9.83388857e-01 -4.20572765e-03 -2.04852620e+01] [-2.45170528e-02 -2.48593766e-04 9.99699381e-01 -5.39790410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.61, Y:-20.49, Z:-5.40 [[ 9.83410006e-01 1.79774084e-01 2.42082478e-02 1.81605600e+02] [-1.79724803e-01 9.83707902e-01 -4.21415751e-03 -2.04891604e+01] [-2.45714409e-02 -2.06577895e-04 9.99698055e-01 -5.39963954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.63, Y:-20.50, Z:-5.40 [[ 9.84215968e-01 1.75230420e-01 2.47634328e-02 1.81633372e+02] [-1.75177446e-01 9.84527445e-01 -4.30950318e-03 -2.04997060e+01] [-2.51354353e-02 -9.65130831e-05 9.99684050e-01 -5.39912888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94587156000003 meters Centerline goodness [0,1] 0.999850828964753 Centerline is valid? [True, True] Translation: X:181.66, Y:-20.51, Z:-5.40 [[ 9.84710111e-01 1.72418384e-01 2.48575667e-02 1.81660529e+02] [-1.72364140e-01 9.85023807e-01 -4.32473135e-03 -2.05080184e+01] [-2.52309582e-02 -2.59464116e-05 9.99681648e-01 -5.39922393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.69, Y:-20.52, Z:-5.40 [[ 9.85122314e-01 1.69983038e-01 2.52941427e-02 1.81688546e+02] [-1.69926110e-01 9.85446988e-01 -4.39907488e-03 -2.05167851e+01] [-2.56738049e-02 3.54915499e-05 9.99670373e-01 -5.40017597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.71, Y:-20.53, Z:-5.40 [[ 9.85994843e-01 1.64843492e-01 2.53139004e-02 1.81714325e+02] [-1.64784809e-01 9.86319722e-01 -4.40135274e-03 -2.05282421e+01] [-2.56931336e-02 1.68364858e-04 9.99669863e-01 -5.40149342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.74, Y:-20.54, Z:-5.40 [[ 9.86340801e-01 1.62754227e-01 2.53551915e-02 1.81742006e+02] [-1.62694698e-01 9.86666617e-01 -4.40713524e-03 -2.05370835e+01] [-2.57344009e-02 2.21782084e-04 9.99668791e-01 -5.40298409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06587156000003 meters Centerline goodness [0,1] 0.9999355254674404 Centerline is valid? [True, True] Translation: X:181.77, Y:-20.55, Z:-5.40 [[ 9.86733336e-01 1.60447089e-01 2.47801319e-02 1.81770201e+02] [-1.60389523e-01 9.87044404e-01 -4.30635521e-03 -2.05456075e+01] [-2.51500326e-02 2.74750714e-04 9.99683650e-01 -5.40363404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.80, Y:-20.56, Z:-5.41 [[ 9.87368222e-01 1.56549079e-01 2.44209003e-02 1.81799494e+02] [-1.56492003e-01 9.87670112e-01 -4.24292518e-03 -2.05567004e+01] [-2.47840194e-02 3.67653894e-04 9.99692761e-01 -5.40591108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.83, Y:-20.57, Z:-5.41 [[ 9.87673367e-01 1.54653059e-01 2.41609399e-02 1.81827914e+02] [-1.54596623e-01 9.87968756e-01 -4.19782493e-03 -2.05673320e+01] [-2.45194602e-02 4.10880174e-04 9.99699268e-01 -5.40830394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.86, Y:-20.57, Z:-5.41 [[ 9.87899532e-01 1.53253749e-01 2.38286041e-02 1.81858859e+02] [-1.53198460e-01 9.88186772e-01 -4.13959384e-03 -2.05711425e+01] [-2.41815196e-02 4.38997371e-04 9.99707488e-01 -5.40795109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.89, Y:-20.58, Z:-5.41 [[ 9.88213391e-01 1.51171954e-01 2.41108885e-02 1.81888074e+02] [-1.51114721e-01 9.88507357e-01 -4.18888800e-03 -2.05825051e+01] [-2.44670331e-02 4.96005026e-04 9.99700514e-01 -5.40856069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.92, Y:-20.59, Z:-5.41 [[ 9.88313729e-01 1.50501257e-01 2.41939039e-02 1.81918525e+02] [-1.50443369e-01 9.88609683e-01 -4.20571137e-03 -2.05890005e+01] [-2.45512925e-02 5.16749861e-04 9.99698438e-01 -5.40917019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.95, Y:-20.60, Z:-5.41 [[ 9.88355198e-01 1.50249356e-01 2.40651988e-02 1.81949322e+02] [-1.50192012e-01 9.88647996e-01 -4.18316782e-03 -2.05967782e+01] [-2.44205288e-02 5.20055020e-04 9.99701639e-01 -5.41013999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.98, Y:-20.60, Z:-5.41 [[ 9.88251273e-01 1.50988941e-01 2.37015039e-02 1.81979874e+02] [-1.50933443e-01 9.88535327e-01 -4.12359474e-03 -2.06041127e+01] [-2.40523911e-02 4.97798170e-04 9.99710575e-01 -5.41194069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.01, Y:-20.61, Z:-5.41 [[ 9.88120916e-01 1.51827311e-01 2.37807084e-02 1.82009679e+02] [-1.51771575e-01 9.88406917e-01 -4.14190523e-03 -2.06112801e+01] [-2.41338710e-02 4.83467633e-04 9.99708619e-01 -5.41320422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.04, Y:-20.62, Z:-5.41 [[ 9.87967886e-01 1.52774692e-01 2.40696907e-02 1.82040361e+02] [-1.52717859e-01 9.88260935e-01 -4.19281767e-03 -2.06153812e+01] [-2.44276915e-02 4.66497573e-04 9.99701491e-01 -5.41316243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.07, Y:-20.63, Z:-5.42 [[ 9.87621750e-01 1.54961798e-01 2.42923937e-02 1.82070171e+02] [-1.54904572e-01 9.87920375e-01 -4.23149432e-03 -2.06250265e+01] [-2.46546706e-02 4.16112974e-04 9.99695941e-01 -5.41527548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.10, Y:-20.63, Z:-5.41 [[ 9.87474224e-01 1.55905134e-01 2.42538036e-02 1.82101538e+02] [-1.55848265e-01 9.87771954e-01 -4.22919772e-03 -2.06264580e+01] [-2.46165806e-02 3.96310538e-04 9.99696888e-01 -5.41457527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42587156000002 meters Centerline goodness [0,1] 0.9999145353930303 Centerline is valid? [True, True] Translation: X:182.13, Y:-20.63, Z:-5.42 [[ 9.87407226e-01 1.56352825e-01 2.40990463e-02 1.82132187e+02] [-1.56296799e-01 9.87701193e-01 -4.20277717e-03 -2.06327124e+01] [-2.44597729e-02 3.83248752e-04 9.99700742e-01 -5.41538627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.16, Y:-20.64, Z:-5.42 [[ 9.87337828e-01 1.56908860e-01 2.33157150e-02 1.82160909e+02] [-1.56856558e-01 9.87613022e-01 -4.06677394e-03 -2.06411936e+01] [-2.36650167e-02 3.58056943e-04 9.99719880e-01 -5.41906315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.19, Y:-20.65, Z:-5.42 [[ 9.87347617e-01 1.57024667e-01 2.20893075e-02 1.82190493e+02] [-1.56977749e-01 9.87594624e-01 -3.85301573e-03 -2.06509122e+01] [-2.24202998e-02 3.36736136e-04 9.99748577e-01 -5.42239076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51587156000002 meters Centerline goodness [0,1] 0.9999356181728437 Centerline is valid? [True, True] Translation: X:182.22, Y:-20.66, Z:-5.42 [[ 9.87341663e-01 1.57087574e-01 2.19073954e-02 1.82220913e+02] [-1.57041430e-01 9.87584621e-01 -3.82177984e-03 -2.06568107e+01] [-2.22357609e-02 3.33033758e-04 9.99752699e-01 -5.42198825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.25, Y:-20.67, Z:-5.42 [[ 9.87163909e-01 1.58124079e-01 2.24542410e-02 1.82250711e+02] [-1.58075880e-01 9.87419199e-01 -3.91677765e-03 -2.06684054e+01] [-2.27910855e-02 3.17027629e-04 9.99740199e-01 -5.42302152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57587156000002 meters Centerline goodness [0,1] 0.9999139433316839 Centerline is valid? [True, True] Translation: X:182.28, Y:-20.68, Z:-5.42 [[ 9.87023713e-01 1.58966624e-01 2.26672286e-02 1.82281117e+02] [-1.58917623e-01 9.87283910e-01 -3.95847056e-03 -2.06754504e+01] [-2.30082548e-02 3.04882216e-04 9.99735229e-01 -5.42269736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60587156000003 meters Centerline goodness [0,1] 0.9999139988389844 Centerline is valid? [True, True] Translation: X:182.31, Y:-20.68, Z:-5.42 [[ 9.86786390e-01 1.60379021e-01 2.30475494e-02 1.82310679e+02] [-1.60328740e-01 9.87055466e-01 -4.02517247e-03 -2.06813896e+01] [-2.33947629e-02 2.76800851e-04 9.99726267e-01 -5.42271291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.34, Y:-20.69, Z:-5.42 [[ 9.86480812e-01 1.62221778e-01 2.32315058e-02 1.82342353e+02] [-1.62171184e-01 9.86754295e-01 -4.05806184e-03 -2.06856660e+01] [-2.35820941e-02 2.35719344e-04 9.99721876e-01 -5.42325194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.37, Y:-20.69, Z:-5.43 [[ 9.85791962e-01 1.66362226e-01 2.31909063e-02 1.82371721e+02] [-1.66312845e-01 9.86064699e-01 -4.05558635e-03 -2.06915681e+01] [-2.35424305e-02 1.41018820e-04 9.99722829e-01 -5.42546026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.40, Y:-20.70, Z:-5.43 [[ 9.85405975e-01 1.68646452e-01 2.30963048e-02 1.82402415e+02] [-1.68598053e-01 9.85676603e-01 -4.04103499e-03 -2.06951417e+01] [-2.34469934e-02 8.80679982e-05 9.99725078e-01 -5.42606978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72587156000003 meters Centerline goodness [0,1] 0.9998935150676179 Centerline is valid? [True, True] Translation: X:182.43, Y:-20.70, Z:-5.43 [[ 9.85071964e-01 1.70640979e-01 2.26910142e-02 1.82431614e+02] [-1.70594791e-01 9.85333271e-01 -3.97020710e-03 -2.06991584e+01] [-2.30356912e-02 3.99708854e-05 9.99734642e-01 -5.42722555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.46, Y:-20.70, Z:-5.43 [[ 9.84442257e-01 1.74339211e-01 2.18925285e-02 1.82461785e+02] [-1.74297139e-01 9.84685654e-01 -3.83015603e-03 -2.07032615e+01] [-2.22250051e-02 -4.52376318e-05 9.99752993e-01 -5.42917963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.49, Y:-20.71, Z:-5.43 [[ 9.84143462e-01 1.76013256e-01 2.19312423e-02 1.82491006e+02] [-1.75971452e-01 9.84387793e-01 -3.83684181e-03 -2.07073406e+01] [-2.22641822e-02 -8.32697782e-05 9.99752119e-01 -5.43110869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.52, Y:-20.71, Z:-5.43 [[ 9.83880623e-01 1.77459850e-01 2.20663056e-02 1.82520072e+02] [-1.77417882e-01 9.84128034e-01 -3.86098788e-03 -2.07119977e+01] [-2.24012403e-02 -1.16206030e-04 9.99749054e-01 -5.43174567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.55, Y:-20.72, Z:-5.43 [[ 9.83630294e-01 1.78895642e-01 2.16285272e-02 1.82547831e+02] [-1.78855678e-01 9.83868044e-01 -3.78398478e-03 -2.07190919e+01] [-2.19565551e-02 -1.46342829e-04 9.99758915e-01 -5.43396721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.58, Y:-20.73, Z:-5.43 [[ 9.83636652e-01 1.78876994e-01 2.14931969e-02 1.82576652e+02] [-1.78837542e-01 9.83871435e-01 -3.75945988e-03 -2.07269970e+01] [-2.18190234e-02 -1.45847986e-04 9.99761926e-01 -5.43437469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.61, Y:-20.73, Z:-5.44 [[ 9.83680521e-01 1.78684662e-01 2.10813843e-02 1.82605946e+02] [-1.78646679e-01 9.83906384e-01 -3.68671642e-03 -2.07343894e+01] [-2.14008683e-02 -1.39568170e-04 9.99770965e-01 -5.43584948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.63, Y:-20.74, Z:-5.44 [[ 9.83737005e-01 1.78333210e-01 2.14189292e-02 1.82634501e+02] [-1.78293920e-01 9.83970146e-01 -3.74563495e-03 -2.07425593e+01] [-2.17435580e-02 -1.34145128e-04 9.99763572e-01 -5.43732865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.66, Y:-20.75, Z:-5.44 [[ 9.83731470e-01 1.78332651e-01 2.16762593e-02 1.82664249e+02] [-1.78292402e-01 9.83970247e-01 -3.79103944e-03 -2.07504780e+01] [-2.20048604e-02 -1.35347540e-04 9.99757855e-01 -5.43686202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.69, Y:-20.76, Z:-5.44 [[ 9.83727308e-01 1.78367367e-01 2.15792783e-02 1.82693875e+02] [-1.78327486e-01 9.83963955e-01 -3.77407808e-03 -2.07581295e+01] [-2.19064044e-02 -1.35514774e-04 9.99760017e-01 -5.43755324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.72, Y:-20.77, Z:-5.44 [[ 9.83563548e-01 1.79259157e-01 2.16541159e-02 1.82723182e+02] [-1.79219215e-01 9.83801875e-01 -3.78716670e-03 -2.07669249e+01] [-2.19822441e-02 -1.55914547e-04 9.99758349e-01 -5.43767748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.75, Y:-20.77, Z:-5.44 [[ 9.83469691e-01 1.79717614e-01 2.21121048e-02 1.82752017e+02] [-1.79676079e-01 9.83718227e-01 -3.86735732e-03 -2.07727685e+01] [-2.24471128e-02 -1.69587582e-04 9.99748017e-01 -5.43820066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.78, Y:-20.78, Z:-5.44 [[ 9.83375975e-01 1.80185161e-01 2.24722069e-02 1.82781982e+02] [-1.80142391e-01 9.83632693e-01 -3.92997563e-03 -2.07786823e+01] [-2.28125206e-02 -1.83553464e-04 9.99739744e-01 -5.43789921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11587156000002 meters Centerline goodness [0,1] 0.9999784747185569 Centerline is valid? [True, True] Translation: X:182.81, Y:-20.78, Z:-5.44 [[ 9.83195307e-01 1.81195243e-01 2.22547170e-02 1.82811770e+02] [-1.81153556e-01 9.83447122e-01 -3.89194066e-03 -2.07846057e+01] [-2.25915386e-02 -2.04983345e-04 9.99744758e-01 -5.43922563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.84, Y:-20.79, Z:-5.44 [[ 9.83147750e-01 1.81448217e-01 2.22945501e-02 1.82840632e+02] [-1.81406443e-01 9.83400478e-01 -3.89899673e-03 -2.07892773e+01] [-2.26319372e-02 -2.11085186e-04 9.99743843e-01 -5.44156340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.87, Y:-20.80, Z:-5.44 [[ 9.83120388e-01 1.81638637e-01 2.19478438e-02 1.82870475e+02] [-1.81598208e-01 9.83365324e-01 -3.83800782e-03 -2.07957918e+01] [-2.22798790e-02 -2.12465371e-04 9.99751750e-01 -5.44309656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.90, Y:-20.81, Z:-5.44 [[ 9.83161752e-01 1.81502621e-01 2.12077515e-02 1.82900997e+02] [-1.81464846e-01 9.83390440e-01 -3.70838009e-03 -2.08055007e+01] [-2.15285808e-02 -2.02523896e-04 9.99768213e-01 -5.44344903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.93, Y:-20.81, Z:-5.44 [[ 9.83236911e-01 1.81092490e-01 2.12293688e-02 1.82931532e+02] [-1.81054556e-01 9.83466050e-01 -3.71153841e-03 -2.08132480e+01] [-2.15504952e-02 -1.94352369e-04 9.99767742e-01 -5.44491122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.96, Y:-20.82, Z:-5.45 [[ 9.83419019e-01 1.80135194e-01 2.09367058e-02 1.82962433e+02] [-1.80098014e-01 9.83641847e-01 -3.66354516e-03 -2.08227316e+01] [-2.12541534e-02 -1.67859140e-04 9.99774091e-01 -5.44631924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.99, Y:-20.84, Z:-5.45 [[ 9.83959590e-01 1.77213071e-01 2.04707831e-02 1.82991939e+02] [-1.77176823e-01 9.84172504e-01 -3.58549991e-03 -2.08365245e+01] [-2.07821793e-02 -9.89612882e-05 9.99784022e-01 -5.44817958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.02, Y:-20.85, Z:-5.45 [[ 9.84276318e-01 1.75392982e-01 2.09148492e-02 1.83022433e+02] [-1.75354664e-01 9.84498501e-01 -3.66650470e-03 -2.08468837e+01] [-2.12337169e-02 -5.86626056e-05 9.99774537e-01 -5.44750797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.05, Y:-20.86, Z:-5.45 [[ 9.84581805e-01 1.73594878e-01 2.15287860e-02 1.83052163e+02] [-1.73553747e-01 9.84817150e-01 -3.77870741e-03 -2.08566729e+01] [-2.18578819e-02 -1.59549183e-05 9.99761088e-01 -5.44837949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.08, Y:-20.87, Z:-5.45 [[ 9.85071767e-01 1.70671152e-01 2.24715822e-02 1.83083556e+02] [-1.70625541e-01 9.85328044e-01 -3.94584843e-03 -2.08715788e+01] [-2.28153227e-02 5.27180119e-05 9.99739695e-01 -5.44727565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.11, Y:-20.88, Z:-5.45 [[ 9.85162867e-01 1.70110205e-01 2.27297887e-02 1.83114505e+02] [-1.70063283e-01 9.85425042e-01 -3.99582608e-03 -2.08808101e+01] [-2.30782338e-02 7.10369872e-05 9.99733660e-01 -5.44798377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.15, Y:-20.89, Z:-5.45 [[ 9.85154142e-01 1.70088309e-01 2.32655022e-02 1.83145517e+02] [-1.70039039e-01 9.85428821e-01 -4.09440977e-03 -2.08888047e+01] [-2.36229077e-02 7.75811131e-05 9.99720937e-01 -5.44841094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.18, Y:-20.90, Z:-5.45 [[ 9.84787038e-01 1.72114580e-01 2.38968884e-02 1.83176726e+02] [-1.72063084e-01 9.85076936e-01 -4.21010215e-03 -2.08957397e+01] [-2.42648935e-02 3.42817175e-05 9.99705564e-01 -5.44742930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.21, Y:-20.90, Z:-5.45 [[ 9.84473195e-01 1.73881881e-01 2.40337217e-02 1.83208388e+02] [-1.73830221e-01 9.84766516e-01 -4.23828166e-03 -2.09008030e+01] [-2.44045648e-02 -5.31246361e-06 9.99702164e-01 -5.44831389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.24, Y:-20.91, Z:-5.45 [[ 9.84440851e-01 1.74065008e-01 2.40329786e-02 1.83240348e+02] [-1.74013299e-01 9.84734164e-01 -4.24249052e-03 -2.09066477e+01] [-2.44045642e-02 -5.57691369e-06 9.99702164e-01 -5.44929469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56587156000003 meters Centerline goodness [0,1] 0.9998503154068213 Centerline is valid? [True, True] Translation: X:183.27, Y:-20.91, Z:-5.45 [[ 9.84035258e-01 1.76369708e-01 2.38398039e-02 1.83272938e+02] [-1.76319395e-01 9.84323993e-01 -4.21285872e-03 -2.09103064e+01] [-2.42091116e-02 -5.78182836e-05 9.99706915e-01 -5.44901720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.30, Y:-20.91, Z:-5.45 [[ 9.83180710e-01 1.81188612e-01 2.29429601e-02 1.83304408e+02] [-1.81143216e-01 9.83448351e-01 -4.05903431e-03 -2.09109107e+01] [-2.32986671e-02 -1.65197339e-04 9.99728536e-01 -5.45208991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.34, Y:-20.91, Z:-5.45 [[ 9.82761351e-01 1.83458795e-01 2.28691419e-02 1.83335559e+02] [-1.83414208e-01 9.83027377e-01 -4.05015262e-03 -2.09143988e+01] [-2.32240287e-02 -2.14192075e-04 9.99730263e-01 -5.45404379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65587156000004 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:183.37, Y:-20.92, Z:-5.45 [[ 9.82350765e-01 1.85657762e-01 2.27633428e-02 1.83367556e+02] [-1.85614141e-01 9.82614434e-01 -4.03296346e-03 -2.09193709e+01] [-2.31163401e-02 -2.63413566e-04 9.99732747e-01 -5.45418841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.40, Y:-20.92, Z:-5.46 [[ 9.81790443e-01 1.88703781e-01 2.18725469e-02 1.83398254e+02] [-1.88664166e-01 9.82034002e-01 -3.87949126e-03 -2.09219977e+01] [-2.22116594e-02 -3.17718378e-04 9.99753240e-01 -5.45770230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71587156000004 meters Centerline goodness [0,1] 0.9999142918362974 Centerline is valid? [True, True] Translation: X:183.43, Y:-20.93, Z:-5.46 [[ 9.81547887e-01 1.89995733e-01 2.15723725e-02 1.83428670e+02] [-1.89957482e-01 9.81784857e-01 -3.82750865e-03 -2.09266611e+01] [-2.19066390e-02 -3.40950528e-04 9.99759963e-01 -5.45906407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74587156000004 meters Centerline goodness [0,1] 0.9998933265062298 Centerline is valid? [True, True] Translation: X:183.46, Y:-20.93, Z:-5.46 [[ 9.81387389e-01 1.90878227e-01 2.10783138e-02 1.83458989e+02] [-1.90841842e-01 9.81613661e-01 -3.74313207e-03 -2.09334075e+01] [-2.14052432e-02 -3.49161634e-04 9.99770821e-01 -5.46148877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77587156000004 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:183.49, Y:-20.94, Z:-5.46 [[ 9.81351665e-01 1.91101695e-01 2.07135877e-02 1.83490225e+02] [-1.91066532e-01 9.81570183e-01 -3.68191854e-03 -2.09403461e+01] [-2.10354609e-02 -3.44416476e-04 9.99778671e-01 -5.46364168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.52, Y:-20.95, Z:-5.47 [[ 9.81354630e-01 1.91126994e-01 2.03362151e-02 1.83521548e+02] [-1.91093068e-01 9.81565260e-01 -3.61670258e-03 -2.09461859e+01] [-2.06525717e-02 -3.36841904e-04 9.99786656e-01 -5.46617286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.55, Y:-20.95, Z:-5.47 [[ 9.81345646e-01 1.91180095e-01 2.02705433e-02 1.83553508e+02] [-1.91146327e-01 9.81554920e-01 -3.60853102e-03 -2.09546706e+01] [-2.05865308e-02 -3.33423702e-04 9.99788019e-01 -5.46671038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86587156000002 meters Centerline goodness [0,1] 0.9999787906424314 Centerline is valid? [True, True] Translation: X:183.58, Y:-20.96, Z:-5.47 [[ 9.81314937e-01 1.91409340e-01 1.95820835e-02 1.83583897e+02] [-1.91377794e-01 9.81510245e-01 -3.48994518e-03 -2.09619082e+01] [-1.98880237e-02 -3.22840608e-04 9.99802162e-01 -5.46851829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.62, Y:-20.97, Z:-5.47 [[ 9.81196810e-01 1.92013540e-01 1.95862386e-02 1.83616442e+02] [-1.91982047e-01 9.81392220e-01 -3.49337769e-03 -2.09680140e+01] [-1.98925580e-02 -3.32515147e-04 9.99802068e-01 -5.46944943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92587156000002 meters Centerline goodness [0,1] 0.9999363746262009 Centerline is valid? [True, True] Translation: X:183.65, Y:-20.97, Z:-5.47 [[ 9.81087455e-01 1.92575376e-01 1.95481300e-02 1.83647894e+02] [-1.92544040e-01 9.81282125e-01 -3.49046866e-03 -2.09723429e+01] [-1.98544089e-02 -3.39420901e-04 9.99802824e-01 -5.47073910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95587156000002 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:183.68, Y:-20.97, Z:-5.47 [[ 9.80720726e-01 1.94441641e-01 1.94757719e-02 1.83679266e+02] [-1.94410803e-01 9.80914018e-01 -3.48262560e-03 -2.09744086e+01] [-1.97812251e-02 -3.70817353e-04 9.99804264e-01 -5.47126787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.71, Y:-20.98, Z:-5.47 [[ 9.80474739e-01 1.95661589e-01 1.96425003e-02 1.83710661e+02] [-1.95630487e-01 9.80671394e-01 -3.51140092e-03 -2.09808262e+01] [-1.99498844e-02 -3.99831998e-04 9.99800901e-01 -5.47050864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.74, Y:-20.98, Z:-5.47 [[ 9.80250749e-01 1.96741976e-01 2.00265651e-02 1.83742246e+02] [-1.96709797e-01 9.80455207e-01 -3.58367581e-03 -2.09847525e+01] [-2.03402095e-02 -4.26520663e-04 9.99793026e-01 -5.47126733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04587156000002 meters Centerline goodness [0,1] 0.9999363070847753 Centerline is valid? [True, True] Translation: X:183.77, Y:-20.98, Z:-5.47 [[ 9.79887469e-01 1.98522261e-01 2.02351234e-02 1.83773926e+02] [-1.98489711e-01 9.80096269e-01 -3.62469884e-03 -2.09849666e+01] [-2.05519524e-02 -4.64666836e-04 9.99788678e-01 -5.47298047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.81, Y:-20.99, Z:-5.47 [[ 9.79820321e-01 1.98867965e-01 2.00915679e-02 1.83805245e+02] [-1.98835856e-01 9.80026182e-01 -3.60348893e-03 -2.09893909e+01] [-2.04068811e-02 -4.64152427e-04 9.99791650e-01 -5.47362712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.84, Y:-20.99, Z:-5.47 [[ 9.79801709e-01 1.98947036e-01 2.02160433e-02 1.83835953e+02] [-1.98914530e-01 9.80010131e-01 -3.62653366e-03 -2.09936062e+01] [-2.05334154e-02 -4.67980887e-04 9.99789058e-01 -5.47453527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13587156000003 meters Centerline goodness [0,1] 0.9999787016527517 Centerline is valid? [True, True] Translation: X:183.87, Y:-21.00, Z:-5.47 [[ 9.79987056e-01 1.97971698e-01 2.07984581e-02 1.83867059e+02] [-1.97937078e-01 9.80207628e-01 -3.73079990e-03 -2.09994477e+01] [-2.11254001e-02 -4.60650407e-04 9.99776728e-01 -5.47407196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.90, Y:-21.01, Z:-5.47 [[ 9.80130614e-01 1.97247725e-01 2.09120512e-02 1.83898278e+02] [-1.97212577e-01 9.80353576e-01 -3.75037577e-03 -2.10077906e+01] [-2.12409573e-02 -4.48261414e-04 9.99774285e-01 -5.47375239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19587156000003 meters Centerline goodness [0,1] 0.9999787784898774 Centerline is valid? [True, True] Translation: X:183.93, Y:-21.01, Z:-5.47 [[ 9.80312122e-01 1.96339490e-01 2.09510800e-02 1.83928837e+02] [-1.96303912e-01 9.80535886e-01 -3.76164960e-03 -2.10135911e+01] [-2.12818462e-02 -4.25188272e-04 9.99773425e-01 -5.47457470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22587156000003 meters Centerline goodness [0,1] 0.999893139559735 Centerline is valid? [True, True] Translation: X:183.96, Y:-21.02, Z:-5.47 [[ 9.80677081e-01 1.94465315e-01 2.13472151e-02 1.83960402e+02] [-1.94427902e-01 9.80909317e-01 -3.83431674e-03 -2.10204277e+01] [-2.16853238e-02 -3.90267678e-04 9.99764770e-01 -5.47465271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25587156000003 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:183.99, Y:-21.03, Z:-5.48 [[ 9.80890147e-01 1.93418526e-01 2.10663857e-02 1.83990699e+02] [-1.93381772e-01 9.81116275e-01 -3.78751929e-03 -2.10259894e+01] [-2.14011503e-02 -3.58714648e-04 9.99770905e-01 -5.47714497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.02, Y:-21.03, Z:-5.48 [[ 9.81132938e-01 1.92199451e-01 2.09171871e-02 1.84021987e+02] [-1.92162871e-01 9.81355830e-01 -3.76385579e-03 -2.10346392e+01] [-2.12506145e-02 -3.26663831e-04 9.99774127e-01 -5.47774129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.05, Y:-21.04, Z:-5.48 [[ 9.81349325e-01 1.91065504e-01 2.11536140e-02 1.84052960e+02] [-1.91027748e-01 9.81577242e-01 -3.81019508e-03 -2.10397033e+01] [-2.14919029e-02 -3.01794868e-04 9.99768977e-01 -5.47955352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.08, Y:-21.05, Z:-5.48 [[ 9.81704260e-01 1.89174272e-01 2.16758247e-02 1.84083686e+02] [-1.89134091e-01 9.81943494e-01 -3.90771233e-03 -2.10486883e+01] [-2.20236737e-02 -2.63419574e-04 9.99757415e-01 -5.47818111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.11, Y:-21.05, Z:-5.48 [[ 9.81815498e-01 1.88598282e-01 2.16567997e-02 1.84113824e+02] [-1.88557948e-01 9.82054289e-01 -3.90804918e-03 -2.10544110e+01] [-2.20052044e-02 -2.46578465e-04 9.99757826e-01 -5.47956457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.14, Y:-21.06, Z:-5.48 [[ 9.82053318e-01 1.87400043e-01 2.12721609e-02 1.84144807e+02] [-1.87360781e-01 9.82283655e-01 -3.84179253e-03 -2.10613460e+01] [-2.16152480e-02 -2.12723565e-04 9.99766341e-01 -5.48093198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.18, Y:-21.07, Z:-5.48 [[ 9.82075568e-01 1.87338937e-01 2.07774100e-02 1.84177421e+02] [-1.87301398e-01 9.82295313e-01 -3.75562366e-03 -2.10663793e+01] [-2.11131270e-02 -2.03331714e-04 9.99777072e-01 -5.48246439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46587156000004 meters Centerline goodness [0,1] 0.9998276827639685 Centerline is valid? [True, True] Translation: X:184.21, Y:-21.07, Z:-5.48 [[ 9.82068546e-01 1.87412905e-01 2.04395162e-02 1.84210034e+02] [-1.87376515e-01 9.82281204e-01 -3.69836052e-03 -2.10714204e+01] [-2.07704731e-02 -1.97841786e-04 9.99784251e-01 -5.48301823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.24, Y:-21.08, Z:-5.49 [[ 9.81954869e-01 1.88011873e-01 2.04002510e-02 1.84241953e+02] [-1.87975666e-01 9.82166734e-01 -3.69535213e-03 -2.10756114e+01] [-2.07312179e-02 -2.06081746e-04 9.99785064e-01 -5.48535675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52587156000004 meters Centerline goodness [0,1] 0.9998707871217831 Centerline is valid? [True, True] Translation: X:184.27, Y:-21.08, Z:-5.49 [[ 9.81824930e-01 1.88721119e-01 2.01033685e-02 1.84274187e+02] [-1.88686032e-01 9.82030699e-01 -3.64525858e-03 -2.10804002e+01] [-2.04300623e-02 -2.14219073e-04 9.99791262e-01 -5.48541233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55587156 meters Centerline goodness [0,1] 0.9998927498927499 Centerline is valid? [True, True] Translation: X:184.31, Y:-21.08, Z:-5.49 [[ 9.81739500e-01 1.89171728e-01 2.00402650e-02 1.84306600e+02] [-1.89136886e-01 9.81943995e-01 -3.63719236e-03 -2.10846155e+01] [-2.03664718e-02 -2.19577916e-04 9.99792558e-01 -5.48602637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.34, Y:-21.08, Z:-5.49 [[ 9.81696019e-01 1.89354408e-01 2.04410189e-02 1.84337171e+02] [-1.89318094e-01 9.81908783e-01 -3.71496362e-03 -2.10845937e+01] [-2.07746607e-02 -2.22889747e-04 9.99784159e-01 -5.49004875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.37, Y:-21.09, Z:-5.49 [[ 9.81749908e-01 1.89040085e-01 2.07597000e-02 1.84368110e+02] [-1.89002556e-01 9.81969347e-01 -3.77303224e-03 -2.10925993e+01] [-2.10986434e-02 -2.19462317e-04 9.99777375e-01 -5.48814876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64587156000002 meters Centerline goodness [0,1] 0.9999574123759636 Centerline is valid? [True, True] Translation: X:184.40, Y:-21.10, Z:-5.49 [[ 9.81850413e-01 1.88456179e-01 2.13080777e-02 1.84399295e+02] [-1.88416492e-01 9.82081577e-01 -3.87322585e-03 -2.10985577e+01] [-2.16562039e-02 -2.11864848e-04 9.99765454e-01 -5.48785174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.43, Y:-21.10, Z:-5.49 [[ 9.82253512e-01 1.86331513e-01 2.14150795e-02 1.84430240e+02] [-1.86290936e-01 9.82486916e-01 -3.89201227e-03 -2.11047545e+01] [-2.17652400e-02 -1.66492480e-04 9.99763095e-01 -5.48996823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.46, Y:-21.11, Z:-5.49 [[ 9.82519290e-01 1.84927270e-01 2.13950816e-02 1.84461854e+02] [-1.84886358e-01 9.82752200e-01 -3.89194403e-03 -2.11132538e+01] [-2.17457901e-02 -1.31748634e-04 9.99763524e-01 -5.49029642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.49, Y:-21.12, Z:-5.49 [[ 9.82851126e-01 1.83106617e-01 2.18089714e-02 1.84491704e+02] [-1.83063576e-01 9.83093057e-01 -3.97093563e-03 -2.11221070e+01] [-2.21673530e-02 -8.95897312e-05 9.99754270e-01 -5.49084068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.52, Y:-21.13, Z:-5.49 [[ 9.83612110e-01 1.79077762e-01 2.09373323e-02 1.84521730e+02] [-1.79037113e-01 9.83834923e-01 -3.81536836e-03 -2.11330386e+01] [-2.12821263e-02 4.28299109e-06 9.99773510e-01 -5.49339511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.55, Y:-21.14, Z:-5.50 [[ 9.84011798e-01 1.76949400e-01 2.02408418e-02 1.84551209e+02] [-1.76910873e-01 9.84219948e-01 -3.69271054e-03 -2.11419520e+01] [-2.05748632e-02 5.28457375e-05 9.99788314e-01 -5.49630672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.58, Y:-21.16, Z:-5.50 [[ 9.84733178e-01 1.72937207e-01 1.98315443e-02 1.84581399e+02] [-1.72899393e-01 9.84932843e-01 -3.61880607e-03 -2.11568516e+01] [-2.01585655e-02 1.34696449e-04 9.99796786e-01 -5.49772831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.61, Y:-21.17, Z:-5.50 [[ 9.85012690e-01 1.71307855e-01 2.00903017e-02 1.84611563e+02] [-1.71268626e-01 9.85217534e-01 -3.67004241e-03 -2.11660121e+01] [-2.04220246e-02 1.74199972e-04 9.99791434e-01 -5.49806329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.64, Y:-21.17, Z:-5.50 [[ 9.85245061e-01 1.69868117e-01 2.09043457e-02 1.84643020e+02] [-1.69825292e-01 9.85466781e-01 -3.82007330e-03 -2.11744116e+01] [-2.12494469e-02 2.13621735e-04 9.99774182e-01 -5.49751809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.67, Y:-21.18, Z:-5.50 [[ 9.85446504e-01 1.68618057e-01 2.15206372e-02 1.84673961e+02] [-1.68572293e-01 9.85681433e-01 -3.93628014e-03 -2.11828917e+01] [-2.18762204e-02 2.51210361e-04 9.99760655e-01 -5.49754791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.71, Y:-21.19, Z:-5.50 [[ 9.85773412e-01 1.66588798e-01 2.23372324e-02 1.84705217e+02] [-1.66538890e-01 9.86026407e-01 -4.08929339e-03 -2.11918838e+01] [-2.27063315e-02 3.11098801e-04 9.99742130e-01 -5.49523054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.73, Y:-21.20, Z:-5.50 [[ 9.85851881e-01 1.66138687e-01 2.22262556e-02 1.84734530e+02] [-1.66089073e-01 9.86102344e-01 -4.07283135e-03 -2.12025026e+01] [-2.25940176e-02 3.23670259e-04 9.99744670e-01 -5.49811418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00587156000003 meters Centerline goodness [0,1] 0.9997448871125473 Centerline is valid? [True, True] Translation: X:184.77, Y:-21.21, Z:-5.50 [[ 9.85822912e-01 1.66390212e-01 2.16213738e-02 1.84767420e+02] [-1.66343257e-01 9.86059937e-01 -3.96497968e-03 -2.12070725e+01] [-2.19797043e-02 3.12198075e-04 9.99758368e-01 -5.49846653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.80, Y:-21.21, Z:-5.50 [[ 9.85751799e-01 1.66958981e-01 2.04472483e-02 1.84799852e+02] [-1.66917036e-01 9.85963801e-01 -3.75325137e-03 -2.12139147e+01] [-2.07868857e-02 2.86780208e-04 9.99783888e-01 -5.50190463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06587156000003 meters Centerline goodness [0,1] 0.9999787170646576 Centerline is valid? [True, True] Translation: X:184.83, Y:-21.22, Z:-5.51 [[ 9.85521006e-01 1.68379963e-01 1.99131580e-02 1.84829765e+02] [-1.68340376e-01 9.85722133e-01 -3.65986739e-03 -2.12222374e+01] [-2.02450889e-02 2.54687699e-04 9.99795015e-01 -5.50610924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.86, Y:-21.22, Z:-5.51 [[ 9.85007577e-01 1.71409085e-01 1.94679009e-02 1.84862231e+02] [-1.71371819e-01 9.85199924e-01 -3.57908643e-03 -2.12222075e+01] [-1.97932624e-02 1.89177655e-04 9.99804076e-01 -5.50502998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.89, Y:-21.23, Z:-5.51 [[ 9.84697723e-01 1.73177783e-01 1.94897365e-02 1.84894699e+02] [-1.73140692e-01 9.84890568e-01 -3.58753760e-03 -2.12261052e+01] [-1.98165394e-02 1.58173649e-04 9.99803621e-01 -5.50531660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:-21.23, Z:-5.51 [[ 9.84366581e-01 1.74998766e-01 1.99465686e-02 1.84926964e+02] [-1.74960285e-01 9.84568645e-01 -3.67180424e-03 -2.12298056e+01] [-2.02813272e-02 1.24544059e-04 9.99794305e-01 -5.50544121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.96, Y:-21.23, Z:-5.51 [[ 9.84008236e-01 1.77003361e-01 1.99399638e-02 1.84957952e+02] [-1.76965245e-01 9.84210243e-01 -3.67416484e-03 -2.12342330e+01] [-2.02754562e-02 8.67278856e-05 9.99794428e-01 -5.50780467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.99, Y:-21.24, Z:-5.51 [[ 9.83369589e-01 1.80529538e-01 1.98327138e-02 1.84990646e+02] [-1.80492485e-01 9.83569563e-01 -3.65748578e-03 -2.12360531e+01] [-2.01671378e-02 1.70045008e-05 9.99796622e-01 -5.50884767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.02, Y:-21.24, Z:-5.51 [[ 9.83034102e-01 1.82323563e-01 2.00517246e-02 1.85022078e+02] [-1.82285994e-01 9.83238587e-01 -3.70114645e-03 -2.12399591e+01] [-2.03904356e-02 -1.67953747e-05 9.99792093e-01 -5.51008126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.05, Y:-21.24, Z:-5.51 [[ 9.82423405e-01 1.85489420e-01 2.09267254e-02 1.85054998e+02] [-1.85449136e-01 9.82646258e-01 -3.86648277e-03 -2.12425614e+01] [-2.12807601e-02 -8.23199724e-05 9.99773536e-01 -5.50941375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30587156 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:185.09, Y:-21.25, Z:-5.51 [[ 9.82110672e-01 1.87100707e-01 2.12591771e-02 1.85087645e+02] [-1.87059424e-01 9.82340731e-01 -3.93189362e-03 -2.12478379e+01] [-2.16194157e-02 -1.15174731e-04 9.99766266e-01 -5.50746190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.12, Y:-21.25, Z:-5.51 [[ 9.81820235e-01 1.88618251e-01 2.12645793e-02 1.85118924e+02] [-1.88577205e-01 9.82050475e-01 -3.93738792e-03 -2.12514490e+01] [-2.16255534e-02 -1.44207791e-04 9.99766130e-01 -5.50931210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.15, Y:-21.26, Z:-5.51 [[ 9.81586065e-01 1.89825219e-01 2.13350434e-02 1.85151571e+02] [-1.89784119e-01 9.81817884e-01 -3.95353040e-03 -2.12563685e+01] [-2.16976069e-02 -1.68322069e-04 9.99764565e-01 -5.50990915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:-21.26, Z:-5.51 [[ 9.81050843e-01 1.92569116e-01 2.13630491e-02 1.85183142e+02] [-1.92528449e-01 9.81283387e-01 -3.96371973e-03 -2.12585208e+01] [-2.17264952e-02 -2.24384122e-04 9.99763927e-01 -5.51024853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.22, Y:-21.26, Z:-5.51 [[ 9.81014974e-01 1.92751784e-01 2.13628202e-02 1.85215054e+02] [-1.92711134e-01 9.81247521e-01 -3.96495323e-03 -2.12646422e+01] [-2.17264662e-02 -2.27174813e-04 9.99763927e-01 -5.51122922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.25, Y:-21.27, Z:-5.51 [[ 9.80754345e-01 1.94028243e-01 2.17705065e-02 1.85246682e+02] [-1.93986241e-01 9.80995910e-01 -4.04509850e-03 -2.12690521e+01] [-2.21416412e-02 -2.55930779e-04 9.99754811e-01 -5.51121313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48587156000002 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:185.28, Y:-21.27, Z:-5.51 [[ 9.80472549e-01 1.95448255e-01 2.17614609e-02 1.85277641e+02] [-1.95406553e-01 9.80713974e-01 -4.04723024e-03 -2.12728102e+01] [-2.21327929e-02 -2.84133916e-04 9.99754999e-01 -5.51215243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51587156000002 meters Centerline goodness [0,1] 0.999786260847262 Centerline is valid? [True, True] Translation: X:185.31, Y:-21.28, Z:-5.51 [[ 9.80145232e-01 1.97137352e-01 2.12647274e-02 1.85309270e+02] [-1.97097860e-01 9.80375830e-01 -3.95808989e-03 -2.12754932e+01] [-2.16277121e-02 -3.11729314e-04 9.99766045e-01 -5.51369235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.34, Y:-21.28, Z:-5.52 [[ 9.80212659e-01 1.96839491e-01 2.09130914e-02 1.85340825e+02] [-1.96801161e-01 9.80435682e-01 -3.89568700e-03 -2.12823598e+01] [-2.12707661e-02 -2.97118952e-04 9.99773708e-01 -5.51537508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.37, Y:-21.29, Z:-5.52 [[ 9.80280282e-01 1.96510609e-01 2.08362528e-02 1.85371264e+02] [-1.96472408e-01 9.80501657e-01 -3.88510156e-03 -2.12874095e+01] [-2.11934441e-02 -2.85260303e-04 9.99775353e-01 -5.51717772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.40, Y:-21.29, Z:-5.52 [[ 9.80602487e-01 1.94913349e-01 2.06772608e-02 1.85401980e+02] [-1.94875302e-01 9.80820435e-01 -3.85880298e-03 -2.12937386e+01] [-2.10328121e-02 -2.45535645e-04 9.99778756e-01 -5.51938988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.43, Y:-21.30, Z:-5.52 [[ 9.80764068e-01 1.94111087e-01 2.05603516e-02 1.85433698e+02] [-1.94073214e-01 9.80979529e-01 -3.84078055e-03 -2.13018313e+01] [-2.09148221e-02 -2.23313958e-04 9.99781236e-01 -5.51966936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.46, Y:-21.31, Z:-5.52 [[ 9.80908211e-01 1.93375555e-01 2.06149569e-02 1.85464966e+02] [-1.93337294e-01 9.81124789e-01 -3.85213405e-03 -2.13090506e+01] [-2.09707538e-02 -2.07050072e-04 9.99780068e-01 -5.51998429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.50, Y:-21.32, Z:-5.52 [[ 9.81075115e-01 1.92442106e-01 2.13928401e-02 1.85495608e+02] [-1.92400583e-01 9.81308310e-01 -4.00197136e-03 -2.13154826e+01] [-2.17631196e-02 -1.89760408e-04 9.99763137e-01 -5.52029019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72587156000003 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:185.53, Y:-21.32, Z:-5.52 [[ 9.81079818e-01 1.92380907e-01 2.17250271e-02 1.85527685e+02] [-1.92338036e-01 9.81320310e-01 -4.06562751e-03 -2.13205320e+01] [-2.21013594e-02 -1.89843943e-04 9.99755717e-01 -5.52143009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.56, Y:-21.33, Z:-5.52 [[ 9.81141414e-01 1.91996642e-01 2.23341566e-02 1.85558793e+02] [-1.91951134e-01 9.81395566e-01 -4.18399788e-03 -2.13265608e+01] [-2.27219558e-02 -1.81973079e-04 9.99741806e-01 -5.52153170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.59, Y:-21.33, Z:-5.52 [[ 9.81100684e-01 1.92158912e-01 2.27244300e-02 1.85590892e+02] [-1.92111762e-01 9.81363805e-01 -4.26062621e-03 -2.13339145e+01] [-2.31196504e-02 -1.85526989e-04 9.99732688e-01 -5.52019087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81587156000003 meters Centerline goodness [0,1] 0.9998713991769548 Centerline is valid? [True, True] Translation: X:185.62, Y:-21.34, Z:-5.52 [[ 9.81132070e-01 1.92008341e-01 2.26419623e-02 1.85622491e+02] [-1.91961379e-01 9.81393278e-01 -4.25004319e-03 -2.13393267e+01] [-2.30367133e-02 -1.76528645e-04 9.99734604e-01 -5.52124850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84587156000003 meters Centerline goodness [0,1] 0.9997019881646728 Centerline is valid? [True, True] Translation: X:185.65, Y:-21.35, Z:-5.52 [[ 9.81134452e-01 1.92042618e-01 2.22445527e-02 1.85654660e+02] [-1.91997252e-01 9.81386572e-01 -4.17754211e-03 -2.13451764e+01] [-2.26327715e-02 -1.72162506e-04 9.99743831e-01 -5.52317857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87587156000004 meters Centerline goodness [0,1] 0.9998717373180274 Centerline is valid? [True, True] Translation: X:185.69, Y:-21.35, Z:-5.53 [[ 9.81257105e-01 1.91500180e-01 2.14982698e-02 1.85686686e+02] [-1.91457592e-01 9.81492567e-01 -4.04127147e-03 -2.13521832e+01] [-2.18742963e-02 -1.50480648e-04 9.99760718e-01 -5.52548216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.72, Y:-21.36, Z:-5.53 [[ 9.81335924e-01 1.91134720e-01 2.11500066e-02 1.85717650e+02] [-1.91093327e-01 9.81563803e-01 -3.97996869e-03 -2.13579404e+01] [-2.15207911e-02 -1.35938878e-04 9.99768392e-01 -5.52826309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.75, Y:-21.36, Z:-5.53 [[ 9.81430011e-01 1.90699600e-01 2.07073976e-02 1.85750288e+02] [-1.90659749e-01 9.81648434e-01 -3.90027763e-03 -2.13646170e+01] [-2.10711658e-02 -1.20217719e-04 9.99777971e-01 -5.53015979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.78, Y:-21.37, Z:-5.53 [[ 9.81588914e-01 1.89946450e-01 2.00885584e-02 1.85781304e+02] [-1.89908709e-01 9.81794447e-01 -3.78756276e-03 -2.13715902e+01] [-2.04422692e-02 -9.71625716e-05 9.99791030e-01 -5.53221767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.81, Y:-21.38, Z:-5.53 [[ 9.81636377e-01 1.89721252e-01 1.98964875e-02 1.85813535e+02] [-1.89684113e-01 9.81837990e-01 -3.75479077e-03 -2.13780714e+01] [-2.02474909e-02 -8.82083712e-05 9.99794995e-01 -5.53370740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02587156000004 meters Centerline goodness [0,1] 0.9999571807827353 Centerline is valid? [True, True] Translation: X:185.85, Y:-21.39, Z:-5.53 [[ 9.81637455e-01 1.89738885e-01 1.96739245e-02 1.85846169e+02] [-1.89702502e-01 9.81834583e-01 -3.71648185e-03 -2.13851895e+01] [-2.00217006e-02 -8.39549234e-05 9.99799542e-01 -5.53385797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.88, Y:-21.39, Z:-5.54 [[ 9.81688336e-01 1.89446640e-01 1.99494788e-02 1.85877182e+02] [-1.89409086e-01 9.81891015e-01 -3.77268512e-03 -2.13915888e+01] [-2.03029365e-02 -7.50115542e-05 9.99793871e-01 -5.53520846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.91, Y:-21.40, Z:-5.54 [[ 9.81644404e-01 1.89631064e-01 2.03549358e-02 1.85908663e+02] [-1.89591916e-01 9.81855414e-01 -3.85378631e-03 -2.13974257e+01] [-2.07164015e-02 -7.60835079e-05 9.99785389e-01 -5.53547371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.94, Y:-21.40, Z:-5.53 [[ 9.81580864e-01 1.89914308e-01 2.07741160e-02 1.85940593e+02] [-1.89873554e-01 9.81800667e-01 -3.93503587e-03 -2.14040033e+01] [-2.11433605e-02 -8.18993285e-05 9.99776451e-01 -5.53420584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14587156000002 meters Centerline goodness [0,1] 0.9998081187105577 Centerline is valid? [True, True] Translation: X:185.97, Y:-21.41, Z:-5.53 [[ 9.81429223e-01 1.90624666e-01 2.14223365e-02 1.85972503e+02] [-1.90581397e-01 9.81662991e-01 -4.06244754e-03 -2.14089562e+01] [-2.18039176e-02 -9.56940772e-05 9.99762262e-01 -5.53398562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.00, Y:-21.41, Z:-5.53 [[ 9.81377584e-01 1.90863424e-01 2.16607995e-02 1.86004694e+02] [-1.90819155e-01 9.81616597e-01 -4.11174020e-03 -2.14143415e+01] [-2.20473811e-02 -9.81257905e-05 9.99756922e-01 -5.53484806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.04, Y:-21.42, Z:-5.54 [[ 9.81176984e-01 1.91861224e-01 2.19316289e-02 1.86036010e+02] [-1.91815988e-01 9.81422059e-01 -4.16770016e-03 -2.14190736e+01] [-2.23238045e-02 -1.17585598e-04 9.99750786e-01 -5.53549502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23587156000002 meters Centerline goodness [0,1] 0.9997437868306431 Centerline is valid? [True, True] Translation: X:186.07, Y:-21.42, Z:-5.54 [[ 9.80929810e-01 1.93169349e-01 2.15014218e-02 1.86066935e+02] [-1.93126083e-01 9.81165421e-01 -4.09058088e-03 -2.14229874e+01] [-2.18866264e-02 -1.39912642e-04 9.99760449e-01 -5.53691793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26587156000002 meters Centerline goodness [0,1] 0.9999145828439642 Centerline is valid? [True, True] Translation: X:186.10, Y:-21.43, Z:-5.54 [[ 9.80858757e-01 1.93539963e-01 2.14098439e-02 1.86098214e+02] [-1.93497123e-01 9.81092382e-01 -4.07454624e-03 -2.14288177e+01] [-2.17936222e-02 -1.46188834e-04 9.99762480e-01 -5.53834582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.13, Y:-21.44, Z:-5.54 [[ 9.80933375e-01 1.93196216e-01 2.10934936e-02 1.86130142e+02] [-1.93154483e-01 9.81160132e-01 -4.01764709e-03 -2.14355342e+01] [-2.14722892e-02 -1.33258737e-04 9.99769435e-01 -5.54063659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32587156000002 meters Centerline goodness [0,1] 0.9997649873947785 Centerline is valid? [True, True] Translation: X:186.16, Y:-21.44, Z:-5.54 [[ 9.81119381e-01 1.92282479e-01 2.07896353e-02 1.86161214e+02] [-1.92241647e-01 9.81339613e-01 -3.96386744e-03 -2.14443887e+01] [-2.11638749e-02 -1.07606555e-04 9.99776014e-01 -5.54186368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35587156000003 meters Centerline goodness [0,1] 0.9999357532926437 Centerline is valid? [True, True] Translation: X:186.19, Y:-21.45, Z:-5.54 [[ 9.81320245e-01 1.91244054e-01 2.08875103e-02 1.86192674e+02] [-1.91202518e-01 9.81542513e-01 -3.98649110e-03 -2.14523079e+01] [-2.12643721e-02 -8.17201460e-05 9.99773884e-01 -5.54242485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.22, Y:-21.46, Z:-5.54 [[ 9.81503105e-01 1.90270550e-01 2.11842531e-02 1.86223464e+02] [-1.90227521e-01 9.81731692e-01 -4.04673477e-03 -2.14601044e+01] [-2.15672271e-02 -5.79451964e-05 9.99767399e-01 -5.54284425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.25, Y:-21.47, Z:-5.54 [[ 9.81696081e-01 1.89193641e-01 2.18762609e-02 1.86253893e+02] [-1.89147383e-01 9.81939797e-01 -4.18355016e-03 -2.14677776e+01] [-2.22726723e-02 -3.08627177e-05 9.99751933e-01 -5.54366424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.28, Y:-21.47, Z:-5.54 [[ 9.81653164e-01 1.89436905e-01 2.16961821e-02 1.86284925e+02] [-1.89391432e-01 9.81892895e-01 -4.15062651e-03 -2.14741721e+01] [-2.20896089e-02 -3.45953483e-05 9.99755994e-01 -5.54470453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.32, Y:-21.48, Z:-5.55 [[ 9.81553769e-01 1.89941826e-01 2.17784643e-02 1.86316994e+02] [-1.89896043e-01 9.81795346e-01 -4.17036430e-03 -2.14797827e+01] [-2.21741215e-02 -4.22073988e-05 9.99754123e-01 -5.54560339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.35, Y:-21.48, Z:-5.55 [[ 9.81123970e-01 1.92114331e-01 2.20871001e-02 1.86350472e+02] [-1.92067714e-01 9.81372547e-01 -4.23289349e-03 -2.14822901e+01] [-2.24888732e-02 -8.92255785e-05 9.99747089e-01 -5.54500524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.38, Y:-21.49, Z:-5.55 [[ 9.80827072e-01 1.93629098e-01 2.20460147e-02 1.86382587e+02] [-1.93582936e-01 9.81074797e-01 -4.22949439e-03 -2.14850788e+01] [-2.24477426e-02 -1.19329654e-04 9.99748011e-01 -5.54795923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.41, Y:-21.49, Z:-5.55 [[ 9.80566278e-01 1.94968039e-01 2.18457653e-02 1.86414177e+02] [-1.94922927e-01 9.80809586e-01 -4.19632698e-03 -2.14886607e+01] [-2.22446856e-02 -1.43463779e-04 9.99752546e-01 -5.54899012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.45, Y:-21.49, Z:-5.55 [[ 9.80314612e-01 1.96281024e-01 2.13780445e-02 1.86446271e+02] [-1.96238153e-01 9.80547669e-01 -4.10571667e-03 -2.14937620e+01] [-2.17680660e-02 -1.70293912e-04 9.99763033e-01 -5.54912428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.48, Y:-21.50, Z:-5.55 [[ 9.79995911e-01 1.97891172e-01 2.11447249e-02 1.86477203e+02] [-1.97849524e-01 9.80223977e-01 -4.06469115e-03 -2.14953745e+01] [-2.15309328e-02 -2.00093052e-04 9.99768163e-01 -5.55164346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.51, Y:-21.50, Z:-5.55 [[ 9.79929999e-01 1.98217701e-01 2.11409641e-02 1.86507609e+02] [-1.98176043e-01 9.80157998e-01 -4.06870269e-03 -2.14997177e+01] [-2.15279740e-02 -2.02588777e-04 9.99768226e-01 -5.55243751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.54, Y:-21.50, Z:-5.55 [[ 9.79911765e-01 1.98258327e-01 2.16001772e-02 1.86538128e+02] [-1.98214843e-01 9.80149781e-01 -4.15735702e-03 -2.15029605e+01] [-2.19956396e-02 -2.07632664e-04 9.99758045e-01 -5.55460470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.57, Y:-21.51, Z:-5.55 [[ 9.79941773e-01 1.97950917e-01 2.30120619e-02 1.86567581e+02] [-1.97901464e-01 9.80211910e-01 -4.42964082e-03 -2.15067234e+01] [-2.34335486e-02 -2.13330659e-04 9.99725374e-01 -5.55280334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.60, Y:-21.51, Z:-5.55 [[ 9.79985065e-01 1.97711348e-01 2.32270438e-02 1.86597883e+02] [-1.97660919e-01 9.80260261e-01 -4.47017636e-03 -2.15134200e+01] [-2.36523526e-02 -2.10372755e-04 9.99720222e-01 -5.55262611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.63, Y:-21.52, Z:-5.55 [[ 9.80061746e-01 1.97387707e-01 2.27390933e-02 1.86629228e+02] [-1.97339276e-01 9.80325484e-01 -4.37680611e-03 -2.15179460e+01] [-2.31556403e-02 -1.97775955e-04 9.99731853e-01 -5.55469193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.66, Y:-21.52, Z:-5.56 [[ 9.80083397e-01 1.97330462e-01 2.22985234e-02 1.86658939e+02] [-1.97283861e-01 9.80337009e-01 -4.29262067e-03 -2.15217137e+01] [-2.27071326e-02 -1.92012533e-04 9.99742141e-01 -5.55712425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.69, Y:-21.52, Z:-5.56 [[ 9.80052979e-01 1.97537781e-01 2.17941117e-02 1.86688033e+02] [-1.97493304e-01 9.80295256e-01 -4.19605224e-03 -2.15247465e+01] [-2.21935432e-02 -1.91837622e-04 9.99753675e-01 -5.55919899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.72, Y:-21.52, Z:-5.56 [[ 9.79928487e-01 1.98240746e-01 2.09944393e-02 1.86718646e+02] [-1.98199644e-01 9.80153338e-01 -4.04162539e-03 -2.15246515e+01] [-2.13789846e-02 -2.00586546e-04 9.99771423e-01 -5.56142631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.75, Y:-21.53, Z:-5.56 [[ 9.79864752e-01 1.98545489e-01 2.10892727e-02 1.86748993e+02] [-1.98504101e-01 9.80091651e-01 -4.05915660e-03 -2.15281764e+01] [-2.14753473e-02 -2.08882643e-04 9.99769356e-01 -5.56175083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.78, Y:-21.53, Z:-5.56 [[ 9.79818864e-01 1.98765968e-01 2.11443307e-02 1.86778317e+02] [-1.98724408e-01 9.80046960e-01 -4.07007409e-03 -2.15295546e+01] [-2.15314293e-02 -2.13959233e-04 9.99768149e-01 -5.56332201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.81, Y:-21.53, Z:-5.56 [[ 9.79831201e-01 1.98672612e-01 2.14478421e-02 1.86807561e+02] [-1.98629844e-01 9.80065889e-01 -4.12775882e-03 -2.15323802e+01] [-2.18403711e-02 -2.15674661e-04 9.99761447e-01 -5.56393356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98587156000002 meters Centerline goodness [0,1] 0.999828204522516 Centerline is valid? [True, True] Translation: X:186.84, Y:-21.53, Z:-5.56 [[ 9.79992883e-01 1.97766248e-01 2.24156272e-02 1.86836103e+02] [-1.97719322e-01 9.80249187e-01 -4.31285852e-03 -2.15347707e+01] [-2.28258382e-02 -2.05431956e-04 9.99739436e-01 -5.56196333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01587156000002 meters Centerline goodness [0,1] 0.9997663501773615 Centerline is valid? [True, True] Translation: X:186.86, Y:-21.54, Z:-5.56 [[ 9.80153735e-01 1.96928340e-01 2.27570888e-02 1.86863464e+02] [-1.96879771e-01 9.80417866e-01 -4.37753663e-03 -2.15378090e+01] [-2.31735174e-02 -1.89751558e-04 9.99731440e-01 -5.56338676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.89, Y:-21.54, Z:-5.56 [[ 9.80459670e-01 1.95339246e-01 2.32683040e-02 1.86892953e+02] [-1.95288064e-01 9.80735721e-01 -4.47410771e-03 -2.15434876e+01] [-2.36940257e-02 -1.57339880e-04 9.99719245e-01 -5.56332031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.92, Y:-21.55, Z:-5.56 [[ 9.81231652e-01 1.91286893e-01 2.43673902e-02 1.86921630e+02] [-1.91229527e-01 9.81534167e-01 -4.68481533e-03 -2.15489201e+01] [-2.48135698e-02 -6.28754065e-05 9.99692094e-01 -5.56259628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.95, Y:-21.56, Z:-5.56 [[ 9.81722973e-01 1.88679319e-01 2.49022037e-02 1.86951352e+02] [-1.88618586e-01 9.82038754e-01 -4.78690363e-03 -2.15561177e+01] [-2.53581188e-02 2.39480970e-06 9.99678431e-01 -5.56252168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.98, Y:-21.56, Z:-5.56 [[ 9.82263164e-01 1.85785507e-01 2.53539384e-02 1.86980798e+02] [-1.85721586e-01 9.82590321e-01 -4.87373973e-03 -2.15638186e+01] [-2.58180046e-02 7.85213704e-05 9.99666657e-01 -5.56285204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.01, Y:-21.58, Z:-5.56 [[ 9.83307090e-01 1.80208478e-01 2.51410247e-02 1.87009988e+02] [-1.80143820e-01 9.83628413e-01 -4.83209211e-03 -2.15756030e+01] [-2.56002102e-02 2.22430189e-04 9.99672236e-01 -5.56458146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:-21.58, Z:-5.57 [[ 9.83708064e-01 1.78025456e-01 2.50076437e-02 1.87040412e+02] [-1.77960674e-01 9.84025842e-01 -4.81046359e-03 -2.15843074e+01] [-2.54645526e-02 2.81714677e-04 9.99675686e-01 -5.56613234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.07, Y:-21.59, Z:-5.57 [[ 9.84356957e-01 1.74328149e-01 2.55162299e-02 1.87071127e+02] [-1.74259356e-01 9.84687537e-01 -4.91238519e-03 -2.15936105e+01] [-2.59818806e-02 3.89098744e-04 9.99662338e-01 -5.56636700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.10, Y:-21.60, Z:-5.57 [[ 9.84604498e-01 1.72896046e-01 2.57087619e-02 1.87102243e+02] [-1.72825611e-01 9.84939982e-01 -4.95371591e-03 -2.16010044e+01] [-2.61780654e-02 4.34318477e-04 9.99657201e-01 -5.56682435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.13, Y:-21.61, Z:-5.57 [[ 9.84847879e-01 1.71423239e-01 2.62436459e-02 1.87133542e+02] [-1.71349200e-01 9.85197359e-01 -5.06126762e-03 -2.16070699e+01] [-2.67227895e-02 4.87750954e-04 9.99642764e-01 -5.56647443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31587156000003 meters Centerline goodness [0,1] 0.9999147557752962 Centerline is valid? [True, True] Translation: X:187.16, Y:-21.62, Z:-5.57 [[ 9.85121159e-01 1.69796494e-01 2.65603604e-02 1.87164288e+02] [-1.69719940e-01 9.85478998e-01 -5.12697512e-03 -2.16150536e+01] [-2.70452197e-02 5.42868905e-04 9.99634064e-01 -5.56620495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34587156000003 meters Centerline goodness [0,1] 0.9999147557752962 Centerline is valid? [True, True] Translation: X:187.20, Y:-21.62, Z:-5.57 [[ 9.85089200e-01 1.69981929e-01 2.65595969e-02 1.87196164e+02] [-1.69905337e-01 9.85447031e-01 -5.13092690e-03 -2.16213982e+01] [-2.70452408e-02 5.41803417e-04 9.99634064e-01 -5.56718591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37587156000004 meters Centerline goodness [0,1] 0.9999787942405157 Centerline is valid? [True, True] Translation: X:187.22, Y:-21.64, Z:-5.57 [[ 9.85721195e-01 1.66249667e-01 2.67352577e-02 1.87223773e+02] [-1.66170531e-01 9.86083475e-01 -5.17050781e-03 -2.16360360e+01] [-2.72227910e-02 6.54067153e-04 9.99629177e-01 -5.56915397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.26, Y:-21.64, Z:-5.57 [[ 9.86106415e-01 1.64012188e-01 2.63465428e-02 1.87255301e+02] [-1.63934495e-01 9.86458059e-01 -5.09694017e-03 -2.16426739e+01] [-2.68257198e-02 7.07018200e-04 9.99639876e-01 -5.57056888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43587156000004 meters Centerline goodness [0,1] 0.9999359836118046 Centerline is valid? [True, True] Translation: X:187.29, Y:-21.65, Z:-5.57 [[ 9.86461724e-01 1.61902001e-01 2.60961473e-02 1.87285212e+02] [-1.61825018e-01 9.86806550e-01 -5.04936618e-03 -2.16537779e+01] [-2.65693516e-02 7.57996977e-04 9.99646685e-01 -5.57219906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46587156000004 meters Centerline goodness [0,1] 0.9998936803606362 Centerline is valid? [True, True] Translation: X:187.31, Y:-21.67, Z:-5.57 [[ 9.87099193e-01 1.58101321e-01 2.52815310e-02 1.87314080e+02] [-1.58027712e-01 9.87422539e-01 -4.89610823e-03 -2.16655708e+01] [-2.57376347e-02 8.37761984e-04 9.99668381e-01 -5.57467414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49587156000004 meters Centerline goodness [0,1] 0.999913845093478 Centerline is valid? [True, True] Translation: X:187.35, Y:-21.67, Z:-5.58 [[ 9.87303850e-01 1.56897544e-01 2.47844496e-02 1.87345347e+02] [-1.56826423e-01 9.87614517e-01 -4.79982710e-03 -2.16708483e+01] [-2.52305633e-02 8.52031203e-04 9.99681296e-01 -5.57585780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52587156000004 meters Centerline goodness [0,1] 0.9997205382862547 Centerline is valid? [True, True] Translation: X:187.37, Y:-21.68, Z:-5.58 [[ 9.87411848e-01 1.56269012e-01 2.44507283e-02 1.87374789e+02] [-1.56199505e-01 9.87714157e-01 -4.73908834e-03 -2.16828526e+01] [-2.48909032e-02 8.60240317e-04 9.99689803e-01 -5.57816599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55587156 meters Centerline goodness [0,1] 0.9998935468074688 Centerline is valid? [True, True] Translation: X:187.41, Y:-21.69, Z:-5.58 [[ 9.87444165e-01 1.56097471e-01 2.42404534e-02 1.87405645e+02] [-1.56028998e-01 9.87741281e-01 -4.70257022e-03 -2.16901140e+01] [-2.46773558e-02 8.61311871e-04 9.99695097e-01 -5.57936692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58587156000002 meters Centerline goodness [0,1] 0.9998283188119662 Centerline is valid? [True, True] Translation: X:187.44, Y:-21.70, Z:-5.58 [[ 9.87170794e-01 1.57754529e-01 2.46440979e-02 1.87436488e+02] [-1.57684205e-01 9.87478004e-01 -4.78353597e-03 -2.16968439e+01] [-2.50901291e-02 8.36182027e-04 9.99684843e-01 -5.57802312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61587156000002 meters Centerline goodness [0,1] 0.9999141317648069 Centerline is valid? [True, True] Translation: X:187.47, Y:-21.70, Z:-5.58 [[ 9.86867957e-01 1.59516603e-01 2.54182721e-02 1.87466338e+02] [-1.59442356e-01 9.87194908e-01 -4.93449878e-03 -2.17030882e+01] [-2.58799233e-02 8.16949548e-04 9.99664725e-01 -5.57881114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64587156000002 meters Centerline goodness [0,1] 0.999743961764957 Centerline is valid? [True, True] Translation: X:187.50, Y:-21.71, Z:-5.58 [[ 9.86455390e-01 1.61964995e-01 2.59442309e-02 1.87497990e+02] [-1.61888482e-01 9.86796205e-01 -5.03683488e-03 -2.17070520e+01] [-2.64174596e-02 7.68540747e-04 9.99650703e-01 -5.57738608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.53, Y:-21.71, Z:-5.58 [[ 9.85368015e-01 1.68379755e-01 2.64221955e-02 1.87528259e+02] [-1.68302668e-01 9.85722013e-01 -5.13074249e-03 -2.17058510e+01] [-2.69088529e-02 6.08743553e-04 9.99637706e-01 -5.57814278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.56, Y:-21.71, Z:-5.58 [[ 9.84765407e-01 1.71898740e-01 2.62281740e-02 1.87560210e+02] [-1.71824036e-01 9.85114493e-01 -5.09272639e-03 -2.17054380e+01] [-2.67131876e-02 5.08510057e-04 9.99643010e-01 -5.57925582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73587156000002 meters Centerline goodness [0,1] 0.9998718523739347 Centerline is valid? [True, True] Translation: X:187.59, Y:-21.71, Z:-5.58 [[ 9.84127472e-01 1.75543016e-01 2.60339817e-02 1.87591441e+02] [-1.75470672e-01 9.84471677e-01 -5.05566238e-03 -2.17074122e+01] [-2.65172038e-02 4.07215994e-04 9.99648274e-01 -5.57953598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.62, Y:-21.70, Z:-5.58 [[ 9.82713235e-01 1.83348061e-01 2.56551356e-02 1.87622843e+02] [-1.83280446e-01 9.83048041e-01 -4.98272522e-03 -2.17043280e+01] [-2.61338038e-02 1.94505341e-04 9.99658435e-01 -5.58280031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.65, Y:-21.70, Z:-5.58 [[ 9.82040595e-01 1.86969034e-01 2.52754621e-02 1.87653532e+02] [-1.86904593e-01 9.82365803e-01 -4.90943759e-03 -2.17045033e+01] [-2.57476624e-02 9.71670809e-05 9.99668469e-01 -5.58432564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.68, Y:-21.70, Z:-5.59 [[ 9.81419642e-01 1.90232838e-01 2.50390540e-02 1.87684730e+02] [-1.90170609e-01 9.81739002e-01 -4.86540781e-03 -2.17049629e+01] [-2.55073762e-02 1.33146330e-05 9.99674634e-01 -5.58543699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:-21.70, Z:-5.59 [[ 9.80283607e-01 1.96078069e-01 2.44425949e-02 1.87714297e+02] [-1.96020578e-01 9.80588279e-01 -4.74976522e-03 -2.17000095e+01] [-2.48994469e-02 -1.35134609e-04 9.99689952e-01 -5.58741700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88587156000003 meters Centerline goodness [0,1] 0.9999574676222274 Centerline is valid? [True, True] Translation: X:187.74, Y:-21.70, Z:-5.59 [[ 9.79768247e-01 1.98622882e-01 2.45587835e-02 1.87743156e+02] [-1.98565673e-01 9.80075972e-01 -4.77111393e-03 -2.17007544e+01] [-2.50171260e-02 -2.01945440e-04 9.99687002e-01 -5.58787546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.77, Y:-21.70, Z:-5.59 [[ 9.79308190e-01 2.00910708e-01 2.42972691e-02 1.87771787e+02] [-2.00855443e-01 9.79609524e-01 -4.71918164e-03 -2.17000732e+01] [-2.47499703e-02 -2.58705509e-04 9.99693639e-01 -5.58986233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.80, Y:-21.70, Z:-5.59 [[ 9.78604581e-01 2.04383210e-01 2.36765322e-02 1.87801830e+02] [-2.04331784e-01 9.78890897e-01 -4.59712632e-03 -2.16981432e+01] [-2.41163173e-02 -3.39099188e-04 9.99709102e-01 -5.59231973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97587156000003 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:187.83, Y:-21.70, Z:-5.59 [[ 9.78391297e-01 2.05467475e-01 2.30995076e-02 1.87829640e+02] [-2.05418852e-01 9.78663879e-01 -4.48406433e-03 -2.16998582e+01] [-2.35279831e-02 -3.57904814e-04 9.99723115e-01 -5.59458243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00587156000003 meters Centerline goodness [0,1] 0.9999146812277371 Centerline is valid? [True, True] Translation: X:187.86, Y:-21.70, Z:-5.60 [[ 9.78313415e-01 2.05896809e-01 2.25691284e-02 1.87857305e+02] [-2.05850538e-01 9.78573642e-01 -4.37976879e-03 -2.17018949e+01] [-2.29873346e-02 -3.61080669e-04 9.99735691e-01 -5.59723482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03587156000003 meters Centerline goodness [0,1] 0.9999355171524374 Centerline is valid? [True, True] Translation: X:187.89, Y:-21.71, Z:-5.60 [[ 9.78290898e-01 2.06052228e-01 2.21223369e-02 1.87885810e+02] [-2.06007842e-01 9.78540930e-01 -4.29166615e-03 -2.17053887e+01] [-2.25319195e-02 -3.58876961e-04 9.99746060e-01 -5.59835921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.91, Y:-21.71, Z:-5.60 [[ 9.78673613e-01 2.04161356e-01 2.27178277e-02 1.87914746e+02] [-2.04114067e-01 9.78937197e-01 -4.40595920e-03 -2.17103496e+01] [-2.31388532e-02 -3.25032195e-04 9.99732208e-01 -5.59868181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09587156000003 meters Centerline goodness [0,1] 0.9997448491420552 Centerline is valid? [True, True] Translation: X:187.94, Y:-21.72, Z:-5.60 [[ 9.79093718e-01 2.02107467e-01 2.29796109e-02 1.87941515e+02] [-2.02058532e-01 9.79363310e-01 -4.45604443e-03 -2.17167670e+01] [-2.34059877e-02 -2.80341339e-04 9.99726003e-01 -5.59735311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.97, Y:-21.72, Z:-5.60 [[ 9.79540492e-01 1.99872559e-01 2.34815902e-02 1.87969945e+02] [-1.99820861e-01 9.79821874e-01 -4.55170185e-03 -2.17239256e+01] [-2.39175360e-02 -2.33535292e-04 9.99713908e-01 -5.59897282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.00, Y:-21.74, Z:-5.60 [[ 9.80814179e-01 1.93485476e-01 2.38100045e-02 1.87997379e+02] [-1.93430459e-01 9.81103136e-01 -4.61448184e-03 -2.17360605e+01] [-2.42529053e-02 -7.96308742e-05 9.99705852e-01 -5.59939359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.02, Y:-21.75, Z:-5.60 [[ 9.81570304e-01 1.89570165e-01 2.41431225e-02 1.88024535e+02] [-1.89512433e-01 9.81867176e-01 -4.67821763e-03 -2.17466139e+01] [-2.45921900e-02 1.65776231e-05 9.99697566e-01 -5.59947599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.05, Y:-21.76, Z:-5.60 [[ 9.82377099e-01 1.85334706e-01 2.42132842e-02 1.88052271e+02] [-1.85275382e-01 9.82675446e-01 -4.69048932e-03 -2.17579139e+01] [-2.46631103e-02 1.21703800e-04 9.99695812e-01 -5.60021594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24587156000004 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:188.08, Y:-21.78, Z:-5.60 [[ 9.84054654e-01 1.76140651e-01 2.47165897e-02 1.88079516e+02] [-1.76075951e-01 9.84364944e-01 -4.78717859e-03 -2.17773741e+01] [-2.51733611e-02 3.58848335e-04 9.99683036e-01 -5.60080381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27587156000004 meters Centerline goodness [0,1] 0.9998708872199866 Centerline is valid? [True, True] Translation: X:188.11, Y:-21.79, Z:-5.60 [[ 9.84890863e-01 1.71415283e-01 2.46330874e-02 1.88109384e+02] [-1.71349535e-01 9.85198748e-01 -4.77123993e-03 -2.17869740e+01] [-2.50863503e-02 4.78282532e-04 9.99685174e-01 -5.60042355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30587156 meters Centerline goodness [0,1] 0.9999787451113756 Centerline is valid? [True, True] Translation: X:188.14, Y:-21.80, Z:-5.60 [[ 9.85664083e-01 1.66937261e-01 2.44594950e-02 1.88137608e+02] [-1.66871041e-01 9.85967344e-01 -4.73829556e-03 -2.18018271e+01] [-2.49072614e-02 5.88786357e-04 9.99689593e-01 -5.60339468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.16, Y:-21.82, Z:-5.60 [[ 9.86461969e-01 1.62220198e-01 2.40289756e-02 1.88165000e+02] [-1.62154887e-01 9.86754338e-01 -4.65499772e-03 -2.18159187e+01] [-2.44658306e-02 6.95562391e-04 9.99700425e-01 -5.60495147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36587156000002 meters Centerline goodness [0,1] 0.9998490077653149 Centerline is valid? [True, True] Translation: X:188.19, Y:-21.83, Z:-5.61 [[ 9.87865260e-01 1.53528995e-01 2.34749938e-02 1.88192981e+02] [-1.53464176e-01 9.88143741e-01 -4.54901849e-03 -2.18334852e+01] [-2.38950745e-02 8.91246763e-04 9.99714075e-01 -5.60616093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39587156000002 meters Centerline goodness [0,1] 0.9998508575689784 Centerline is valid? [True, True] Translation: X:188.22, Y:-21.85, Z:-5.61 [[ 9.88407708e-01 1.49995028e-01 2.34881823e-02 1.88220251e+02] [-1.49929137e-01 9.88686268e-01 -4.55165293e-03 -2.18483890e+01] [-2.39051686e-02 9.77325940e-04 9.99713753e-01 -5.60792717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42587156000002 meters Centerline goodness [0,1] 0.9994064401246475 Centerline is valid? [True, True] Translation: X:188.25, Y:-21.86, Z:-5.61 [[ 9.88840089e-01 1.47037731e-01 2.39830021e-02 1.88248219e+02] [-1.46968165e-01 9.89130304e-01 -4.64754148e-03 -2.18612843e+01] [-2.44056781e-02 1.07093751e-03 9.99701563e-01 -5.60804244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45587156000002 meters Centerline goodness [0,1] 0.9984307737981636 Centerline is valid? [True, True] Translation: X:188.28, Y:-21.88, Z:-5.61 [[ 9.89442615e-01 1.42802904e-01 2.47111606e-02 1.88275923e+02] [-1.42727731e-01 9.89750405e-01 -4.78863518e-03 -2.18776745e+01] [-2.51417122e-02 1.21111182e-03 9.99683164e-01 -5.60757331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48587156000002 meters Centerline goodness [0,1] 0.9975959990555711 Centerline is valid? [True, True] Translation: X:188.31, Y:-21.89, Z:-5.61 [[ 9.89596601e-01 1.41710334e-01 2.48344371e-02 1.88307027e+02] [-1.41634070e-01 9.89907385e-01 -4.81237221e-03 -2.18871574e+01] [-2.52657555e-02 1.24490479e-03 9.99679995e-01 -5.60798987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51587156000002 meters Centerline goodness [0,1] 0.9963361380338694 Centerline is valid? [True, True] Translation: X:188.34, Y:-21.90, Z:-5.61 [[ 9.89671138e-01 1.41191220e-01 2.48209046e-02 1.88336336e+02] [-1.41114851e-01 9.89981543e-01 -4.81073957e-03 -2.18977338e+01] [-2.52514716e-02 1.25845186e-03 9.99680339e-01 -5.60929831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54587156000002 meters Centerline goodness [0,1] 0.9958848618642433 Centerline is valid? [True, True] Translation: X:188.37, Y:-21.91, Z:-5.61 [[ 9.89656464e-01 1.41326273e-01 2.46367006e-02 1.88367222e+02] [-1.41251034e-01 9.89962287e-01 -4.77667676e-03 -2.19100645e+01] [-2.50644744e-02 1.24730960e-03 9.99685059e-01 -5.61080735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57587156000002 meters Centerline goodness [0,1] 0.9983540520639321 Centerline is valid? [True, True] Translation: X:188.40, Y:-21.91, Z:-5.61 [[ 9.89621031e-01 1.41580761e-01 2.45988501e-02 1.88400647e+02] [-1.41505718e-01 9.89925928e-01 -4.77384836e-03 -2.19128311e+01] [-2.50269245e-02 1.24342279e-03 9.99686004e-01 -5.60989766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60587156000003 meters Centerline goodness [0,1] 0.9964526201754572 Centerline is valid? [True, True] Translation: X:188.43, Y:-21.93, Z:-5.61 [[ 9.89492238e-01 1.42427442e-01 2.48904423e-02 1.88429340e+02] [-1.42350747e-01 9.89804467e-01 -4.83553964e-03 -2.19279427e+01] [-2.53253845e-02 1.24155588e-03 9.99678490e-01 -5.61212668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63587156000003 meters Centerline goodness [0,1] 0.9983408491448992 Centerline is valid? [True, True] Translation: X:188.46, Y:-21.94, Z:-5.61 [[ 9.89234967e-01 1.44278508e-01 2.44518358e-02 1.88460026e+02] [-1.44204946e-01 9.89536419e-01 -4.75478445e-03 -2.19351107e+01] [-2.48819953e-02 1.17752336e-03 9.99689702e-01 -5.61242797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66587156000003 meters Centerline goodness [0,1] 0.9991505627521767 Centerline is valid? [True, True] Translation: X:188.49, Y:-21.94, Z:-5.62 [[ 9.89001195e-01 1.45950323e-01 2.39820487e-02 1.88488964e+02] [-1.45880036e-01 9.89291293e-01 -4.66405949e-03 -2.19438125e+01] [-2.44059530e-02 1.11425829e-03 9.99701509e-01 -5.61513931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69587156000003 meters Centerline goodness [0,1] 0.9995526108353395 Centerline is valid? [True, True] Translation: X:188.52, Y:-21.95, Z:-5.61 [[ 9.88767738e-01 1.47546404e-01 2.38415362e-02 1.88520361e+02] [-1.47477398e-01 9.89054557e-01 -4.63687806e-03 -2.19489767e+01] [-2.42647347e-02 1.06870771e-03 9.99704997e-01 -5.61491173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72587156000003 meters Centerline goodness [0,1] 0.9997871842346081 Centerline is valid? [True, True] Translation: X:188.55, Y:-21.95, Z:-5.62 [[ 9.88044767e-01 1.52450882e-01 2.29405077e-02 1.88549341e+02] [-1.52388287e-01 9.88310626e-01 -4.46274433e-03 -2.19540433e+01] [-2.33526968e-02 9.13526522e-04 9.99726871e-01 -5.61790522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75587156000003 meters Centerline goodness [0,1] 0.9997648266130756 Centerline is valid? [True, True] Translation: X:188.58, Y:-21.96, Z:-5.62 [[ 9.87562026e-01 1.55574897e-01 2.27529535e-02 1.88579658e+02] [-1.55514158e-01 9.87823749e-01 -4.42582675e-03 -2.19587790e+01] [-2.31644554e-02 8.32372018e-04 9.99731321e-01 -5.61845830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78587156000003 meters Centerline goodness [0,1] 0.9998940543289401 Centerline is valid? [True, True] Translation: X:188.61, Y:-21.97, Z:-5.62 [[ 9.87023059e-01 1.58954672e-01 2.27792080e-02 1.88608033e+02] [-1.58894691e-01 9.87285594e-01 -4.43096736e-03 -2.19661650e+01] [-2.31939069e-02 7.53971733e-04 9.99730701e-01 -5.62072396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.64, Y:-21.97, Z:-5.62 [[ 9.86448792e-01 1.62467560e-01 2.28707947e-02 1.88639220e+02] [-1.62408005e-01 9.86713654e-01 -4.45018860e-03 -2.19661699e+01] [-2.32899367e-02 6.75483015e-04 9.99728524e-01 -5.62044157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.67, Y:-21.97, Z:-5.62 [[ 9.85281101e-01 1.69441928e-01 2.25961223e-02 1.88669702e+02] [-1.69385624e-01 9.85540044e-01 -4.39680628e-03 -2.19671759e+01] [-2.30143867e-02 5.04631865e-04 9.99735007e-01 -5.62087395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87587156000004 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:188.70, Y:-21.97, Z:-5.62 [[ 9.84646021e-01 1.73098394e-01 2.25645578e-02 1.88699253e+02] [-1.73043214e-01 9.84904448e-01 -4.39030886e-03 -2.19739130e+01] [-2.29838888e-02 4.18256528e-04 9.99735748e-01 -5.62232590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90587156000004 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:188.73, Y:-21.98, Z:-5.62 [[ 9.84011396e-01 1.76685738e-01 2.24437679e-02 1.88730295e+02] [-1.76632075e-01 9.84267260e-01 -4.36700367e-03 -2.19769532e+01] [-2.28622532e-02 3.32892081e-04 9.99738569e-01 -5.62403853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.76, Y:-21.98, Z:-5.63 [[ 9.82828109e-01 1.83148221e-01 2.24863911e-02 1.88761969e+02] [-1.83096031e-01 9.83085294e-01 -4.37584192e-03 -2.19786012e+01] [-2.29074680e-02 1.83531487e-04 9.99737573e-01 -5.62525498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.79, Y:-21.98, Z:-5.63 [[ 9.82318815e-01 1.85822941e-01 2.27942809e-02 1.88792662e+02] [-1.85770030e-01 9.82583238e-01 -4.43582699e-03 -2.19839574e+01] [-2.32215568e-02 1.22902058e-04 9.99730336e-01 -5.62650973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.82, Y:-21.99, Z:-5.63 [[ 9.81826282e-01 1.88386637e-01 2.29701375e-02 1.88824357e+02] [-1.88333567e-01 9.82094940e-01 -4.47178151e-03 -2.19885847e+01] [-2.34012797e-02 6.44646768e-05 9.99726150e-01 -5.62601616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.86, Y:-21.99, Z:-5.63 [[ 9.81038698e-01 1.92445348e-01 2.29752399e-02 1.88855860e+02] [-1.92393272e-01 9.81307692e-01 -4.47678530e-03 -2.19946612e+01] [-2.34073162e-02 -2.83819553e-05 9.99726011e-01 -5.62726155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.89, Y:-22.00, Z:-5.63 [[ 9.80640622e-01 1.94490367e-01 2.27479162e-02 1.88886879e+02] [-1.94439767e-01 9.80904425e-01 -4.43679832e-03 -2.20001230e+01] [-2.31764462e-02 -7.21948593e-05 9.99731387e-01 -5.62903020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08587156000002 meters Centerline goodness [0,1] 0.9999786365869812 Centerline is valid? [True, True] Translation: X:188.92, Y:-22.01, Z:-5.63 [[ 9.80308525e-01 1.96210152e-01 2.22883790e-02 1.88918682e+02] [-1.96161928e-01 9.80561862e-01 -4.35120768e-03 -2.20056367e+01] [-2.27088855e-02 -1.06605416e-04 9.99742114e-01 -5.63053803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.95, Y:-22.01, Z:-5.63 [[ 9.79496041e-01 2.00361714e-01 2.10402022e-02 1.88949865e+02] [-2.00319625e-01 9.79721975e-01 -4.11089171e-03 -2.20105474e+01] [-2.14372138e-02 -1.88163270e-04 9.99770179e-01 -5.63379586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14587156000002 meters Centerline goodness [0,1] 0.9998721282127786 Centerline is valid? [True, True] Translation: X:188.98, Y:-22.02, Z:-5.63 [[ 9.79030931e-01 2.02597561e-01 2.12759146e-02 1.88982125e+02] [-2.02554980e-01 9.79262055e-01 -4.16025689e-03 -2.20156509e+01] [-2.16775537e-02 -2.36522281e-04 9.99764986e-01 -5.63351923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17587156000002 meters Centerline goodness [0,1] 0.9999575884810314 Centerline is valid? [True, True] Translation: X:189.01, Y:-22.02, Z:-5.64 [[ 9.78520364e-01 2.05024556e-01 2.15134547e-02 1.89013547e+02] [-2.04981521e-01 9.78756787e-01 -4.21054549e-03 -2.20171376e+01] [-2.19197050e-02 -2.89756153e-04 9.99759692e-01 -5.63572514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.05, Y:-22.02, Z:-5.64 [[ 9.77630193e-01 2.09251005e-01 2.12890244e-02 1.89045910e+02] [-2.09209772e-01 9.77861890e-01 -4.17084809e-03 -2.20185664e+01] [-2.16904798e-02 -3.76324906e-04 9.99764663e-01 -5.63634774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.08, Y:-22.02, Z:-5.64 [[ 9.77596017e-01 2.09410613e-01 2.12890202e-02 1.89076952e+02] [-2.09369418e-01 9.77827720e-01 -4.17086996e-03 -2.20247987e+01] [-2.16904185e-02 -3.79843898e-04 9.99764663e-01 -5.63730323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26587156000002 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:189.11, Y:-22.03, Z:-5.64 [[ 9.77175832e-01 2.11363076e-01 2.12848112e-02 1.89108836e+02] [-2.11322282e-01 9.77407527e-01 -4.17363566e-03 -2.20300580e+01] [-2.16860871e-02 -4.19578965e-04 9.99764741e-01 -5.63791302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29587156000002 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:189.14, Y:-22.03, Z:-5.64 [[ 9.76849573e-01 2.12828400e-01 2.16560536e-02 1.89139407e+02] [-2.12786418e-01 9.77089487e-01 -4.25151037e-03 -2.20338321e+01] [-2.20647444e-02 -4.55027976e-04 9.99756440e-01 -5.63902207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32587156000002 meters Centerline goodness [0,1] 0.999893244512768 Centerline is valid? [True, True] Translation: X:189.17, Y:-22.04, Z:-5.64 [[ 9.76572355e-01 2.14135633e-01 2.12688783e-02 1.89170289e+02] [-2.14095445e-01 9.76803821e-01 -4.17565311e-03 -2.20396910e+01] [-2.16696777e-02 -4.75742580e-04 9.99765072e-01 -5.64076255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35587156000003 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:189.20, Y:-22.05, Z:-5.64 [[ 9.76573041e-01 2.14165291e-01 2.09361688e-02 1.89200675e+02] [-2.14126347e-01 9.76797322e-01 -4.11082822e-03 -2.20460003e+01] [-2.13307903e-02 -4.68461331e-04 9.99772363e-01 -5.64264126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38587156000003 meters Centerline goodness [0,1] 0.9999147448740355 Centerline is valid? [True, True] Translation: X:189.23, Y:-22.05, Z:-5.64 [[ 9.76658525e-01 2.13784473e-01 2.08404540e-02 1.89230074e+02] [-2.13745794e-01 9.76880745e-01 -4.09219244e-03 -2.20513944e+01] [-2.12334854e-02 -4.57884769e-04 9.99774439e-01 -5.64424780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41587156000003 meters Centerline goodness [0,1] 0.9998935082637588 Centerline is valid? [True, True] Translation: X:189.26, Y:-22.06, Z:-5.65 [[ 9.76802302e-01 2.13122778e-01 2.08792859e-02 1.89260889e+02] [-2.13083769e-01 9.77025325e-01 -4.10147080e-03 -2.20583542e+01] [-2.12737079e-02 -4.42710797e-04 9.99773591e-01 -5.64548682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44587156000003 meters Centerline goodness [0,1] 0.999978728382719 Centerline is valid? [True, True] Translation: X:189.29, Y:-22.07, Z:-5.65 [[ 9.77221861e-01 2.11197819e-01 2.08066175e-02 1.89290812e+02] [-2.11158634e-01 9.77443258e-01 -4.08768379e-03 -2.20670142e+01] [-2.12005979e-02 -3.98922956e-04 9.99775162e-01 -5.64642696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47587156000003 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:189.32, Y:-22.08, Z:-5.65 [[ 9.77454984e-01 2.10081484e-01 2.11547483e-02 1.89322404e+02] [-2.10040711e-01 9.77683806e-01 -4.15628618e-03 -2.20759328e+01] [-2.15558136e-02 -3.80775739e-04 9.99767574e-01 -5.64619775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50587156000003 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:189.35, Y:-22.09, Z:-5.65 [[ 9.77899355e-01 2.07990247e-01 2.12816548e-02 1.89352841e+02] [-2.07948480e-01 9.78130842e-01 -4.18157748e-03 -2.20869996e+01] [-2.16859703e-02 -3.36325842e-04 9.99764775e-01 -5.64678000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.38, Y:-22.09, Z:-5.65 [[ 9.78081628e-01 2.07136756e-01 2.12295280e-02 1.89383505e+02] [-2.07094912e-01 9.78311947e-01 -4.17505772e-03 -2.20943831e+01] [-2.16339088e-02 -3.12979981e-04 9.99765911e-01 -5.64780869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56587156000003 meters Centerline goodness [0,1] 0.99995773635941 Centerline is valid? [True, True] Translation: X:189.41, Y:-22.10, Z:-5.65 [[ 9.78247942e-01 2.06345565e-01 2.12713682e-02 1.89414447e+02] [-2.06303296e-01 9.78479137e-01 -4.18667422e-03 -2.20991802e+01] [-2.16774917e-02 -2.92747925e-04 9.99764973e-01 -5.65016055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.45, Y:-22.11, Z:-5.65 [[ 9.78513565e-01 2.05083529e-01 2.12591055e-02 1.89445537e+02] [-2.05040939e-01 9.78744439e-01 -4.18757522e-03 -2.21058892e+01] [-2.16660340e-02 -2.61387797e-04 9.99765230e-01 -5.65179138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.48, Y:-22.11, Z:-5.65 [[ 9.78578799e-01 2.04771808e-01 2.12612433e-02 1.89476564e+02] [-2.04729063e-01 9.78809707e-01 -4.19133392e-03 -2.21140956e+01] [-2.16689784e-02 -2.51243904e-04 9.99765169e-01 -5.65159124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.51, Y:-22.12, Z:-5.65 [[ 9.78673696e-01 2.04306805e-01 2.13664487e-02 1.89506560e+02] [-2.04263444e-01 9.78906876e-01 -4.21581711e-03 -2.21208366e+01] [-2.17770837e-02 -2.38475077e-04 9.99762823e-01 -5.65239022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68587156000004 meters Centerline goodness [0,1] 0.9999785472175741 Centerline is valid? [True, True] Translation: X:189.54, Y:-22.13, Z:-5.65 [[ 9.78950657e-01 2.02917827e-01 2.19081544e-02 1.89538082e+02] [-2.02871796e-01 9.79195747e-01 -4.32697687e-03 -2.21299302e+01] [-2.23303923e-02 -2.08649771e-04 9.99750624e-01 -5.65111066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.57, Y:-22.14, Z:-5.65 [[ 9.79100999e-01 2.02133398e-01 2.24348714e-02 1.89568362e+02] [-2.02084904e-01 9.79357979e-01 -4.43172031e-03 -2.21374553e+01] [-2.28675690e-02 -1.94647059e-04 9.99738484e-01 -5.65194222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.60, Y:-22.15, Z:-5.65 [[ 9.79249772e-01 2.01405844e-01 2.24849053e-02 1.89599691e+02] [-2.01356864e-01 9.79507864e-01 -4.44497052e-03 -2.21462295e+01] [-2.29193846e-02 -1.74753663e-04 9.99737301e-01 -5.65123197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.63, Y:-22.15, Z:-5.65 [[ 9.79355966e-01 2.00860112e-01 2.27399761e-02 1.89630587e+02] [-2.00809770e-01 9.79619921e-01 -4.49957457e-03 -2.21524928e+01] [-2.31803186e-02 -1.59724163e-04 9.99731288e-01 -5.65221938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:-22.16, Z:-5.65 [[ 9.79468352e-01 2.00255471e-01 2.32270054e-02 1.89661621e+02] [-2.00202686e-01 9.79743704e-01 -4.59988140e-03 -2.21583690e+01] [-2.36776637e-02 -1.44670626e-04 9.99719634e-01 -5.65285494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.69, Y:-22.17, Z:-5.65 [[ 9.79553802e-01 1.99864263e-01 2.29918457e-02 1.89693457e+02] [-1.99812356e-01 9.79823586e-01 -4.55665177e-03 -2.21656729e+01] [-2.34386646e-02 -1.30569288e-04 9.99725268e-01 -5.65376629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86587156000002 meters Centerline goodness [0,1] 0.9997200689061154 Centerline is valid? [True, True] Translation: X:189.73, Y:-22.17, Z:-5.65 [[ 9.79669062e-01 1.99322591e-01 2.27823058e-02 1.89725151e+02] [-1.99271378e-01 9.79933922e-01 -4.51947089e-03 -2.21736683e+01] [-2.32259870e-02 -1.12275675e-04 9.99730234e-01 -5.65379044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.75, Y:-22.18, Z:-5.66 [[ 9.80082448e-01 1.97183256e-01 2.36042254e-02 1.89754814e+02] [-1.97127526e-01 9.80366646e-01 -4.68813531e-03 -2.21828391e+01] [-2.40652170e-02 -5.82834173e-05 9.99710389e-01 -5.65526406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.79, Y:-22.19, Z:-5.66 [[ 9.80353783e-01 1.95815968e-01 2.37184976e-02 1.89786228e+02] [-1.95759252e-01 9.80640661e-01 -4.71265133e-03 -2.21917465e+01] [-2.41821356e-02 -2.30497809e-05 9.99707569e-01 -5.65586803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.82, Y:-22.20, Z:-5.66 [[ 9.80601472e-01 1.94576923e-01 2.36764355e-02 1.89816959e+02] [-1.94519931e-01 9.80887262e-01 -4.70908697e-03 -2.22001357e+01] [-2.41401936e-02 1.21990226e-05 9.99708583e-01 -5.65803408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.85, Y:-22.21, Z:-5.66 [[ 9.80884461e-01 1.93191792e-01 2.32938828e-02 1.89849068e+02] [-1.93136138e-01 9.81161011e-01 -4.63714714e-03 -2.22086096e+01] [-2.37509084e-02 4.96150128e-05 9.99717906e-01 -5.65844531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.88, Y:-22.22, Z:-5.66 [[ 9.81441986e-01 1.90346728e-01 2.32325374e-02 1.89879363e+02] [-1.90290455e-01 9.81716918e-01 -4.62977054e-03 -2.22192961e+01] [-2.36890367e-02 1.22921080e-04 9.99719368e-01 -5.66027152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.91, Y:-22.23, Z:-5.66 [[ 9.81688200e-01 1.89105740e-01 2.29629577e-02 1.89908738e+02] [-1.89050331e-01 9.81956717e-01 -4.58011985e-03 -2.22288742e+01] [-2.34147575e-02 1.55094856e-04 9.99725825e-01 -5.66235252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.94, Y:-22.24, Z:-5.66 [[ 9.81872886e-01 1.88162411e-01 2.28154069e-02 1.89939895e+02] [-1.88107372e-01 9.82137910e-01 -4.55433693e-03 -2.22377259e+01] [-2.32648310e-02 1.80033723e-04 9.99729321e-01 -5.66313034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.97, Y:-22.25, Z:-5.66 [[ 9.82145100e-01 1.86722733e-01 2.29264706e-02 1.89970588e+02] [-1.86666673e-01 9.82412629e-01 -4.58041408e-03 -2.22477041e+01] [-2.33785216e-02 2.19023254e-04 9.99726661e-01 -5.66324342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.00, Y:-22.26, Z:-5.66 [[ 9.82162245e-01 1.86624755e-01 2.29896735e-02 1.90002040e+02] [-1.86568267e-01 9.82431244e-01 -4.59695039e-03 -2.22559335e+01] [-2.34436783e-02 2.25807569e-04 9.99725134e-01 -5.66427592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.03, Y:-22.26, Z:-5.66 [[ 9.82190190e-01 1.86480784e-01 2.29640386e-02 1.90034417e+02] [-1.86424286e-01 9.82458581e-01 -4.59596445e-03 -2.22632287e+01] [-2.34182758e-02 2.33056713e-04 9.99725727e-01 -5.66473534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.07, Y:-22.27, Z:-5.66 [[ 9.82094343e-01 1.86884890e-01 2.37642278e-02 1.90065677e+02] [-1.86824381e-01 9.82381790e-01 -4.76115092e-03 -2.22695112e+01] [-2.42353318e-02 2.36162221e-04 9.99706253e-01 -5.66452911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22587156000003 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:190.10, Y:-22.28, Z:-5.67 [[ 9.82004024e-01 1.87322750e-01 2.40475413e-02 1.90096623e+02] [-1.87260819e-01 9.82298393e-01 -4.82205627e-03 -2.22769705e+01] [-2.45251420e-02 2.32116384e-04 9.99699187e-01 -5.66538484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.13, Y:-22.28, Z:-5.67 [[ 9.81888021e-01 1.87944051e-01 2.39363205e-02 1.90129194e+02] [-1.87882771e-01 9.82179711e-01 -4.80405605e-03 -2.22840876e+01] [-2.44126621e-02 2.19822851e-04 9.99701942e-01 -5.66667031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28587156000003 meters Centerline goodness [0,1] 0.9999360177444122 Centerline is valid? [True, True] Translation: X:190.16, Y:-22.29, Z:-5.67 [[ 9.81716465e-01 1.88967649e-01 2.28912666e-02 1.90160836e+02] [-1.88911772e-01 9.81983295e-01 -4.59902597e-03 -2.22907437e+01] [-2.33479085e-02 1.90509776e-04 9.99727382e-01 -5.66916196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31587156000003 meters Centerline goodness [0,1] 0.9998062724670125 Centerline is valid? [True, True] Translation: X:190.19, Y:-22.30, Z:-5.67 [[ 9.81620396e-01 1.89522431e-01 2.24197569e-02 1.90193391e+02] [-1.89468928e-01 9.81876376e-01 -4.50642965e-03 -2.22977470e+01] [-2.28674991e-02 1.75755961e-04 9.99738489e-01 -5.67120813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34587156000003 meters Centerline goodness [0,1] 0.9999573633495352 Centerline is valid? [True, True] Translation: X:190.23, Y:-22.30, Z:-5.67 [[ 9.81482223e-01 1.90275002e-01 2.20922989e-02 1.90225366e+02] [-1.90223146e-01 9.81730818e-01 -4.44483481e-03 -2.23045657e+01] [-2.25344316e-02 1.60059754e-04 9.99746055e-01 -5.67353271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.26, Y:-22.31, Z:-5.68 [[ 9.81274241e-01 1.91379259e-01 2.17908758e-02 1.90257240e+02] [-1.91328989e-01 9.81516154e-01 -4.38835222e-03 -2.23114847e+01] [-2.22279362e-02 1.36950769e-04 9.99752920e-01 -5.67562250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40587156000004 meters Centerline goodness [0,1] 0.9999147012410969 Centerline is valid? [True, True] Translation: X:190.29, Y:-22.32, Z:-5.68 [[ 9.81126217e-01 1.92135826e-01 2.17984152e-02 1.90288343e+02] [-1.92085611e-01 9.81368335e-01 -4.39421066e-03 -2.23179234e+01] [-2.22365597e-02 1.24113372e-04 9.99752729e-01 -5.67570343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.32, Y:-22.32, Z:-5.68 [[ 9.80983846e-01 1.92791395e-01 2.24092011e-02 1.90320456e+02] [-1.92738382e-01 9.81239759e-01 -4.52241078e-03 -2.23238599e+01] [-2.28606810e-02 1.17298764e-04 9.99738654e-01 -5.67634332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.35, Y:-22.33, Z:-5.67 [[ 9.80562640e-01 1.94726030e-01 2.40558142e-02 1.90352623e+02] [-1.94665496e-01 9.80857669e-01 -4.85567181e-03 -2.23283680e+01] [-2.45408555e-02 7.84533623e-05 9.99698825e-01 -5.67368017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49587156000004 meters Centerline goodness [0,1] 0.9999785412330208 Centerline is valid? [True, True] Translation: X:190.38, Y:-22.33, Z:-5.67 [[ 9.80218777e-01 1.96391485e-01 2.45262001e-02 1.90384747e+02] [-1.96328972e-01 9.80525565e-01 -4.95498980e-03 -2.23331265e+01] [-2.50216840e-02 4.17703825e-05 9.99686908e-01 -5.67365681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.42, Y:-22.34, Z:-5.67 [[ 9.79815724e-01 1.98314687e-01 2.51482058e-02 1.90415358e+02] [-1.98249472e-01 9.80138401e-01 -5.08547642e-03 -2.23365328e+01] [-2.56572469e-02 -2.78876610e-06 9.99670799e-01 -5.67419541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:-22.34, Z:-5.68 [[ 9.78883249e-01 2.02902820e-01 2.48602260e-02 1.90447633e+02] [-2.02840507e-01 9.79198872e-01 -5.02963835e-03 -2.23354739e+01] [-2.53636331e-02 -1.19232123e-04 9.99678284e-01 -5.67678771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.48, Y:-22.34, Z:-5.68 [[ 9.78405549e-01 2.05236347e-01 2.45076416e-02 1.90479669e+02] [-2.05176476e-01 9.78712425e-01 -4.96012013e-03 -2.23391714e+01] [-2.50039302e-02 -1.75382462e-04 9.99687337e-01 -5.67760957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.51, Y:-22.34, Z:-5.68 [[ 9.77899288e-01 2.07690339e-01 2.40354917e-02 1.90511030e+02] [-2.07633391e-01 9.78194597e-01 -4.86874453e-03 -2.23404492e+01] [-2.45225793e-02 -2.29428832e-04 9.99699250e-01 -5.68061884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.54, Y:-22.34, Z:-5.68 [[ 9.77449155e-01 2.09828354e-01 2.37741665e-02 1.90542763e+02] [-2.09773176e-01 9.77738199e-01 -4.81966631e-03 -2.23430856e+01] [-2.42562134e-02 -2.76203660e-04 9.99705737e-01 -5.68244086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67587156000002 meters Centerline goodness [0,1] 0.9999785472175741 Centerline is valid? [True, True] Translation: X:190.57, Y:-22.35, Z:-5.68 [[ 9.77100675e-01 2.11495588e-01 2.33213806e-02 1.90574158e+02] [-2.11442885e-01 9.77378904e-01 -4.73128163e-03 -2.23481762e+01] [-2.37944706e-02 -3.08201518e-04 9.99716824e-01 -5.68353337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.60, Y:-22.35, Z:-5.69 [[ 9.76611088e-01 2.13815215e-01 2.26679593e-02 1.90604911e+02] [-2.13765938e-01 9.76874061e-01 -4.60352607e-03 -2.23501717e+01] [-2.31280454e-02 -3.49782978e-04 9.99732450e-01 -5.68600805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.64, Y:-22.36, Z:-5.69 [[ 9.76476286e-01 2.14378288e-01 2.31519599e-02 1.90636818e+02] [-2.14327043e-01 9.76750640e-01 -4.70177258e-03 -2.23564319e+01] [-2.36216496e-02 -3.70921658e-04 9.99720901e-01 -5.68580623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.67, Y:-22.36, Z:-5.68 [[ 9.76363730e-01 2.14739817e-01 2.45087235e-02 1.90669047e+02] [-2.14682429e-01 9.76671210e-01 -4.98024741e-03 -2.23607289e+01] [-2.50064220e-02 -3.99059354e-04 9.99687211e-01 -5.68407416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.70, Y:-22.37, Z:-5.68 [[ 9.76246568e-01 2.15206720e-01 2.50739988e-02 1.90701472e+02] [-2.15146688e-01 9.76568428e-01 -5.09980626e-03 -2.23667208e+01] [-2.55839882e-02 -4.15919449e-04 9.99672590e-01 -5.68359075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82587156000002 meters Centerline goodness [0,1] 0.999978707094796 Centerline is valid? [True, True] Translation: X:190.73, Y:-22.37, Z:-5.68 [[ 9.76112843e-01 2.15758042e-01 2.55378938e-02 1.90733187e+02] [-2.15695822e-01 9.76446762e-01 -5.19932502e-03 -2.23706820e+01] [-2.60581899e-02 -4.33289068e-04 9.99660334e-01 -5.68382551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.77, Y:-22.38, Z:-5.68 [[ 9.75963817e-01 2.16386351e-01 2.59147523e-02 1.90765924e+02] [-2.16322376e-01 9.76307709e-01 -5.28080664e-03 -2.23753873e+01] [-2.64434669e-02 -4.52064586e-04 9.99650208e-01 -5.68386751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.80, Y:-22.38, Z:-5.69 [[ 9.75536328e-01 2.18305252e-01 2.59169730e-02 1.90798426e+02] [-2.18241806e-01 9.75880407e-01 -5.28640083e-03 -2.23753920e+01] [-2.64459152e-02 -4.99090944e-04 9.99650121e-01 -5.68554277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91587156000003 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:190.83, Y:-22.38, Z:-5.69 [[ 9.75358436e-01 2.19147260e-01 2.55029203e-02 1.90829576e+02] [-2.19086000e-01 9.75691662e-01 -5.20629067e-03 -2.23769317e+01] [-2.60239311e-02 -5.09333281e-04 9.99661190e-01 -5.68767688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.86, Y:-22.38, Z:-5.69 [[ 9.75132575e-01 2.20172535e-01 2.53084040e-02 1.90861022e+02] [-2.20112451e-01 9.75460801e-01 -5.17049272e-03 -2.23815361e+01] [-2.58257565e-02 -5.28778934e-04 9.99666320e-01 -5.68921806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97587156000003 meters Centerline goodness [0,1] 0.9999570953555722 Centerline is valid? [True, True] Translation: X:190.89, Y:-22.38, Z:-5.69 [[ 9.74948630e-01 2.21108202e-01 2.42142998e-02 1.90891435e+02] [-2.21053376e-01 9.75249141e-01 -4.95155575e-03 -2.23821033e+01] [-2.47098047e-02 -5.25140223e-04 9.99694528e-01 -5.69228275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00587156000003 meters Centerline goodness [0,1] 0.9998285175340822 Centerline is valid? [True, True] Translation: X:190.92, Y:-22.38, Z:-5.69 [[ 9.74950307e-01 2.21166876e-01 2.36032209e-02 1.90920616e+02] [-2.21114762e-01 9.75235844e-01 -4.82817300e-03 -2.23849159e+01] [-2.40865389e-02 -5.11791803e-04 9.99709746e-01 -5.69276782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03587156000003 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:190.95, Y:-22.39, Z:-5.69 [[ 9.75042583e-01 2.20739492e-01 2.37915434e-02 1.90950253e+02] [-2.20686421e-01 9.75332672e-01 -4.86647400e-03 -2.23889812e+01] [-2.42788926e-02 -5.05451180e-04 9.99705096e-01 -5.69490810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06587156000003 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:190.98, Y:-22.39, Z:-5.70 [[ 9.75269320e-01 2.19652953e-01 2.45425017e-02 1.90978804e+02] [-2.19596148e-01 9.75577950e-01 -5.01952830e-03 -2.23911694e+01] [-2.50456777e-02 -4.94046893e-04 9.99686186e-01 -5.69522160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.01, Y:-22.40, Z:-5.70 [[ 9.75456854e-01 2.18805929e-01 2.46554545e-02 1.91008325e+02] [-2.18748353e-01 9.75768282e-01 -5.04168175e-03 -2.23963289e+01] [-2.51611603e-02 -4.75397035e-04 9.99683295e-01 -5.69558972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.04, Y:-22.40, Z:-5.70 [[ 9.75646507e-01 2.17933610e-01 2.48763888e-02 1.91037534e+02] [-2.17874729e-01 9.75963489e-01 -5.08625707e-03 -2.24010957e+01] [-2.53869136e-02 -4.57547525e-04 9.99677596e-01 -5.69653648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.07, Y:-22.41, Z:-5.70 [[ 9.75651525e-01 2.17911132e-01 2.48765058e-02 1.91066109e+02] [-2.17852259e-01 9.75968508e-01 -5.08568493e-03 -2.24068919e+01] [-2.53869136e-02 -4.57546727e-04 9.99677596e-01 -5.69741629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.09, Y:-22.41, Z:-5.70 [[ 9.75869640e-01 2.16914808e-01 2.50282255e-02 1.91094800e+02] [-2.16854903e-01 9.76190441e-01 -5.11609497e-03 -2.24091320e+01] [-2.55420712e-02 -4.34851646e-04 9.99673653e-01 -5.69799776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.12, Y:-22.41, Z:-5.70 [[ 9.75969143e-01 2.16418753e-01 2.54392321e-02 1.91123546e+02] [-2.16356709e-01 9.76300537e-01 -5.19955073e-03 -2.24120855e+01] [-2.59616162e-02 -4.29347467e-04 9.99662848e-01 -5.69846098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24587156000004 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:191.15, Y:-22.41, Z:-5.70 [[ 9.76031912e-01 2.16112117e-01 2.56370910e-02 1.91152438e+02] [-2.16049021e-01 9.76368461e-01 -5.23911665e-03 -2.24147223e+01] [-2.61634836e-02 -4.25323372e-04 9.99657587e-01 -5.69870547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.18, Y:-22.42, Z:-5.70 [[ 9.76097846e-01 2.15852138e-01 2.53150087e-02 1.91180811e+02] [-2.15790559e-01 9.76425974e-01 -5.17217156e-03 -2.24169043e+01] [-2.58346563e-02 -4.14194358e-04 9.99666144e-01 -5.70008512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30587156000004 meters Centerline goodness [0,1] 0.9999785780081832 Centerline is valid? [True, True] Translation: X:191.21, Y:-22.42, Z:-5.70 [[ 9.76293076e-01 2.14981978e-01 2.51908444e-02 1.91210635e+02] [-2.14920752e-01 9.76617938e-01 -5.14528711e-03 -2.24166337e+01] [-2.57079746e-02 -3.90727047e-04 9.99669419e-01 -5.70213729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.24, Y:-22.42, Z:-5.70 [[ 9.76425270e-01 2.14435598e-01 2.47197718e-02 1.91238465e+02] [-2.14376493e-01 9.76738060e-01 -5.04800331e-03 -2.24196498e+01] [-2.52272136e-02 -3.70339993e-04 9.99681675e-01 -5.70395576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.27, Y:-22.42, Z:-5.71 [[ 9.76589157e-01 2.13711603e-01 2.45146553e-02 1.91267014e+02] [-2.13653283e-01 9.76896734e-01 -5.00465085e-03 -2.24230852e+01] [-2.50178386e-02 -3.50148828e-04 9.99686944e-01 -5.70558131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.30, Y:-22.43, Z:-5.71 [[ 9.77032408e-01 2.11692130e-01 2.43745112e-02 1.91295576e+02] [-2.11633874e-01 9.77336356e-01 -4.97493630e-03 -2.24276785e+01] [-2.48752508e-02 -2.97798236e-04 9.99690519e-01 -5.70651360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.32, Y:-22.43, Z:-5.71 [[ 9.77332751e-01 2.10309131e-01 2.43056365e-02 1.91323619e+02] [-2.10250803e-01 9.77634901e-01 -4.95976390e-03 -2.24305605e+01] [-2.48051221e-02 -2.62939895e-04 9.99692271e-01 -5.70829563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.35, Y:-22.44, Z:-5.71 [[ 9.77693565e-01 2.08649048e-01 2.41012152e-02 1.91351470e+02] [-2.08591230e-01 9.77990555e-01 -4.91654013e-03 -2.24372950e+01] [-2.45965923e-02 -2.20432475e-04 9.99697434e-01 -5.70853713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48587156000002 meters Centerline goodness [0,1] 0.99993608453885 Centerline is valid? [True, True] Translation: X:191.38, Y:-22.44, Z:-5.71 [[ 9.78081423e-01 2.06899983e-01 2.34334729e-02 1.91379992e+02] [-2.06844850e-01 9.78362084e-01 -4.77922897e-03 -2.24430553e+01] [-2.39152437e-02 -1.72618110e-04 9.99713975e-01 -5.70901483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.41, Y:-22.45, Z:-5.71 [[ 9.78735418e-01 2.03823180e-01 2.30888237e-02 1.91408182e+02] [-2.03768828e-01 9.79007713e-01 -4.70774296e-03 -2.24480055e+01] [-2.35636837e-02 -9.71477856e-05 9.99722333e-01 -5.71211130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.44, Y:-22.45, Z:-5.71 [[ 9.78984498e-01 2.02575886e-01 2.35024273e-02 1.91437524e+02] [-2.02519232e-01 9.79266565e-01 -4.79112042e-03 -2.24532904e+01] [-2.39857067e-02 -6.92609172e-05 9.99712299e-01 -5.71200008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.47, Y:-22.46, Z:-5.71 [[ 9.79215926e-01 2.01438946e-01 2.36330623e-02 1.91466195e+02] [-2.01381343e-01 9.79501072e-01 -4.81722516e-03 -2.24573503e+01] [-2.41189866e-02 -4.21542173e-05 9.99709094e-01 -5.71267739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.49, Y:-22.46, Z:-5.71 [[ 9.79724491e-01 1.98912228e-01 2.39551122e-02 1.91494305e+02] [-1.98852311e-01 9.80017309e-01 -4.88195051e-03 -2.24611966e+01] [-2.44475043e-02 1.94370574e-05 9.99701115e-01 -5.71345136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.52, Y:-22.47, Z:-5.71 [[ 9.80048348e-01 1.97267237e-01 2.43078945e-02 1.91522136e+02] [-1.97205056e-01 9.80349751e-01 -4.95299177e-03 -2.24668736e+01] [-2.48073013e-02 6.05316967e-05 9.99692250e-01 -5.71425700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.55, Y:-22.47, Z:-5.72 [[ 9.80412752e-01 1.95497386e-01 2.39083326e-02 1.91551598e+02] [-1.95436738e-01 9.80704217e-01 -4.87030504e-03 -2.24730393e+01] [-2.43991345e-02 1.02342655e-04 9.99702292e-01 -5.71505705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.58, Y:-22.48, Z:-5.72 [[ 9.81145851e-01 1.91848684e-01 2.33859091e-02 1.91579769e+02] [-1.91789636e-01 9.81424499e-01 -4.76324344e-03 -2.24807848e+01] [-2.38653261e-02 1.88261547e-04 9.99715165e-01 -5.71783211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72587156000003 meters Centerline goodness [0,1] 0.9998292714157668 Centerline is valid? [True, True] Translation: X:191.61, Y:-22.49, Z:-5.72 [[ 9.81465457e-01 1.90239380e-01 2.31200111e-02 1.91608583e+02] [-1.90181226e-01 9.81737708e-01 -4.70888408e-03 -2.24877038e+01] [-2.35936019e-02 2.24615018e-04 9.99721607e-01 -5.71712826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75587156000003 meters Centerline goodness [0,1] 0.9998728867420872 Centerline is valid? [True, True] Translation: X:191.64, Y:-22.50, Z:-5.72 [[ 9.81787751e-01 1.88541519e-01 2.33432525e-02 1.91636166e+02] [-1.88481772e-01 9.82065183e-01 -4.75369513e-03 -2.24981264e+01] [-2.38208645e-02 2.67342058e-04 9.99716207e-01 -5.71966205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78587156000003 meters Centerline goodness [0,1] 0.9999573906003665 Centerline is valid? [True, True] Translation: X:191.67, Y:-22.51, Z:-5.72 [[ 9.82441753e-01 1.84995314e-01 2.41854298e-02 1.91666826e+02] [-1.84930114e-01 9.82739335e-01 -4.92469699e-03 -2.25057561e+01] [-2.46790191e-02 3.65613643e-04 9.99695360e-01 -5.71929177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81587156000003 meters Centerline goodness [0,1] 0.999936088623775 Centerline is valid? [True, True] Translation: X:191.70, Y:-22.51, Z:-5.72 [[ 9.82760670e-01 1.83271712e-01 2.43504686e-02 1.91697146e+02] [-1.83205075e-01 9.83062211e-01 -4.95889244e-03 -2.25141300e+01] [-2.48468502e-02 4.12275015e-04 9.99691184e-01 -5.71817064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.73, Y:-22.52, Z:-5.72 [[ 9.83072912e-01 1.81476793e-01 2.51758494e-02 1.91727288e+02] [-1.81404958e-01 9.83395113e-01 -5.12760476e-03 -2.25228946e+01] [-2.56883485e-02 4.73785456e-04 9.99669888e-01 -5.71907985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87587156000004 meters Centerline goodness [0,1] 0.9999788820138111 Centerline is valid? [True, True] Translation: X:191.76, Y:-22.53, Z:-5.72 [[ 9.83298084e-01 1.80179218e-01 2.56968558e-02 1.91757423e+02] [-1.80103925e-01 9.83633662e-01 -5.23407286e-03 -2.25321992e+01] [-2.62193635e-02 5.18549220e-04 9.99656079e-01 -5.71903395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90587156000004 meters Centerline goodness [0,1] 0.999978647990776 Centerline is valid? [True, True] Translation: X:191.79, Y:-22.54, Z:-5.72 [[ 9.83773538e-01 1.77526556e-01 2.59605146e-02 1.91788209e+02] [-1.77448716e-01 9.84115829e-01 -5.29042166e-03 -2.25431928e+01] [-2.64873437e-02 5.97916836e-04 9.99648970e-01 -5.71981384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93587156000004 meters Centerline goodness [0,1] 0.9999364204726078 Centerline is valid? [True, True] Translation: X:191.82, Y:-22.55, Z:-5.72 [[ 9.83881436e-01 1.76957843e-01 2.57534840e-02 1.91818830e+02] [-1.76881025e-01 9.84218243e-01 -5.24904307e-03 -2.25516268e+01] [-2.62759081e-02 6.09133393e-04 9.99654543e-01 -5.72083770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96587156000004 meters Centerline goodness [0,1] 0.9999154262516915 Centerline is valid? [True, True] Translation: X:191.85, Y:-22.56, Z:-5.72 [[ 9.83939345e-01 1.76623585e-01 2.58355367e-02 1.91849863e+02] [-1.76546058e-01 9.84278274e-01 -5.26968472e-03 -2.25604992e+01] [-2.63601081e-02 6.23887966e-04 9.99652317e-01 -5.72214837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.88, Y:-22.57, Z:-5.72 [[ 9.83900898e-01 1.76925683e-01 2.52254999e-02 1.91880950e+02] [-1.76851771e-01 9.84224028e-01 -5.14921873e-03 -2.25702845e+01] [-2.57385722e-02 6.05146579e-04 9.99668525e-01 -5.72387935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02587156000004 meters Centerline goodness [0,1] 0.999914323044959 Centerline is valid? [True, True] Translation: X:191.91, Y:-22.57, Z:-5.73 [[ 9.83698401e-01 1.78121346e-01 2.47030701e-02 1.91912975e+02] [-1.78050734e-01 9.84008367e-01 -5.04682266e-03 -2.25747428e+01] [-2.52069745e-02 5.66151600e-04 9.99682093e-01 -5.72559219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05587156000004 meters Centerline goodness [0,1] 0.9999784964734216 Centerline is valid? [True, True] Translation: X:191.94, Y:-22.58, Z:-5.73 [[ 9.83409181e-01 1.79756582e-01 2.43711786e-02 1.91943670e+02] [-1.79688247e-01 9.83710984e-01 -4.98341811e-03 -2.25814318e+01] [-2.48699983e-02 5.21524756e-04 9.99690558e-01 -5.72733866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08587156000002 meters Centerline goodness [0,1] 0.9999574078412165 Centerline is valid? [True, True] Translation: X:191.98, Y:-22.58, Z:-5.73 [[ 9.82964746e-01 1.82168831e-01 2.43890219e-02 1.91976067e+02] [-1.82101090e-01 9.83267157e-01 -4.98902202e-03 -2.25825932e+01] [-2.48897685e-02 4.62765304e-04 9.99690095e-01 -5.72727211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11587156000002 meters Centerline goodness [0,1] 0.9999361674964892 Centerline is valid? [True, True] Translation: X:192.01, Y:-22.59, Z:-5.73 [[ 9.82379695e-01 1.85295768e-01 2.44051804e-02 1.92006854e+02] [-1.85228795e-01 9.82682720e-01 -4.99656651e-03 -2.25890247e+01] [-2.49083917e-02 3.87983334e-04 9.99689663e-01 -5.72798583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.04, Y:-22.58, Z:-5.73 [[ 9.81065509e-01 1.92175373e-01 2.40643405e-02 1.92036806e+02] [-1.92112206e-01 9.81360576e-01 -4.93156807e-03 -2.25849261e+01] [-2.45635210e-02 2.15137788e-04 9.99698248e-01 -5.73006682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.07, Y:-22.58, Z:-5.73 [[ 9.80365656e-01 1.95700729e-01 2.41744622e-02 1.92067194e+02] [-1.95638076e-01 9.80663657e-01 -4.95323818e-03 -2.25841025e+01] [-2.46763688e-02 1.26539316e-04 9.99695484e-01 -5.73053842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20587156000002 meters Centerline goodness [0,1] 0.9999357972906456 Centerline is valid? [True, True] Translation: X:192.10, Y:-22.59, Z:-5.73 [[ 9.79648272e-01 1.99245058e-01 2.43036998e-02 1.92097315e+02] [-1.99182838e-01 9.79949695e-01 -4.97911956e-03 -2.25853381e+01] [-2.48084682e-02 3.69059769e-05 9.99692222e-01 -5.72972505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.13, Y:-22.58, Z:-5.73 [[ 9.78310064e-01 2.05667149e-01 2.47071432e-02 1.92126638e+02] [-2.05604902e-01 9.78621994e-01 -5.06132051e-03 -2.25811376e+01] [-2.52199011e-02 -1.28368963e-04 9.99681919e-01 -5.73270036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.16, Y:-22.58, Z:-5.73 [[ 9.77659563e-01 2.08686857e-01 2.51311464e-02 1.92155529e+02] [-2.08623494e-01 9.77982490e-01 -5.14651409e-03 -2.25836529e+01] [-2.56518310e-02 -2.11408868e-04 9.99670915e-01 -5.73159936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.18, Y:-22.59, Z:-5.73 [[ 9.77022252e-01 2.11641382e-01 2.52080276e-02 1.92184816e+02] [-2.11578646e-01 9.77347349e-01 -5.16099886e-03 -2.25850253e+01] [-2.57292799e-02 -2.91069608e-04 9.99668905e-01 -5.73251833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.22, Y:-22.58, Z:-5.74 [[ 9.75899334e-01 2.16843085e-01 2.44860304e-02 1.92215244e+02] [-2.16785557e-01 9.76206383e-01 -5.01194005e-03 -2.25801485e+01] [-2.49902237e-02 -4.17068794e-04 9.99687609e-01 -5.73531724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35587156000003 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:192.24, Y:-22.58, Z:-5.74 [[ 9.75400723e-01 2.19052281e-01 2.46886194e-02 1.92243718e+02] [-2.18994525e-01 9.75713006e-01 -5.05259813e-03 -2.25828886e+01] [-2.51957902e-02 -4.78364600e-04 9.99682421e-01 -5.73566690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.27, Y:-22.58, Z:-5.74 [[ 9.74917036e-01 2.21186758e-01 2.47626987e-02 1.92272809e+02] [-2.21129382e-01 9.75231321e-01 -5.06619489e-03 -2.25845240e+01] [-2.52699346e-02 -5.36640558e-04 9.99680520e-01 -5.73559430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:-22.58, Z:-5.74 [[ 9.74468713e-01 2.23147788e-01 2.48151706e-02 1.92300672e+02] [-2.23090829e-01 9.74784446e-01 -5.07592527e-03 -2.25848646e+01] [-2.53221239e-02 -5.89706628e-04 9.99679170e-01 -5.73674161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44587156000003 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:192.33, Y:-22.58, Z:-5.74 [[ 9.73708258e-01 2.26528605e-01 2.40212132e-02 1.92331258e+02] [-2.26476323e-01 9.74004290e-01 -4.91096736e-03 -2.25826163e+01] [-2.45092393e-02 -6.58386557e-04 9.99699387e-01 -5.73920808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47587156000003 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:192.36, Y:-22.58, Z:-5.74 [[ 9.73352243e-01 2.28082894e-01 2.37403410e-02 1.92360428e+02] [-2.28032299e-01 9.73641473e-01 -4.85312206e-03 -2.25835488e+01] [-2.42214947e-02 -6.89767296e-04 9.99706379e-01 -5.74017913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50587156000003 meters Centerline goodness [0,1] 0.9998271092669433 Centerline is valid? [True, True] Translation: X:192.39, Y:-22.59, Z:-5.74 [[ 9.73080319e-01 2.29273233e-01 2.34196000e-02 1.92389087e+02] [-2.29224367e-01 9.73361844e-01 -4.78645552e-03 -2.25860238e+01] [-2.38931512e-02 -7.10737323e-04 9.99714265e-01 -5.73960046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53587156000003 meters Centerline goodness [0,1] 0.9998298958111843 Centerline is valid? [True, True] Translation: X:192.42, Y:-22.58, Z:-5.74 [[ 9.72695795e-01 2.30872972e-01 2.36761689e-02 1.92418736e+02] [-2.30823528e-01 9.72983604e-01 -4.83779576e-03 -2.25799610e+01] [-2.41534404e-02 -7.59313236e-04 9.99707975e-01 -5.74275710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56587156000003 meters Centerline goodness [0,1] 0.9999353963434331 Centerline is valid? [True, True] Translation: X:192.45, Y:-22.59, Z:-5.74 [[ 9.72642301e-01 2.31101341e-01 2.36457897e-02 1.92447326e+02] [-2.31052129e-01 9.72929383e-01 -4.83009123e-03 -2.25854556e+01] [-2.41219241e-02 -7.65458998e-04 9.99708731e-01 -5.74345133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59587156000003 meters Centerline goodness [0,1] 0.9999358453445105 Centerline is valid? [True, True] Translation: X:192.48, Y:-22.59, Z:-5.75 [[ 9.72771952e-01 2.30554502e-01 2.36506041e-02 1.92475777e+02] [-2.30505136e-01 9.73059122e-01 -4.82993256e-03 -2.25888311e+01] [-2.41269988e-02 -7.53162795e-04 9.99708618e-01 -5.74505651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62587156000004 meters Centerline goodness [0,1] 0.9998512916383413 Centerline is valid? [True, True] Translation: X:192.51, Y:-22.59, Z:-5.75 [[ 9.73504423e-01 2.27524391e-01 2.28427067e-02 1.92505211e+02] [-2.27477535e-01 9.73772161e-01 -4.66365316e-03 -2.25904143e+01] [-2.33046867e-02 -6.56115639e-04 9.99728194e-01 -5.74880568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:-22.60, Z:-5.75 [[ 9.74061028e-01 2.25135015e-01 2.27889988e-02 1.92532997e+02] [-2.25087727e-01 9.74327393e-01 -4.65264970e-03 -2.25963209e+01] [-2.32514202e-02 -5.97559200e-04 9.99729471e-01 -5.75024671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68587156000004 meters Centerline goodness [0,1] 0.9998733268589284 Centerline is valid? [True, True] Translation: X:192.56, Y:-22.60, Z:-5.75 [[ 9.74704040e-01 2.22328934e-01 2.28446927e-02 1.92560811e+02] [-2.22280669e-01 9.74971569e-01 -4.66295620e-03 -2.26035366e+01] [-2.33096360e-02 -5.32931340e-04 9.99728151e-01 -5.75109345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71587156000004 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:192.59, Y:-22.61, Z:-5.75 [[ 9.75442732e-01 2.19055276e-01 2.29404231e-02 1.92588780e+02] [-2.19005725e-01 9.75712343e-01 -4.68143488e-03 -2.26113026e+01] [-2.34087470e-02 -4.57612346e-04 9.99725873e-01 -5.75185247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.62, Y:-22.62, Z:-5.75 [[ 9.76973195e-01 2.12112273e-01 2.30599062e-02 1.92615993e+02] [-2.12060296e-01 9.77245260e-01 -4.70460007e-03 -2.26239103e+01] [-2.35330875e-02 -2.93822390e-04 9.99723015e-01 -5.75255127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.64, Y:-22.63, Z:-5.75 [[ 9.77768731e-01 2.08413185e-01 2.30705848e-02 1.92643643e+02] [-2.08360140e-01 9.78040849e-01 -4.70639408e-03 -2.26342766e+01] [-2.35448489e-02 -2.05225292e-04 9.99722761e-01 -5.75348509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.67, Y:-22.65, Z:-5.75 [[ 9.79185936e-01 2.01593563e-01 2.35571407e-02 1.92669467e+02] [-2.01536305e-01 9.79469261e-01 -4.80460523e-03 -2.26475258e+01] [-2.40420727e-02 -4.30172329e-05 9.99710947e-01 -5.75317912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.70, Y:-22.66, Z:-5.75 [[ 9.79816969e-01 1.98505954e-01 2.35391992e-02 1.92696337e+02] [-1.98447922e-01 9.80099681e-01 -4.79967213e-03 -2.26559610e+01] [-2.40235251e-02 3.14950313e-05 9.99711393e-01 -5.75380291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.72, Y:-22.66, Z:-5.75 [[ 9.80332440e-01 1.95898697e-01 2.39166636e-02 1.92724420e+02] [-1.95838057e-01 9.80624134e-01 -4.87485182e-03 -2.26643422e+01] [-2.44082346e-02 9.51824702e-05 9.99702070e-01 -5.75407543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.75, Y:-22.67, Z:-5.75 [[ 9.80786665e-01 1.93575600e-01 2.42075407e-02 1.92752141e+02] [-1.93512795e-01 9.81085350e-01 -4.93303153e-03 -2.26723920e+01] [-2.47045781e-02 1.53782674e-04 9.99694784e-01 -5.75422296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.78, Y:-22.68, Z:-5.75 [[ 9.81480894e-01 1.89989073e-01 2.44827772e-02 1.92780876e+02] [-1.89923742e-01 9.81786174e-01 -4.98804068e-03 -2.26775839e+01] [-2.49845253e-02 2.45805978e-04 9.99687808e-01 -5.75261361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.81, Y:-22.69, Z:-5.75 [[ 9.81795782e-01 1.88391026e-01 2.42046334e-02 1.92807504e+02] [-1.88326713e-01 9.82094060e-01 -4.93023464e-03 -2.26851511e+01] [-2.47000386e-02 2.82104524e-04 9.99694868e-01 -5.75460222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98587156000002 meters Centerline goodness [0,1] 0.9998280346510178 Centerline is valid? [True, True] Translation: X:192.84, Y:-22.69, Z:-5.75 [[ 9.82111038e-01 1.86777678e-01 2.39166819e-02 1.92835372e+02] [-1.86714447e-01 9.82402157e-01 -4.87002457e-03 -2.26909139e+01] [-2.44054118e-02 3.17314852e-04 9.99702093e-01 -5.75430236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.86, Y:-22.70, Z:-5.76 [[ 9.82355410e-01 1.85498634e-01 2.38349763e-02 1.92862636e+02] [-1.85435484e-01 9.82644461e-01 -4.85232033e-03 -2.26977439e+01] [-2.43214062e-02 3.46852770e-04 9.99704131e-01 -5.75718659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.89, Y:-22.70, Z:-5.76 [[ 9.82363986e-01 1.85453165e-01 2.38353199e-02 1.92890403e+02] [-1.85390042e-01 9.82653043e-01 -4.85063188e-03 -2.27033054e+01] [-2.43214147e-02 3.46255118e-04 9.99704131e-01 -5.75804117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.92, Y:-22.71, Z:-5.76 [[ 9.82357532e-01 1.85548958e-01 2.33508936e-02 1.92918970e+02] [-1.85488428e-01 9.82634963e-01 -4.75096284e-03 -2.27064890e+01] [-2.38269407e-02 3.35823574e-04 9.99716042e-01 -5.75824597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.95, Y:-22.71, Z:-5.76 [[ 9.82309179e-01 1.85855055e-01 2.29472390e-02 1.92946444e+02] [-1.85796707e-01 9.82577119e-01 -4.66782771e-03 -2.27116263e+01] [-2.34149713e-02 3.21728571e-04 9.99725780e-01 -5.76019186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:-22.71, Z:-5.76 [[ 9.81981476e-01 1.87593485e-01 2.28268740e-02 1.92976048e+02] [-1.87536255e-01 9.82246714e-01 -4.64171021e-03 -2.27118453e+01] [-2.32923766e-02 2.77206994e-04 9.99728657e-01 -5.76088935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.00, Y:-22.71, Z:-5.76 [[ 9.81761801e-01 1.88743773e-01 2.27937307e-02 1.93003367e+02] [-1.88687043e-01 9.82026337e-01 -4.63394891e-03 -2.27146724e+01] [-2.32586729e-02 2.48552391e-04 9.99729450e-01 -5.76217409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.03, Y:-22.72, Z:-5.77 [[ 9.81500508e-01 1.90126136e-01 2.25567044e-02 1.93030504e+02] [-1.90070977e-01 9.81759649e-01 -4.58433333e-03 -2.27200526e+01] [-2.30168638e-02 2.12150638e-04 9.99735054e-01 -5.76583581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.06, Y:-22.72, Z:-5.77 [[ 9.81218302e-01 1.91620672e-01 2.21847384e-02 1.93059704e+02] [-1.91567724e-01 9.81469046e-01 -4.50767171e-03 -2.27215510e+01] [-2.26373971e-02 1.73130147e-04 9.99743726e-01 -5.76695984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25587156000003 meters Centerline goodness [0,1] 0.999957310565635 Centerline is valid? [True, True] Translation: X:193.09, Y:-22.72, Z:-5.76 [[ 9.80612793e-01 1.94711770e-01 2.20426081e-02 1.93090530e+02] [-1.94660298e-01 9.80860498e-01 -4.47788876e-03 -2.27170761e+01] [-2.24926212e-02 1.00254346e-04 9.99747004e-01 -5.76447867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.12, Y:-22.72, Z:-5.77 [[ 9.80355096e-01 1.96036677e-01 2.17602332e-02 1.93117714e+02] [-1.95986853e-01 9.80596562e-01 -4.42004768e-03 -2.27187829e+01] [-2.22045013e-02 6.84966530e-05 9.99753447e-01 -5.76659741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.15, Y:-22.72, Z:-5.77 [[ 9.80117457e-01 1.97249026e-01 2.15079435e-02 1.93145399e+02] [-1.97200708e-01 9.80353416e-01 -4.36583506e-03 -2.27210456e+01] [-2.19465426e-02 3.76494643e-05 9.99759145e-01 -5.76710703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34587156000003 meters Centerline goodness [0,1] 0.9999359754145591 Centerline is valid? [True, True] Translation: X:193.17, Y:-22.72, Z:-5.77 [[ 9.79933913e-01 1.98167417e-01 2.14289965e-02 1.93172175e+02] [-1.98119704e-01 9.80168187e-01 -4.34834650e-03 -2.27241555e+01] [-2.18657212e-02 1.55857493e-05 9.99760916e-01 -5.76957924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37587156000004 meters Centerline goodness [0,1] 0.9998714515265131 Centerline is valid? [True, True] Translation: X:193.20, Y:-22.73, Z:-5.77 [[ 9.79776495e-01 1.98977476e-01 2.11183409e-02 1.93201407e+02] [-1.98931370e-01 9.80004063e-01 -4.28324433e-03 -2.27265038e+01] [-2.15483291e-02 -4.47836771e-06 9.99767808e-01 -5.76771459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.23, Y:-22.73, Z:-5.77 [[ 9.79709708e-01 1.99281433e-01 2.13494506e-02 1.93229404e+02] [-1.99234402e-01 9.79942300e-01 -4.32927290e-03 -2.27303160e+01] [-2.17839735e-02 -1.21143457e-05 9.99762701e-01 -5.76866683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.26, Y:-22.73, Z:-5.77 [[ 9.79592511e-01 1.99842748e-01 2.14799579e-02 1.93256541e+02] [-1.99795309e-01 9.79827983e-01 -4.35422286e-03 -2.27313743e+01] [-2.19168237e-02 -2.62307216e-05 9.99759797e-01 -5.76893909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.28, Y:-22.73, Z:-5.77 [[ 9.79524202e-01 2.00137171e-01 2.18506496e-02 1.93283782e+02] [-2.00088197e-01 9.79767887e-01 -4.42741217e-03 -2.27349628e+01] [-2.22946545e-02 -3.52997061e-05 9.99751443e-01 -5.76947752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49587156000004 meters Centerline goodness [0,1] 0.9998925239671553 Centerline is valid? [True, True] Translation: X:193.31, Y:-22.74, Z:-5.77 [[ 9.79538291e-01 2.00057732e-01 2.19463114e-02 1.93310860e+02] [-2.00008352e-01 9.79784110e-01 -4.44486410e-03 -2.27399465e+01] [-2.23918767e-02 -3.55309965e-05 9.99749270e-01 -5.76876660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52587156000004 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:193.34, Y:-22.74, Z:-5.77 [[ 9.79627856e-01 1.99608923e-01 2.20350152e-02 1.93337028e+02] [-1.99559063e-01 9.79875644e-01 -4.46130919e-03 -2.27448323e+01] [-2.24820919e-02 -2.68642435e-05 9.99747245e-01 -5.77056058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.37, Y:-22.75, Z:-5.77 [[ 9.79810079e-01 1.98763506e-01 2.15703146e-02 1.93365090e+02] [-1.98715568e-01 9.80047483e-01 -4.36515896e-03 -2.27504092e+01] [-2.20075668e-02 -9.33056044e-06 9.99757804e-01 -5.77204841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.39, Y:-22.76, Z:-5.77 [[ 9.80299798e-01 1.96400906e-01 2.09520811e-02 1.93393390e+02] [-1.96355157e-01 9.80523678e-01 -4.23908778e-03 -2.27577574e+01] [-2.13765723e-02 4.15277302e-05 9.99771494e-01 -5.77370543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.42, Y:-22.77, Z:-5.78 [[ 9.80626616e-01 1.94787279e-01 2.07209131e-02 1.93420982e+02] [-1.94742194e-01 9.80845508e-01 -4.19135064e-03 -2.27656190e+01] [-2.11404363e-02 7.49139065e-05 9.99776513e-01 -5.77526376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.45, Y:-22.77, Z:-5.78 [[ 9.80948629e-01 1.93206381e-01 2.02751678e-02 1.93448681e+02] [-1.93162897e-01 9.81158134e-01 -4.10024995e-03 -2.27742170e+01] [-2.06853403e-02 1.05724411e-04 9.99786030e-01 -5.77675526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67587156000002 meters Centerline goodness [0,1] 0.9998080040959126 Centerline is valid? [True, True] Translation: X:193.48, Y:-22.78, Z:-5.78 [[ 9.81415375e-01 1.90880611e-01 1.97092546e-02 1.93476425e+02] [-1.90839070e-01 9.81613249e-01 -3.98491874e-03 -2.27839679e+01] [-2.01075092e-02 1.49564707e-04 9.99797812e-01 -5.77684345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.50, Y:-22.79, Z:-5.78 [[ 9.81585888e-01 1.90017596e-01 1.95565321e-02 1.93504659e+02] [-1.89976543e-01 9.81780671e-01 -3.95312241e-03 -2.27902080e+01] [-1.99513880e-02 1.65046826e-04 9.99800938e-01 -5.77793404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.53, Y:-22.79, Z:-5.78 [[ 9.81612863e-01 1.89892516e-01 1.94170003e-02 1.93533004e+02] [-1.89852040e-01 9.81804871e-01 -3.92402889e-03 -2.27944564e+01] [-1.98088492e-02 1.65520122e-04 9.99803772e-01 -5.77675078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76587156000002 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:193.56, Y:-22.80, Z:-5.78 [[ 9.81417355e-01 1.90876855e-01 1.96469032e-02 1.93560987e+02] [-1.90835624e-01 9.81613979e-01 -3.96988302e-03 -2.27976890e+01] [-2.00434337e-02 1.46783049e-04 9.99799099e-01 -5.77609511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.59, Y:-22.80, Z:-5.78 [[ 9.81200425e-01 1.91957765e-01 1.99485125e-02 1.93588446e+02] [-1.91915525e-01 9.81403180e-01 -4.02870200e-03 -2.28026088e+01] [-2.03508742e-02 1.24534864e-04 9.99792892e-01 -5.77888010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:-22.80, Z:-5.78 [[ 9.80934352e-01 1.93271428e-01 2.03458393e-02 1.93617994e+02] [-1.93227800e-01 9.81145323e-01 -4.10752625e-03 -2.28044082e+01] [-2.07560925e-02 9.78318372e-05 9.99784564e-01 -5.77660949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.65, Y:-22.80, Z:-5.78 [[ 9.80378218e-01 1.95988699e-01 2.11418704e-02 1.93646212e+02] [-1.95942243e-01 9.80606153e-01 -4.26722834e-03 -2.28047511e+01] [-2.15681768e-02 4.09121902e-05 9.99767379e-01 -5.77603190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.67, Y:-22.81, Z:-5.78 [[ 9.80204662e-01 1.96871367e-01 2.09877417e-02 1.93673871e+02] [-1.96825813e-01 9.80429327e-01 -4.23493651e-03 -2.28079021e+01] [-2.14107352e-02 2.01751713e-05 9.99770764e-01 -5.77635281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.70, Y:-22.81, Z:-5.78 [[ 9.80019009e-01 1.97763610e-01 2.12672852e-02 1.93700969e+02] [-1.97717077e-01 9.80249741e-01 -4.28984082e-03 -2.28112699e+01] [-2.16956252e-02 -7.79930377e-07 9.99764622e-01 -5.77818096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94587156000003 meters Centerline goodness [0,1] 0.9998933697297989 Centerline is valid? [True, True] Translation: X:193.73, Y:-22.81, Z:-5.78 [[ 9.79813806e-01 1.98860936e-01 2.04752115e-02 1.93729550e+02] [-1.98818087e-01 9.80027718e-01 -4.12808015e-03 -2.28138065e+01] [-2.08871887e-02 -2.60924503e-05 9.99781839e-01 -5.77925713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.76, Y:-22.82, Z:-5.78 [[ 9.79698428e-01 1.99508051e-01 1.96857518e-02 1.93758226e+02] [-1.99468590e-01 9.79896186e-01 -3.96802402e-03 -2.28183542e+01] [-2.00816459e-02 -3.92222704e-05 9.99798343e-01 -5.78169402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00587156000003 meters Centerline goodness [0,1] 0.9999359480752397 Centerline is valid? [True, True] Translation: X:193.79, Y:-22.82, Z:-5.78 [[ 9.79780872e-01 1.99142448e-01 1.92802701e-02 1.93785180e+02] [-1.99104527e-01 9.79970553e-01 -3.88624900e-03 -2.28234613e+01] [-1.96680141e-02 -3.11166227e-05 9.99806565e-01 -5.78273285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.81, Y:-22.83, Z:-5.78 [[ 9.79786160e-01 1.99158674e-01 1.88388614e-02 1.93813011e+02] [-1.99122534e-01 9.79967255e-01 -3.79406359e-03 -2.28281995e+01] [-1.92170880e-02 -3.38708196e-05 9.99815334e-01 -5.78459710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.84, Y:-22.83, Z:-5.79 [[ 9.80092190e-01 1.97759870e-01 1.76162803e-02 1.93840610e+02] [-1.97728062e-01 9.80250495e-01 -3.54677166e-03 -2.28343650e+01] [-1.79697765e-02 -7.06975644e-06 9.99838531e-01 -5.78643855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.87, Y:-22.84, Z:-5.79 [[ 9.80358457e-01 1.96454971e-01 1.73994245e-02 1.93867881e+02] [-1.96423749e-01 9.80512847e-01 -3.50241923e-03 -2.28415001e+01] [-1.77484270e-02 1.59661166e-05 9.99842484e-01 -5.78832890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12587156000004 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:193.89, Y:-22.85, Z:-5.79 [[ 9.80914155e-01 1.93679113e-01 1.71994807e-02 1.93894422e+02] [-1.93648196e-01 9.81064930e-01 -3.46111505e-03 -2.28519762e+01] [-1.75441530e-02 6.44083344e-05 9.99846087e-01 -5.79004020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.92, Y:-22.86, Z:-5.79 [[ 9.81144230e-01 1.92481577e-01 1.75168991e-02 1.93921300e+02] [-1.92449334e-01 9.81300583e-01 -3.52402873e-03 -2.28590540e+01] [-1.78676540e-02 8.64648830e-05 9.99840357e-01 -5.78991535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18587156000004 meters Centerline goodness [0,1] 0.9998069208160814 Centerline is valid? [True, True] Translation: X:193.95, Y:-22.87, Z:-5.79 [[ 9.81372623e-01 1.91267084e-01 1.80187920e-02 1.93948293e+02] [-1.91232787e-01 9.81538023e-01 -3.62364293e-03 -2.28661114e+01] [-1.83792131e-02 1.10360149e-04 9.99831082e-01 -5.78841734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.98, Y:-22.87, Z:-5.79 [[ 9.81474154e-01 1.90643212e-01 1.90696375e-02 1.93976832e+02] [-1.90604714e-01 9.81659386e-01 -3.83322564e-03 -2.28723396e+01] [-1.94506671e-02 1.27449084e-04 9.99810810e-01 -5.78852768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.00, Y:-22.88, Z:-5.79 [[ 9.81579777e-01 1.90024199e-01 1.97976108e-02 1.94004660e+02] [-1.89982599e-01 9.81779396e-01 -3.97854794e-03 -2.28783473e+01] [-2.01929068e-02 1.44060627e-04 9.99796092e-01 -5.78756859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.03, Y:-22.88, Z:-5.79 [[ 9.81552782e-01 1.90182993e-01 1.96103506e-02 1.94031518e+02] [-1.90142220e-01 9.81748649e-01 -3.94033819e-03 -2.28832184e+01] [-2.00018206e-02 1.38894298e-04 9.99799934e-01 -5.78893566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30587156000004 meters Centerline goodness [0,1] 0.999851263200391 Centerline is valid? [True, True] Translation: X:194.06, Y:-22.89, Z:-5.79 [[ 9.81560205e-01 1.90189168e-01 1.91740467e-02 1.94058835e+02] [-1.90150226e-01 9.81747453e-01 -3.85086491e-03 -2.28888317e+01] [-1.95564643e-02 1.33906449e-04 9.99808745e-01 -5.79116328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.09, Y:-22.89, Z:-5.79 [[ 9.81509282e-01 1.90516415e-01 1.85209154e-02 1.94087218e+02] [-1.90480161e-01 9.81684003e-01 -3.71852619e-03 -2.28924708e+01] [-1.88901266e-02 1.21901022e-04 9.99821558e-01 -5.79273301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.12, Y:-22.90, Z:-5.80 [[ 9.81472325e-01 1.90829558e-01 1.72091731e-02 1.94115209e+02] [-1.90798319e-01 9.81623180e-01 -3.45443763e-03 -2.28974916e+01] [-1.75521320e-02 1.06953634e-04 9.99845944e-01 -5.79577289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.14, Y:-22.90, Z:-5.80 [[ 9.81471007e-01 1.90869342e-01 1.68391709e-02 1.94143557e+02] [-1.90839451e-01 9.81615446e-01 -3.37938859e-03 -2.29031085e+01] [-1.71746119e-02 1.03193799e-04 9.99852500e-01 -5.79731497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.17, Y:-22.91, Z:-5.80 [[ 9.81500145e-01 1.90703908e-01 1.70142399e-02 1.94169969e+02] [-1.90673364e-01 9.81647599e-01 -3.41471425e-03 -2.29082886e+01] [-1.73531871e-02 1.07380174e-04 9.99849416e-01 -5.79804346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45587156000002 meters Centerline goodness [0,1] 0.9998063933227208 Centerline is valid? [True, True] Translation: X:194.20, Y:-22.91, Z:-5.79 [[ 9.81460700e-01 1.90839623e-01 1.77519938e-02 1.94198781e+02] [-1.90806456e-01 9.81621224e-01 -3.55937403e-03 -2.29118140e+01] [-1.81050035e-02 1.06190689e-04 9.99836085e-01 -5.79498567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.23, Y:-22.92, Z:-5.79 [[ 9.81372847e-01 1.91257051e-01 1.81128811e-02 1.94227752e+02] [-1.91222609e-01 9.81539979e-01 -3.63087826e-03 -2.29158238e+01] [-1.84729480e-02 9.96529616e-05 9.99829356e-01 -5.79426364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.25, Y:-22.92, Z:-5.80 [[ 9.81297721e-01 1.91637307e-01 1.81638366e-02 1.94253813e+02] [-1.91602745e-01 9.81465809e-01 -3.64059987e-03 -2.29209311e+01] [-1.85248594e-02 9.22713964e-05 9.99828396e-01 -5.79629300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.28, Y:-22.93, Z:-5.80 [[ 9.81220658e-01 1.91998537e-01 1.85089990e-02 1.94281348e+02] [-1.91962751e-01 9.81395208e-01 -3.70777943e-03 -2.29264156e+01] [-1.88765312e-02 8.51114046e-05 9.99821819e-01 -5.79835577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57587156000002 meters Centerline goodness [0,1] 0.9998501295309055 Centerline is valid? [True, True] Translation: X:194.31, Y:-22.93, Z:-5.80 [[ 9.81062022e-01 1.92800440e-01 1.85822188e-02 1.94309752e+02] [-1.92764538e-01 9.81237986e-01 -3.72115428e-03 -2.29307230e+01] [-1.89510191e-02 6.86903233e-05 9.99820411e-01 -5.79816297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.34, Y:-22.93, Z:-5.80 [[ 9.80962667e-01 1.93269003e-01 1.89562021e-02 1.94338294e+02] [-1.93231747e-01 9.81145804e-01 -3.79517524e-03 -2.29344755e+01] [-1.93322878e-02 5.99851961e-05 9.99813112e-01 -5.79695263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.37, Y:-22.94, Z:-5.80 [[ 9.80851572e-01 1.93821577e-01 1.90627786e-02 1.94366928e+02] [-1.93784023e-01 9.81036795e-01 -3.81554100e-03 -2.29384971e+01] [-1.94408214e-02 4.84174578e-05 9.99811008e-01 -5.79743002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.39, Y:-22.94, Z:-5.80 [[ 9.80755676e-01 1.94326659e-01 1.88534580e-02 1.94393466e+02] [-1.94290029e-01 9.80936873e-01 -3.77311557e-03 -2.29416027e+01] [-1.92272691e-02 3.74656012e-05 9.99815138e-01 -5.79950703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.42, Y:-22.95, Z:-5.80 [[ 9.80729226e-01 1.94490418e-01 1.85381238e-02 1.94421186e+02] [-1.94455067e-01 9.80904418e-01 -3.70814340e-03 -2.29467186e+01] [-1.89053259e-02 3.18525042e-05 9.99821278e-01 -5.80307742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.45, Y:-22.95, Z:-5.80 [[ 9.80727540e-01 1.94541274e-01 1.80882677e-02 1.94448864e+02] [-1.94507620e-01 9.80894333e-01 -3.61853890e-03 -2.29513270e+01] [-1.84466345e-02 3.04948455e-05 9.99829846e-01 -5.80196412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.48, Y:-22.95, Z:-5.81 [[ 9.80591107e-01 1.95225108e-01 1.81173364e-02 1.94475733e+02] [-1.95191546e-01 9.80758460e-01 -3.61985458e-03 -2.29547732e+01] [-1.84754174e-02 1.32463255e-05 9.99829315e-01 -5.80521369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.50, Y:-22.96, Z:-5.81 [[ 9.80496353e-01 1.95673659e-01 1.84043484e-02 1.94504281e+02] [-1.95639143e-01 9.80669067e-01 -3.67511004e-03 -2.29593626e+01] [-1.87676974e-02 2.82104045e-06 9.99823871e-01 -5.80515525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.53, Y:-22.96, Z:-5.80 [[ 9.80423326e-01 1.96003977e-01 1.87761028e-02 1.94532699e+02] [-1.95968130e-01 9.80603101e-01 -3.74850333e-03 -2.29644246e+01] [-1.91466261e-02 -4.39763784e-06 9.99816687e-01 -5.80282979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84587156000003 meters Centerline goodness [0,1] 0.9997640700068634 Centerline is valid? [True, True] Translation: X:194.56, Y:-22.97, Z:-5.80 [[ 9.80402088e-01 1.95988619e-01 2.00051621e-02 1.94561719e+02] [-1.95947921e-01 9.80606170e-01 -3.99386979e-03 -2.29692601e+01] [-2.03999384e-02 -4.37163882e-06 9.99791900e-01 -5.80031157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.59, Y:-22.97, Z:-5.80 [[ 9.80457889e-01 1.95682621e-01 2.02642333e-02 1.94588387e+02] [-1.95640881e-01 9.80667279e-01 -4.04156128e-03 -2.29738969e+01] [-2.06633338e-02 -1.93180151e-06 9.99786491e-01 -5.80141244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.61, Y:-22.98, Z:-5.80 [[ 9.80538090e-01 1.95283452e-01 2.02343166e-02 1.94614994e+02] [-1.95241786e-01 9.80746845e-01 -4.03384185e-03 -2.29801206e+01] [-2.06324847e-02 4.75148163e-06 9.99787128e-01 -5.80300424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.64, Y:-22.99, Z:-5.80 [[ 9.80746448e-01 1.94212908e-01 2.04389583e-02 1.94640610e+02] [-1.94170198e-01 9.80959401e-01 -4.07285954e-03 -2.29882222e+01] [-2.08407902e-02 2.58059475e-05 9.99782807e-01 -5.80399477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.67, Y:-22.99, Z:-5.80 [[ 9.80759875e-01 1.94145055e-01 2.04393122e-02 1.94667584e+02] [-1.94102368e-01 9.80972832e-01 -4.07108227e-03 -2.29934588e+01] [-2.08407905e-02 2.54352272e-05 9.99782807e-01 -5.80482411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.69, Y:-23.00, Z:-5.81 [[ 9.80865266e-01 1.93587255e-01 2.06713437e-02 1.94694785e+02] [-1.93543501e-01 9.81083061e-01 -4.11579550e-03 -2.29996894e+01] [-2.10770707e-02 3.62366148e-05 9.99777853e-01 -5.80501745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.72, Y:-23.01, Z:-5.81 [[ 9.81020810e-01 1.92818703e-01 2.04723482e-02 1.94722381e+02] [-1.92775654e-01 9.81234399e-01 -4.07459254e-03 -2.30058950e+01] [-2.08738300e-02 5.06897634e-05 9.99782117e-01 -5.80637089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.75, Y:-23.01, Z:-5.81 [[ 9.81357281e-01 1.91195024e-01 1.95537677e-02 1.94750202e+02] [-1.91155454e-01 9.81552065e-01 -3.89054063e-03 -2.30136894e+01] [-1.99368930e-02 8.02010420e-05 9.99801237e-01 -5.80917372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08587156000002 meters Centerline goodness [0,1] 0.9998715808398613 Centerline is valid? [True, True] Translation: X:194.78, Y:-23.02, Z:-5.81 [[ 9.81576122e-01 1.90121117e-01 1.90335681e-02 1.94777798e+02] [-1.90083439e-01 9.81760638e-01 -3.78617010e-03 -2.30213562e+01] [-1.94062388e-02 9.84480858e-05 9.99811676e-01 -5.80968599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11587156000002 meters Centerline goodness [0,1] 0.9999144549712354 Centerline is valid? [True, True] Translation: X:194.81, Y:-23.03, Z:-5.81 [[ 9.81808865e-01 1.88935529e-01 1.88339648e-02 1.94805648e+02] [-1.88898436e-01 9.81989487e-01 -3.74558101e-03 -2.30292278e+01] [-1.92024288e-02 1.19738147e-04 9.99815609e-01 -5.81066120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.83, Y:-23.04, Z:-5.81 [[ 9.82022005e-01 1.87810145e-01 1.89770937e-02 1.94832441e+02] [-1.87772292e-01 9.82205340e-01 -3.77323241e-03 -2.30375421e+01] [-1.93480541e-02 1.42024884e-04 9.99812799e-01 -5.81322231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.86, Y:-23.05, Z:-5.81 [[ 9.82249065e-01 1.86510600e-01 2.00142678e-02 1.94859149e+02] [-1.86468250e-01 9.82452933e-01 -3.97824915e-03 -2.30470400e+01] [-2.04050617e-02 1.75606010e-04 9.99791780e-01 -5.81194161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20587156000002 meters Centerline goodness [0,1] 0.9999573506205485 Centerline is valid? [True, True] Translation: X:194.89, Y:-23.05, Z:-5.81 [[ 9.82292104e-01 1.86284432e-01 2.00083141e-02 1.94886696e+02] [-1.86242089e-01 9.82495841e-01 -3.97564112e-03 -2.30528762e+01] [-2.03986854e-02 1.78850660e-04 9.99791909e-01 -5.81048703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:-23.06, Z:-5.81 [[ 9.82312083e-01 1.86153550e-01 2.02442198e-02 1.94914101e+02] [-1.86110206e-01 9.82520647e-01 -4.02101941e-03 -2.30571164e+01] [-2.06388910e-02 1.82240037e-04 9.99786979e-01 -5.81056792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26587156000002 meters Centerline goodness [0,1] 0.9999352848544988 Centerline is valid? [True, True] Translation: X:194.94, Y:-23.06, Z:-5.81 [[ 9.82141749e-01 1.87032653e-01 2.04051654e-02 1.94942514e+02] [-1.86988844e-01 9.82353684e-01 -4.05120938e-03 -2.30626246e+01] [-2.08027979e-02 1.63323582e-04 9.99783585e-01 -5.81054889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29587156000002 meters Centerline goodness [0,1] 0.9999570889117748 Centerline is valid? [True, True] Translation: X:194.97, Y:-23.07, Z:-5.81 [[ 9.82004085e-01 1.87755757e-01 2.03900343e-02 1.94970528e+02] [-1.87712189e-01 9.82215737e-01 -4.04720716e-03 -2.30679324e+01] [-2.07872991e-02 1.46915975e-04 9.99783910e-01 -5.81119978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.00, Y:-23.07, Z:-5.81 [[ 9.81832286e-01 1.88687244e-01 2.00620509e-02 1.94998264e+02] [-1.88645279e-01 9.82037224e-01 -3.98123729e-03 -2.30728441e+01] [-2.04528895e-02 1.24296119e-04 9.99790810e-01 -5.81377620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.03, Y:-23.07, Z:-5.82 [[ 9.81384655e-01 1.91095492e-01 1.91486919e-02 1.95026208e+02] [-1.91057739e-01 9.81571448e-01 -3.79900269e-03 -2.30745010e+01] [-1.95217815e-02 6.97771600e-05 9.99809429e-01 -5.81626318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38587156000003 meters Centerline goodness [0,1] 0.9997854675734237 Centerline is valid? [True, True] Translation: X:195.05, Y:-23.08, Z:-5.82 [[ 9.81154465e-01 1.92307578e-01 1.88072090e-02 1.95053305e+02] [-1.92271406e-01 9.81334700e-01 -3.73001582e-03 -2.30778996e+01] [-1.91734771e-02 4.36331576e-05 9.99816171e-01 -5.81771351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.08, Y:-23.08, Z:-5.82 [[ 9.81037996e-01 1.92886153e-01 1.89573897e-02 1.95079835e+02] [-1.92849542e-01 9.81221143e-01 -3.75810326e-03 -2.30820300e+01] [-1.93262776e-02 3.09181791e-05 9.99813230e-01 -5.82039916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.11, Y:-23.09, Z:-5.82 [[ 9.81034897e-01 1.92946012e-01 1.85031640e-02 1.95108409e+02] [-1.92911181e-01 9.81209374e-01 -3.66613642e-03 -2.30877811e+01] [-1.88628444e-02 2.71405394e-05 9.99822080e-01 -5.82228505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:-23.09, Z:-5.82 [[ 9.81096673e-01 1.92626491e-01 1.85567659e-02 1.95135820e+02] [-1.92591413e-01 9.81272151e-01 -3.67611862e-03 -2.30933144e+01] [-1.89173554e-02 3.27539951e-05 9.99821050e-01 -5.82270857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50587156000003 meters Centerline goodness [0,1] 0.9998505072076882 Centerline is valid? [True, True] Translation: X:195.16, Y:-23.10, Z:-5.82 [[ 9.81131739e-01 1.92434022e-01 1.86991337e-02 1.95163245e+02] [-1.92398395e-01 9.81309913e-01 -3.70296352e-03 -2.30993989e+01] [-1.90622214e-02 3.54117281e-05 9.99818299e-01 -5.82191597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.19, Y:-23.11, Z:-5.82 [[ 9.81204388e-01 1.91933134e-01 1.99905337e-02 1.95189852e+02] [-1.91892340e-01 9.81408004e-01 -3.95727053e-03 -2.31060464e+01] [-2.03784011e-02 4.68609316e-05 9.99792338e-01 -5.82177130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56587156000003 meters Centerline goodness [0,1] 0.9997866165926937 Centerline is valid? [True, True] Translation: X:195.22, Y:-23.11, Z:-5.82 [[ 9.81175869e-01 1.92070033e-01 2.00752513e-02 1.95216843e+02] [-1.92028961e-01 9.81381221e-01 -3.97207236e-03 -2.31114442e+01] [-2.04643907e-02 4.22719017e-05 9.99790582e-01 -5.82165599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.25, Y:-23.12, Z:-5.82 [[ 9.81112613e-01 1.92315341e-01 2.08050638e-02 1.95245515e+02] [-1.92271321e-01 9.81333179e-01 -4.11471728e-03 -2.31161779e+01] [-2.12080227e-02 3.67839181e-05 9.99775084e-01 -5.82168553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.27, Y:-23.12, Z:-5.82 [[ 9.80979145e-01 1.92954805e-01 2.11745238e-02 1.95273353e+02] [-1.92909378e-01 9.81207645e-01 -4.18680651e-03 -2.31198580e+01] [-2.15844691e-02 2.24056580e-05 9.99767028e-01 -5.82235937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65587156000004 meters Centerline goodness [0,1] 0.9998714790617972 Centerline is valid? [True, True] Translation: X:195.30, Y:-23.13, Z:-5.82 [[ 9.80902821e-01 1.93299772e-01 2.15604535e-02 1.95301917e+02] [-1.93252791e-01 9.81139744e-01 -4.26153911e-03 -2.31251081e+01] [-2.19775724e-02 1.35379244e-05 9.99758464e-01 -5.82249613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.33, Y:-23.13, Z:-5.82 [[ 9.80879148e-01 1.93408275e-01 2.16641676e-02 1.95328218e+02] [-1.93360876e-01 9.81118361e-01 -4.28163222e-03 -2.31298982e+01] [-2.20832157e-02 1.07613383e-05 9.99756136e-01 -5.82481024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.36, Y:-23.14, Z:-5.83 [[ 9.80820457e-01 1.93688740e-01 2.18152101e-02 1.95355718e+02] [-1.93640794e-01 9.81063032e-01 -4.30941612e-03 -2.31352508e+01] [-2.22367816e-02 2.44887626e-06 9.99752732e-01 -5.82540195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.38, Y:-23.14, Z:-5.83 [[ 9.80826348e-01 1.93694914e-01 2.14931294e-02 1.95384087e+02] [-1.93648403e-01 9.81061813e-01 -4.24449475e-03 -2.31405376e+01] [-2.19082255e-02 1.00210374e-06 9.99759986e-01 -5.82564233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.41, Y:-23.15, Z:-5.83 [[ 9.80826959e-01 1.93708133e-01 2.13456377e-02 1.95410471e+02] [-1.93662277e-01 9.81059203e-01 -4.21464260e-03 -2.31454341e+01] [-2.17577449e-02 -9.72247077e-09 9.99763272e-01 -5.82738680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.44, Y:-23.15, Z:-5.83 [[ 9.80887672e-01 1.93376928e-01 2.15577950e-02 1.95437965e+02] [-1.93330118e-01 9.81124540e-01 -4.25462269e-03 -2.31516859e+01] [-2.19736276e-02 5.53588065e-06 9.99758551e-01 -5.82705267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.47, Y:-23.16, Z:-5.83 [[ 9.80930637e-01 1.93106462e-01 2.20222618e-02 1.95466313e+02] [-1.93057585e-01 9.81177810e-01 -4.34448146e-03 -2.31584454e+01] [-2.24467021e-02 1.00702729e-05 9.99748041e-01 -5.82705889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.49, Y:-23.17, Z:-5.83 [[ 9.81044727e-01 1.92519197e-01 2.20817206e-02 1.95493792e+02] [-1.92469929e-01 9.81293207e-01 -4.35523411e-03 -2.31660392e+01] [-2.25071086e-02 2.26122636e-05 9.99746683e-01 -5.82788008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.52, Y:-23.17, Z:-5.83 [[ 9.81100114e-01 1.92183209e-01 2.25428712e-02 1.95522218e+02] [-1.92131807e-01 9.81359064e-01 -4.44471778e-03 -2.31721794e+01] [-2.29768511e-02 2.95105426e-05 9.99735997e-01 -5.82838097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.55, Y:-23.18, Z:-5.83 [[ 9.81209423e-01 1.91590208e-01 2.28311176e-02 1.95549234e+02] [-1.91537345e-01 9.81475007e-01 -4.50059474e-03 -2.31788639e+01] [-2.32704412e-02 4.30143368e-05 9.99729206e-01 -5.82902775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.58, Y:-23.19, Z:-5.83 [[ 9.81560312e-01 1.89800653e-01 2.26950494e-02 1.95575385e+02] [-1.89747979e-01 9.81822645e-01 -4.47204048e-03 -2.31885346e+01] [-2.31313097e-02 8.32376872e-05 9.99732432e-01 -5.83039386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.60, Y:-23.20, Z:-5.83 [[ 9.81798687e-01 1.88590937e-01 2.24676750e-02 1.95602656e+02] [-1.88539030e-01 9.82055725e-01 -4.42580285e-03 -2.31970526e+01] [-2.28991751e-02 1.09213797e-04 9.99737774e-01 -5.83217642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.63, Y:-23.21, Z:-5.83 [[ 9.82079069e-01 1.87188901e-01 2.19321302e-02 1.95630204e+02] [-1.87139113e-01 9.82323926e-01 -4.31928547e-03 -2.32058284e+01] [-2.23529785e-02 1.37520469e-04 9.99750132e-01 -5.83450584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04587156000002 meters Centerline goodness [0,1] 0.9998290086778095 Centerline is valid? [True, True] Translation: X:195.66, Y:-23.22, Z:-5.84 [[ 9.82713184e-01 1.83930317e-01 2.10816674e-02 1.95656539e+02] [-1.83883585e-01 9.82939264e-01 -4.15084095e-03 -2.32194546e+01] [-2.14854642e-02 2.02513534e-04 9.99769140e-01 -5.83608906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.68, Y:-23.23, Z:-5.84 [[ 9.82990608e-01 1.82461512e-01 2.09107767e-02 1.95684043e+02] [-1.82415224e-01 9.83212969e-01 -4.11620973e-03 -2.32290421e+01] [-2.13107967e-02 2.31751490e-04 9.99772872e-01 -5.83756497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:-23.24, Z:-5.84 [[ 9.83237378e-01 1.81101500e-01 2.11306869e-02 1.95710723e+02] [-1.81053939e-01 9.83464375e-01 -4.15856860e-03 -2.32390928e+01] [-2.15344008e-02 2.63065987e-04 9.99768073e-01 -5.83847038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.74, Y:-23.25, Z:-5.84 [[ 9.83403307e-01 1.80183133e-01 2.12596735e-02 1.95738834e+02] [-1.80134805e-01 9.83633040e-01 -4.18257061e-03 -2.32479619e+01] [-2.16653460e-02 2.83546640e-04 9.99765239e-01 -5.83861344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:-23.26, Z:-5.84 [[ 9.83581015e-01 1.79207959e-01 2.12813213e-02 1.95765147e+02] [-1.79159323e-01 9.83811168e-01 -4.18592191e-03 -2.32592048e+01] [-2.16869521e-02 3.04446194e-04 9.99764764e-01 -5.83946197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.79, Y:-23.27, Z:-5.84 [[ 9.83585957e-01 1.79127377e-01 2.17266694e-02 1.95792283e+02] [-1.79076697e-01 9.83825841e-01 -4.27210986e-03 -2.32677526e+01] [-2.21405106e-02 3.11247081e-04 9.99754820e-01 -5.83996040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22587156000003 meters Centerline goodness [0,1] 0.9999784918484106 Centerline is valid? [True, True] Translation: X:195.82, Y:-23.27, Z:-5.84 [[ 9.83531741e-01 1.79334513e-01 2.24599073e-02 1.95820191e+02] [-1.79280432e-01 9.83788104e-01 -4.41519308e-03 -2.32747997e+01] [-2.28875861e-02 3.15860637e-04 9.99737995e-01 -5.83936857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.85, Y:-23.28, Z:-5.84 [[ 9.83409496e-01 1.79952818e-01 2.28636339e-02 1.95848719e+02] [-1.79896967e-01 9.83675195e-01 -4.49350369e-03 -2.32776724e+01] [-2.32990082e-02 3.05855814e-04 9.99728494e-01 -5.83761920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28587156000003 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:195.87, Y:-23.29, Z:-5.84 [[ 9.83193708e-01 1.81127936e-01 2.28648826e-02 1.95874691e+02] [-1.81072422e-01 9.83459503e-01 -4.49267116e-03 -2.32895117e+01] [-2.33004343e-02 2.76966354e-04 9.99728470e-01 -5.84041040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.90, Y:-23.30, Z:-5.84 [[ 9.83005865e-01 1.82135555e-01 2.29370819e-02 1.95903205e+02] [-1.82080000e-01 9.83273398e-01 -4.50529875e-03 -2.32955041e+01] [-2.33739976e-02 2.52351231e-04 9.99726759e-01 -5.84114323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.93, Y:-23.30, Z:-5.84 [[ 9.82748227e-01 1.83493050e-01 2.31564818e-02 1.95932461e+02] [-1.83436829e-01 9.83020982e-01 -4.54735254e-03 -2.32977655e+01] [-2.35977150e-02 2.21151073e-04 9.99721511e-01 -5.83969871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:-23.30, Z:-5.84 [[ 9.82064897e-01 1.87113111e-01 2.31780543e-02 1.95959358e+02] [-1.87057817e-01 9.82338366e-01 -4.55049023e-03 -2.33027990e+01] [-2.36201483e-02 1.33240482e-04 9.99720996e-01 -5.84194719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.99, Y:-23.31, Z:-5.84 [[ 9.81755818e-01 1.88788094e-01 2.26841217e-02 1.95986106e+02] [-1.88735612e-01 9.82017845e-01 -4.45209971e-03 -2.33085072e+01] [-2.31167157e-02 8.95732038e-05 9.99732769e-01 -5.84492111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:-23.31, Z:-5.84 [[ 9.81489056e-01 1.90177679e-01 2.26204227e-02 1.96014568e+02] [-1.90125893e-01 9.81749687e-01 -4.43817192e-03 -2.33129314e+01] [-2.30516341e-02 5.52891037e-05 9.99734274e-01 -5.84405549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46587156000004 meters Centerline goodness [0,1] 0.9999360504774898 Centerline is valid? [True, True] Translation: X:196.04, Y:-23.32, Z:-5.85 [[ 9.81063214e-01 1.92420596e-01 2.21197645e-02 1.96041405e+02] [-1.92371668e-01 9.81312547e-01 -4.33901466e-03 -2.33188342e+01] [-2.25413182e-02 1.63166971e-06 9.99745912e-01 -5.84519845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.07, Y:-23.32, Z:-5.85 [[ 9.80977360e-01 1.92848869e-01 2.21975793e-02 1.96068281e+02] [-1.92799738e-01 9.81228472e-01 -4.35285855e-03 -2.33249958e+01] [-2.26203406e-02 -9.63177362e-06 9.99744127e-01 -5.84724554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.10, Y:-23.33, Z:-5.85 [[ 9.80995335e-01 1.92783943e-01 2.19659613e-02 1.96095637e+02] [-1.92735852e-01 9.81241230e-01 -4.30584777e-03 -2.33323964e+01] [-2.23840052e-02 -9.61167456e-06 9.99749447e-01 -5.84831563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.12, Y:-23.34, Z:-5.85 [[ 9.81035098e-01 1.92578756e-01 2.19899626e-02 1.96122963e+02] [-1.92530549e-01 9.81281521e-01 -4.30875501e-03 -2.33416892e+01] [-2.24081186e-02 -6.69966884e-06 9.99748907e-01 -5.84888767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58587156000002 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:196.15, Y:-23.35, Z:-5.85 [[ 9.80920798e-01 1.93126510e-01 2.22831501e-02 1.96151554e+02] [-1.93077175e-01 9.81173864e-01 -4.36506942e-03 -2.33477083e+01] [-2.27066551e-02 -2.05802955e-05 9.99742170e-01 -5.84884344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.18, Y:-23.35, Z:-5.85 [[ 9.80437523e-01 1.95364887e-01 2.39755106e-02 1.96180187e+02] [-1.95308473e-01 9.80730623e-01 -4.69528515e-03 -2.33522810e+01] [-2.44308113e-02 -7.91866171e-05 9.99701520e-01 -5.84732646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.21, Y:-23.36, Z:-5.85 [[ 9.80107576e-01 1.96986692e-01 2.41946824e-02 1.96207317e+02] [-1.96929762e-01 9.80406155e-01 -4.73712701e-03 -2.33559982e+01] [-2.46537665e-02 -1.21758975e-04 9.99696042e-01 -5.84790311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.24, Y:-23.36, Z:-5.85 [[ 9.79759980e-01 1.98655440e-01 2.46251396e-02 1.96235797e+02] [-1.98597043e-01 9.80069379e-01 -4.81941787e-03 -2.33598936e+01] [-2.50917489e-02 -1.68607165e-04 9.99685138e-01 -5.84831496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.26, Y:-23.36, Z:-5.85 [[ 9.79406023e-01 2.00371103e-01 2.48044916e-02 1.96264447e+02] [-2.00312433e-01 9.79720049e-01 -4.85329493e-03 -2.33640291e+01] [-2.52739177e-02 -2.15301770e-04 9.99680540e-01 -5.84827126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.29, Y:-23.37, Z:-5.85 [[ 9.78810935e-01 2.03258983e-01 2.47979603e-02 1.96292836e+02] [-2.03201300e-01 9.79124967e-01 -4.85083472e-03 -2.33652423e+01] [-2.52662778e-02 -2.90927691e-04 9.99680714e-01 -5.84951425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.32, Y:-23.37, Z:-5.85 [[ 9.78647299e-01 2.04057435e-01 2.46987324e-02 1.96320910e+02] [-2.04000505e-01 9.78958868e-01 -4.82988873e-03 -2.33684270e+01] [-2.51646179e-02 -3.11796329e-04 9.99683272e-01 -5.85102521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79587156000002 meters Centerline goodness [0,1] 0.9998505199769374 Centerline is valid? [True, True] Translation: X:196.35, Y:-23.37, Z:-5.85 [[ 9.78474075e-01 2.04899944e-01 2.45865531e-02 1.96349251e+02] [-2.04843835e-01 9.78782868e-01 -4.80638618e-03 -2.33728462e+01] [-2.50497252e-02 -3.33479556e-04 9.99686151e-01 -5.85115069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82587156000002 meters Centerline goodness [0,1] 0.9999141538791716 Centerline is valid? [True, True] Translation: X:196.38, Y:-23.38, Z:-5.85 [[ 9.78461184e-01 2.04951681e-01 2.46682055e-02 1.96376623e+02] [-2.04895242e-01 9.78772034e-01 -4.82127948e-03 -2.33783057e+01] [-2.51326791e-02 -3.36963114e-04 9.99684068e-01 -5.85188688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85587156000003 meters Centerline goodness [0,1] 0.9999141538791716 Centerline is valid? [True, True] Translation: X:196.40, Y:-23.38, Z:-5.85 [[ 9.78475745e-01 2.04882111e-01 2.46685497e-02 1.96403622e+02] [-2.04825694e-01 9.78786599e-01 -4.81951772e-03 -2.33834439e+01] [-2.51326789e-02 -3.36971642e-04 9.99684068e-01 -5.85271625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88587156000003 meters Centerline goodness [0,1] 0.9999571661098261 Centerline is valid? [True, True] Translation: X:196.43, Y:-23.39, Z:-5.86 [[ 9.78600058e-01 2.04376509e-01 2.39200477e-02 1.96429642e+02] [-2.04323354e-01 9.78892304e-01 -4.67165081e-03 -2.33886201e+01] [-2.43699263e-02 -3.15746617e-04 9.99702959e-01 -5.85651527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.46, Y:-23.39, Z:-5.86 [[ 9.78718032e-01 2.03845789e-01 2.36200661e-02 1.96457800e+02] [-2.03793857e-01 9.79002964e-01 -4.61084753e-03 -2.33949412e+01] [-2.40640166e-02 -3.00904757e-04 9.99710374e-01 -5.85855237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94587156000003 meters Centerline goodness [0,1] 0.9999785380091857 Centerline is valid? [True, True] Translation: X:196.49, Y:-23.40, Z:-5.86 [[ 9.78840179e-01 2.03288672e-01 2.33585074e-02 1.96485481e+02] [-2.03237752e-01 9.79118805e-01 -4.55868606e-03 -2.34015257e+01] [-2.37974831e-02 -2.85105461e-04 9.99716759e-01 -5.86001580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.51, Y:-23.41, Z:-5.86 [[ 9.79055463e-01 2.02244582e-01 2.33993449e-02 1.96513375e+02] [-2.02193213e-01 9.79335009e-01 -4.56551286e-03 -2.34085790e+01] [-2.38391479e-02 -2.61298415e-04 9.99715773e-01 -5.86086514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.54, Y:-23.42, Z:-5.86 [[ 9.79222407e-01 2.01396010e-01 2.37302671e-02 1.96541266e+02] [-2.01342956e-01 9.79509871e-01 -4.62890976e-03 -2.34158072e+01] [-2.41762748e-02 -2.45189967e-04 9.99707681e-01 -5.86187856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.57, Y:-23.42, Z:-5.86 [[ 9.79460358e-01 2.00189361e-01 2.41169422e-02 1.96569319e+02] [-2.00134228e-01 9.79757200e-01 -4.70313919e-03 -2.34241948e+01] [-2.45702662e-02 -2.20087218e-04 9.99698081e-01 -5.86168722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.60, Y:-23.43, Z:-5.86 [[ 9.79798404e-01 1.98522287e-01 2.41658504e-02 1.96596416e+02] [-1.98466451e-01 9.80096357e-01 -4.71153318e-03 -2.34312195e+01] [-2.46202063e-02 -1.79757870e-04 9.99696861e-01 -5.86342321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.62, Y:-23.44, Z:-5.86 [[ 9.80608587e-01 1.94471708e-01 2.42394998e-02 1.96622623e+02] [-1.94414333e-01 9.80908124e-01 -4.72429474e-03 -2.34443951e+01] [-2.46954640e-02 -7.98221954e-05 9.99695017e-01 -5.86416760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.65, Y:-23.45, Z:-5.86 [[ 9.81067038e-01 1.92115745e-01 2.44746494e-02 1.96650310e+02] [-1.92056546e-01 9.81372274e-01 -4.76898861e-03 -2.34546518e+01] [-2.49349401e-02 -2.18190853e-05 9.99689076e-01 -5.86409317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15587156000004 meters Centerline goodness [0,1] 0.9998927475921835 Centerline is valid? [True, True] Translation: X:196.68, Y:-23.46, Z:-5.86 [[ 9.81504034e-01 1.89882685e-01 2.43802560e-02 1.96677426e+02] [-1.89823282e-01 9.81806786e-01 -4.74942448e-03 -2.34640432e+01] [-2.48385343e-02 3.36390843e-05 9.99691475e-01 -5.86332835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18587156000004 meters Centerline goodness [0,1] 0.9999138283892371 Centerline is valid? [True, True] Translation: X:196.71, Y:-23.47, Z:-5.86 [[ 9.82099160e-01 1.86639673e-01 2.54336837e-02 1.96705761e+02] [-1.86573972e-01 9.82428429e-01 -4.95322242e-03 -2.34747244e+01] [-2.59112418e-02 1.19292174e-04 9.99664240e-01 -5.86234360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21587156000004 meters Centerline goodness [0,1] 0.9998715918332406 Centerline is valid? [True, True] Translation: X:196.73, Y:-23.48, Z:-5.86 [[ 9.82269722e-01 1.85728580e-01 2.55164144e-02 1.96734641e+02] [-1.85662163e-01 9.82601076e-01 -4.96864142e-03 -2.34824924e+01] [-2.59952749e-02 1.43113355e-04 9.99662055e-01 -5.86403537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.76, Y:-23.49, Z:-5.87 [[ 9.82427887e-01 1.84891719e-01 2.55048878e-02 1.96763052e+02] [-1.84825086e-01 9.82758885e-01 -4.96612752e-03 -2.34904854e+01] [-2.59833509e-02 1.64919101e-04 9.99662362e-01 -5.86637450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.79, Y:-23.50, Z:-5.87 [[ 9.82695608e-01 1.83466905e-01 2.54801276e-02 1.96792368e+02] [-1.83399941e-01 9.83025866e-01 -4.96059955e-03 -2.35014152e+01] [-2.59577304e-02 2.01705481e-04 9.99663021e-01 -5.86721956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.82, Y:-23.51, Z:-5.87 [[ 9.82767702e-01 1.83138553e-01 2.50582391e-02 1.96821751e+02] [-1.83073682e-01 9.83087091e-01 -4.87846417e-03 -2.35092822e+01] [-2.55278662e-02 2.06892928e-04 9.99674090e-01 -5.86878945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:-23.52, Z:-5.87 [[ 9.82853679e-01 1.82781434e-01 2.42815257e-02 1.96850384e+02] [-1.82720412e-01 9.83153550e-01 -4.72731408e-03 -2.35167178e+01] [-2.47365334e-02 2.09527669e-04 9.99693983e-01 -5.87084546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36587156000002 meters Centerline goodness [0,1] 0.9997852464297219 Centerline is valid? [True, True] Translation: X:196.88, Y:-23.52, Z:-5.87 [[ 9.82877120e-01 1.82725919e-01 2.37445861e-02 1.96880377e+02] [-1.82667559e-01 9.83163870e-01 -4.62242841e-03 -2.35234703e+01] [-2.41894567e-02 2.05913528e-04 9.99707371e-01 -5.87144263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39587156000002 meters Centerline goodness [0,1] 0.9998923527385464 Centerline is valid? [True, True] Translation: X:196.91, Y:-23.53, Z:-5.87 [[ 9.82719004e-01 1.83614016e-01 2.34361342e-02 1.96910374e+02] [-1.83557415e-01 9.82998403e-01 -4.56238115e-03 -2.35299812e+01] [-2.38753996e-02 1.81662454e-04 9.99714926e-01 -5.87296117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:-23.54, Z:-5.88 [[ 9.82520882e-01 1.84678810e-01 2.33763507e-02 1.96940776e+02] [-1.84622798e-01 9.82798918e-01 -4.55074293e-03 -2.35355325e+01] [-2.38146780e-02 1.55392675e-04 9.99716378e-01 -5.87532641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:-23.54, Z:-5.88 [[ 9.82325120e-01 1.85715291e-01 2.33920892e-02 1.96970757e+02] [-1.85659498e-01 9.82603589e-01 -4.55380679e-03 -2.35407919e+01] [-2.38308624e-02 1.30355264e-04 9.99715996e-01 -5.87629637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.00, Y:-23.55, Z:-5.88 [[ 9.81811962e-01 1.88362315e-01 2.37678112e-02 1.96998440e+02] [-1.88305485e-01 9.82099605e-01 -4.62716279e-03 -2.35461592e+01] [-2.42139411e-02 6.73945572e-05 9.99706797e-01 -5.87696388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:-23.55, Z:-5.88 [[ 9.81544500e-01 1.89752813e-01 2.37542332e-02 1.97027499e+02] [-1.89696477e-01 9.81831894e-01 -4.62358067e-03 -2.35508111e+01] [-2.42000012e-02 3.21558229e-05 9.99707137e-01 -5.87771729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.06, Y:-23.55, Z:-5.88 [[ 9.81173695e-01 1.91640336e-01 2.39199255e-02 1.97056858e+02] [-1.91583786e-01 9.81465222e-01 -4.65525117e-03 -2.35544507e+01] [-2.43687089e-02 -1.50599099e-05 9.99703039e-01 -5.87797100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.09, Y:-23.55, Z:-5.88 [[ 9.80385973e-01 1.95595907e-01 2.41988776e-02 1.97085621e+02] [-1.95539244e-01 9.80684571e-01 -4.70916812e-03 -2.35535525e+01] [-2.46525599e-02 -1.15027866e-04 9.99696073e-01 -5.87925382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.11, Y:-23.56, Z:-5.88 [[ 9.79983902e-01 1.97573717e-01 2.44167759e-02 1.97114286e+02] [-1.97516686e-01 9.80288018e-01 -4.74981233e-03 -2.35566297e+01] [-2.48739109e-02 -1.67981048e-04 9.99690582e-01 -5.87942166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63587156000003 meters Centerline goodness [0,1] 0.9997858076123974 Centerline is valid? [True, True] Translation: X:197.14, Y:-23.56, Z:-5.88 [[ 9.79568078e-01 1.99707295e-01 2.37355424e-02 1.97143360e+02] [-1.99654055e-01 9.79855576e-01 -4.61618045e-03 -2.35591076e+01] [-2.41792884e-02 -2.17034270e-04 9.99707615e-01 -5.87944361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.17, Y:-23.56, Z:-5.88 [[ 9.78686344e-01 2.03920323e-01 2.42804658e-02 1.97171426e+02] [-2.03865934e-01 9.78987433e-01 -4.72101154e-03 -2.35575973e+01] [-2.47329811e-02 -3.29570312e-04 9.99694039e-01 -5.88147516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.20, Y:-23.56, Z:-5.88 [[ 9.78299915e-01 2.05793376e-01 2.40491941e-02 1.97200361e+02] [-2.05740620e-01 9.78595394e-01 -4.67451519e-03 -2.35604407e+01] [-2.44964148e-02 -3.74818288e-04 9.99699848e-01 -5.88271243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72587156000003 meters Centerline goodness [0,1] 0.9999785692855 Centerline is valid? [True, True] Translation: X:197.23, Y:-23.56, Z:-5.88 [[ 9.77978175e-01 2.07306936e-01 2.41355078e-02 1.97228615e+02] [-2.07254289e-01 9.78275862e-01 -4.69019267e-03 -2.35626278e+01] [-2.45834942e-02 -4.15281427e-04 9.99697694e-01 -5.88362750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75587156000003 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:197.26, Y:-23.56, Z:-5.88 [[ 9.77412820e-01 2.09940912e-01 2.42691663e-02 1.97257230e+02] [-2.09888526e-01 9.77713955e-01 -4.71478631e-03 -2.35642632e+01] [-2.47181291e-02 -4.85526961e-04 9.99694342e-01 -5.88385526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78587156000003 meters Centerline goodness [0,1] 0.9999570999570999 Centerline is valid? [True, True] Translation: X:197.29, Y:-23.57, Z:-5.88 [[ 9.77207661e-01 2.10918065e-01 2.40573801e-02 1.97285589e+02] [-2.10866931e-01 9.77503612e-01 -4.67173166e-03 -2.35696282e+01] [-2.45015286e-02 -5.07653955e-04 9.99699664e-01 -5.88368504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81587156000003 meters Centerline goodness [0,1] 0.9999150508632956 Centerline is valid? [True, True] Translation: X:197.31, Y:-23.57, Z:-5.88 [[ 9.77017840e-01 2.11741636e-01 2.45279212e-02 1.97313938e+02] [-2.11688772e-01 9.77325528e-01 -4.76192496e-03 -2.35702804e+01] [-2.49800613e-02 -5.39799863e-04 9.99687804e-01 -5.88481594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84587156000003 meters Centerline goodness [0,1] 0.9999576925517737 Centerline is valid? [True, True] Translation: X:197.34, Y:-23.57, Z:-5.88 [[ 9.76749572e-01 2.12871317e-01 2.54180312e-02 1.97342903e+02] [-2.12814971e-01 9.77080065e-01 -4.93304738e-03 -2.35713438e+01] [-2.58855558e-02 -5.90985637e-04 9.99664738e-01 -5.88445625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87587156000004 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:197.37, Y:-23.58, Z:-5.89 [[ 9.76618139e-01 2.13468915e-01 2.54565051e-02 1.97371888e+02] [-2.13412633e-01 9.76949667e-01 -4.93929108e-03 -2.35752837e+01] [-2.59241092e-02 -6.08938510e-04 9.99663728e-01 -5.88539208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90587156000004 meters Centerline goodness [0,1] 0.9999572402882004 Centerline is valid? [True, True] Translation: X:197.40, Y:-23.58, Z:-5.89 [[ 9.76517079e-01 2.13964855e-01 2.51681338e-02 1.97400999e+02] [-2.13910036e-01 9.76841165e-01 -4.88213094e-03 -2.35778631e+01] [-2.56298736e-02 -6.16232160e-04 9.99671311e-01 -5.88703360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.43, Y:-23.58, Z:-5.89 [[ 9.76459710e-01 2.14292502e-01 2.45999832e-02 1.97429384e+02] [-2.14240264e-01 9.76769343e-01 -4.77076548e-03 -2.35813989e+01] [-2.50508487e-02 -6.11846609e-04 9.99685991e-01 -5.88864419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96587156000004 meters Centerline goodness [0,1] 0.9998715973292245 Centerline is valid? [True, True] Translation: X:197.46, Y:-23.58, Z:-5.89 [[ 9.76451198e-01 2.14395296e-01 2.40357153e-02 1.97458521e+02] [-2.14345485e-01 9.76746792e-01 -4.66019601e-03 -2.35847630e+01] [-2.44759320e-02 -6.01493100e-04 9.99700239e-01 -5.89092788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99587156000004 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:197.49, Y:-23.59, Z:-5.89 [[ 9.76687881e-01 2.13425891e-01 2.30254737e-02 1.97487105e+02] [-2.13379936e-01 9.76959099e-01 -4.46326793e-03 -2.35877951e+01] [-2.34475230e-02 -5.53954405e-04 9.99724916e-01 -5.89386320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.52, Y:-23.59, Z:-5.89 [[ 9.76921481e-01 2.12368995e-01 2.28873457e-02 1.97515882e+02] [-2.12323325e-01 9.77189405e-01 -4.43539298e-03 -2.35924890e+01] [-2.33072117e-02 -5.26486679e-04 9.99728211e-01 -5.89499425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05587156000004 meters Centerline goodness [0,1] 0.999936096792059 Centerline is valid? [True, True] Translation: X:197.54, Y:-23.60, Z:-5.89 [[ 9.77241269e-01 2.10897806e-01 2.28389450e-02 1.97543174e+02] [-2.10851952e-01 9.77507992e-01 -4.42498296e-03 -2.35967587e+01] [-2.32584705e-02 -4.91360181e-04 9.99729364e-01 -5.89483855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.57, Y:-23.61, Z:-5.89 [[ 9.77990706e-01 2.07199519e-01 2.45466660e-02 1.97571933e+02] [-2.07145429e-01 9.78298610e-01 -4.75409639e-03 -2.36058875e+01] [-2.49990157e-02 -4.35267564e-04 9.99687381e-01 -5.89377327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11587156000002 meters Centerline goodness [0,1] 0.9999786984769411 Centerline is valid? [True, True] Translation: X:197.60, Y:-23.61, Z:-5.89 [[ 9.78424308e-01 2.05065386e-01 2.51805661e-02 1.97598958e+02] [-2.05007779e-01 9.78748198e-01 -4.87607878e-03 -2.36120651e+01] [-2.56453487e-02 -3.91337929e-04 9.99671027e-01 -5.89425363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.63, Y:-23.62, Z:-5.89 [[ 9.78877905e-01 2.02847234e-01 2.55156371e-02 1.97626643e+02] [-2.02787374e-01 9.79210337e-01 -4.93927689e-03 -2.36202053e+01] [-2.59870943e-02 -3.39300015e-04 9.99662221e-01 -5.89429222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.65, Y:-23.63, Z:-5.90 [[ 9.79710191e-01 1.98828477e-01 2.52027349e-02 1.97654098e+02] [-1.98768768e-01 9.80034277e-01 -4.87783680e-03 -2.36286833e+01] [-2.56693969e-02 -2.30650157e-04 9.99670460e-01 -5.89530655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.68, Y:-23.63, Z:-5.90 [[ 9.80106732e-01 1.96831491e-01 2.54589619e-02 1.97682149e+02] [-1.96769921e-01 9.80437316e-01 -4.92614600e-03 -2.36348470e+01] [-2.59305370e-02 -1.81409080e-04 9.99663731e-01 -5.89597536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.71, Y:-23.64, Z:-5.90 [[ 9.80900105e-01 1.92852748e-01 2.53535473e-02 1.97708793e+02] [-1.92790388e-01 9.81227706e-01 -4.90455707e-03 -2.36422126e+01] [-2.58234603e-02 -7.70396620e-05 9.99666516e-01 -5.89808701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.74, Y:-23.65, Z:-5.90 [[ 9.81304861e-01 1.90881787e-01 2.45949758e-02 1.97736873e+02] [-1.90822523e-01 9.81613031e-01 -4.75629029e-03 -2.36500144e+01] [-2.50506380e-02 -2.59045543e-05 9.99686183e-01 -5.90015392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.76, Y:-23.66, Z:-5.90 [[ 9.81718493e-01 1.88834695e-01 2.38801085e-02 1.97764342e+02] [-1.88778246e-01 9.82008889e-01 -4.61694909e-03 -2.36573070e+01] [-2.43223190e-02 2.44992979e-05 9.99704168e-01 -5.90168329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32587156000002 meters Centerline goodness [0,1] 0.9998285138582238 Centerline is valid? [True, True] Translation: X:197.79, Y:-23.67, Z:-5.90 [[ 9.82567343e-01 1.84536302e-01 2.25337310e-02 1.97790432e+02] [-1.84484931e-01 9.82825691e-01 -4.35568529e-03 -2.36666322e+01] [-2.29505118e-02 1.22620308e-04 9.99736595e-01 -5.90428534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35587156000003 meters Centerline goodness [0,1] 0.9998930321117601 Centerline is valid? [True, True] Translation: X:197.82, Y:-23.67, Z:-5.90 [[ 9.82906236e-01 1.82722392e-01 2.25357341e-02 1.97818763e+02] [-1.82670569e-01 9.83164534e-01 -4.35457590e-03 -2.36738882e+01] [-2.29520131e-02 1.63524424e-04 9.99736554e-01 -5.90483926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.85, Y:-23.68, Z:-5.91 [[ 9.83205165e-01 1.81059472e-01 2.29144429e-02 1.97846674e+02] [-1.81005471e-01 9.83472128e-01 -4.42651563e-03 -2.36820398e+01] [-2.33371785e-02 2.04533497e-04 9.99727630e-01 -5.90680807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41587156000003 meters Centerline goodness [0,1] 0.9998295950752977 Centerline is valid? [True, True] Translation: X:197.88, Y:-23.69, Z:-5.91 [[ 9.83449711e-01 1.79757023e-01 2.26732934e-02 1.97875478e+02] [-1.79703826e-01 9.83711014e-01 -4.37902495e-03 -2.36890426e+01] [-2.30911290e-02 2.32073237e-04 9.99733337e-01 -5.90598125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.90, Y:-23.70, Z:-5.91 [[ 9.83671649e-01 1.78308304e-01 2.44179542e-02 1.97903896e+02] [-1.78246172e-01 9.83974627e-01 -4.71539256e-03 -2.36956152e+01] [-2.48674410e-02 2.85991100e-04 9.99690716e-01 -5.90526861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.93, Y:-23.70, Z:-5.90 [[ 9.83702685e-01 1.78045743e-01 2.50747081e-02 1.97933543e+02] [-1.77980164e-01 9.84022166e-01 -4.84122350e-03 -2.37010453e+01] [-2.55360278e-02 2.99523891e-04 9.99673858e-01 -5.90481004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:-23.71, Z:-5.91 [[ 9.83664553e-01 1.78195946e-01 2.55000592e-02 1.97961167e+02] [-1.78128189e-01 9.83994977e-01 -4.92276329e-03 -2.37073491e+01] [-2.59691466e-02 3.00068400e-04 9.99662700e-01 -5.90552656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.99, Y:-23.71, Z:-5.91 [[ 9.83379369e-01 1.79800287e-01 2.52363642e-02 1.97989333e+02] [-1.79734473e-01 9.83703102e-01 -4.87104730e-03 -2.37091984e+01] [-2.57009054e-02 2.54242790e-04 9.99669645e-01 -5.90700220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.02, Y:-23.71, Z:-5.91 [[ 9.83139061e-01 1.81115068e-01 2.51976144e-02 1.98018239e+02] [-1.81049926e-01 9.83461888e-01 -4.86207339e-03 -2.37114548e+01] [-2.56614881e-02 2.18068064e-04 9.99670666e-01 -5.90797022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:-23.71, Z:-5.91 [[ 9.82931094e-01 1.82307111e-01 2.47099645e-02 1.98047256e+02] [-1.82244871e-01 9.83241620e-01 -4.76686321e-03 -2.37140151e+01] [-2.51648986e-02 1.82233794e-04 9.99683297e-01 -5.90949533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62587156000004 meters Centerline goodness [0,1] 0.9999142642803558 Centerline is valid? [True, True] Translation: X:198.08, Y:-23.72, Z:-5.91 [[ 9.82701404e-01 1.83634499e-01 2.40067127e-02 1.98075746e+02] [-1.83576174e-01 9.82994583e-01 -4.63011959e-03 -2.37161830e+01] [-2.44487182e-02 1.42964551e-04 9.99701075e-01 -5.91038291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.10, Y:-23.72, Z:-5.91 [[ 9.82178308e-01 1.86443483e-01 2.37612777e-02 1.98104174e+02] [-1.86387192e-01 9.82465685e-01 -4.58172743e-03 -2.37165524e+01] [-2.41988732e-02 7.12754700e-05 9.99707162e-01 -5.91356152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.13, Y:-23.72, Z:-5.91 [[ 9.81940995e-01 1.87715270e-01 2.35554529e-02 1.98133286e+02] [-1.87660351e-01 9.82223486e-01 -4.54058971e-03 -2.37192561e+01] [-2.39890571e-02 3.81666257e-05 9.99712220e-01 -5.91345245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.16, Y:-23.72, Z:-5.91 [[ 9.81617189e-01 1.89361861e-01 2.38700435e-02 1.98161566e+02] [-1.89305979e-01 9.81907371e-01 -4.60009221e-03 -2.37216649e+01] [-2.43092537e-02 -3.21236049e-06 9.99704486e-01 -5.91398981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74587156000004 meters Centerline goodness [0,1] 0.9999570548195229 Centerline is valid? [True, True] Translation: X:198.19, Y:-23.72, Z:-5.91 [[ 9.81282788e-01 1.91067222e-01 2.40292955e-02 1.98190907e+02] [-1.91011141e-01 9.81576953e-01 -4.62921281e-03 -2.37239478e+01] [-2.44710935e-02 -4.72962972e-05 9.99700537e-01 -5.91315295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77587156000004 meters Centerline goodness [0,1] 0.9999570548195229 Centerline is valid? [True, True] Translation: X:198.22, Y:-23.73, Z:-5.91 [[ 9.81292064e-01 1.91019546e-01 2.40295198e-02 1.98218728e+02] [-1.90963479e-01 9.81586232e-01 -4.62804825e-03 -2.37292173e+01] [-2.44710935e-02 -4.72936862e-05 9.99700537e-01 -5.91400744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.25, Y:-23.73, Z:-5.91 [[ 9.80524436e-01 1.94858741e-01 2.45336624e-02 1.98248260e+02] [-1.94801529e-01 9.80831305e-01 -4.72388025e-03 -2.37277021e+01] [-2.49838735e-02 -1.47314925e-04 9.99687843e-01 -5.91478420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83587156000002 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:198.28, Y:-23.73, Z:-5.92 [[ 9.80075900e-01 1.97103878e-01 2.45212324e-02 1.98276519e+02] [-1.97047456e-01 9.80382588e-01 -4.72030671e-03 -2.37277298e+01] [-2.49705800e-02 -2.05587604e-04 9.99688165e-01 -5.91534986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86587156000002 meters Centerline goodness [0,1] 0.9998711948821433 Centerline is valid? [True, True] Translation: X:198.31, Y:-23.73, Z:-5.92 [[ 9.79629610e-01 1.99244888e-01 2.50460085e-02 1.98305604e+02] [-1.99186766e-01 9.79949694e-01 -4.81964021e-03 -2.37291986e+01] [-2.55041171e-02 -2.67371184e-04 9.99674681e-01 -5.91500748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:-23.72, Z:-5.92 [[ 9.78788387e-01 2.03303847e-01 2.53148139e-02 1.98334579e+02] [-2.03245855e-01 9.79115623e-01 -4.87030405e-03 -2.37235688e+01] [-2.57762814e-02 -3.78133957e-04 9.99667665e-01 -5.91736063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:-23.73, Z:-5.92 [[ 9.78502970e-01 2.04674637e-01 2.53027673e-02 1.98363151e+02] [-2.04617229e-01 9.78829975e-01 -4.86519834e-03 -2.37270137e+01] [-2.57628898e-02 -4.16771102e-04 9.99667995e-01 -5.91823589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.39, Y:-23.73, Z:-5.92 [[ 9.78134317e-01 2.06460328e-01 2.50477859e-02 1.98391991e+02] [-2.06404686e-01 9.78454864e-01 -4.81500577e-03 -2.37266462e+01] [-2.55022356e-02 -4.60258019e-04 9.99674659e-01 -5.91983328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98587156000002 meters Centerline goodness [0,1] 0.9999785940577104 Centerline is valid? [True, True] Translation: X:198.42, Y:-23.73, Z:-5.92 [[ 9.78089395e-01 2.06709421e-01 2.47457379e-02 1.98420050e+02] [-2.06655231e-01 9.78402270e-01 -4.75543763e-03 -2.37291421e+01] [-2.51942799e-02 -4.62593073e-04 9.99682467e-01 -5.92124545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:-23.73, Z:-5.92 [[ 9.78141633e-01 2.06487018e-01 2.45368639e-02 1.98448049e+02] [-2.06433705e-01 9.78449235e-01 -4.71386450e-03 -2.37332334e+01] [-2.49814276e-02 -4.54408603e-04 9.99687812e-01 -5.92257245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.48, Y:-23.74, Z:-5.92 [[ 9.78467644e-01 2.04948300e-01 2.44389702e-02 1.98475650e+02] [-2.04894977e-01 9.78772712e-01 -4.69321073e-03 -2.37378460e+01] [-2.48820627e-02 -4.15267398e-04 9.99690307e-01 -5.92369317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07587156000002 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:198.50, Y:-23.74, Z:-5.92 [[ 9.78774205e-01 2.03480924e-01 2.44247894e-02 1.98504270e+02] [-2.03427240e-01 9.79078838e-01 -4.68915319e-03 -2.37441272e+01] [-2.48679477e-02 -3.79045308e-04 9.99690673e-01 -5.92442123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.53, Y:-23.75, Z:-5.93 [[ 9.79120291e-01 2.01781768e-01 2.46490147e-02 1.98532092e+02] [-2.01726617e-01 9.79430448e-01 -4.72972236e-03 -2.37506537e+01] [-2.50963672e-02 -3.41395216e-04 9.99684978e-01 -5.92511693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.56, Y:-23.76, Z:-5.93 [[ 9.79839085e-01 1.98252104e-01 2.47279211e-02 1.98559745e+02] [-1.98195506e-01 9.80151029e-01 -4.74366697e-03 -2.37592908e+01] [-2.51775393e-02 -2.52932527e-04 9.99682964e-01 -5.92608313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.59, Y:-23.77, Z:-5.93 [[ 9.80228310e-01 1.96319224e-01 2.47229246e-02 1.98586767e+02] [-1.96262058e-01 9.80540015e-01 -4.74170053e-03 -2.37662326e+01] [-2.51727039e-02 -2.04222983e-04 9.99683096e-01 -5.92740327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19587156000003 meters Centerline goodness [0,1] 0.9999141630901287 Centerline is valid? [True, True] Translation: X:198.61, Y:-23.77, Z:-5.93 [[ 9.80631659e-01 1.94339461e-01 2.43664217e-02 1.98614640e+02] [-1.94283376e-01 9.80934325e-01 -4.67113190e-03 -2.37739349e+01] [-2.48096447e-02 -1.53330844e-04 9.99692182e-01 -5.92752458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.64, Y:-23.78, Z:-5.93 [[ 9.80987180e-01 1.92472908e-01 2.48663073e-02 1.98642867e+02] [-1.92413929e-01 9.81302282e-01 -4.76575322e-03 -2.37815687e+01] [-2.53186425e-02 -1.09481065e-04 9.99679426e-01 -5.92858456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.67, Y:-23.79, Z:-5.93 [[ 9.81620693e-01 1.89214254e-01 2.48753068e-02 1.98670168e+02] [-1.89154217e-01 9.81935825e-01 -4.76623465e-03 -2.37895122e+01] [-2.53277945e-02 -2.66346187e-05 9.99679200e-01 -5.92990880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28587156000003 meters Centerline goodness [0,1] 0.9997851956867294 Centerline is valid? [True, True] Translation: X:198.70, Y:-23.80, Z:-5.93 [[ 9.81953342e-01 1.87519619e-01 2.45769420e-02 1.98697299e+02] [-1.87460510e-01 9.82260857e-01 -4.70797416e-03 -2.37968516e+01] [-2.50238056e-02 1.58048813e-05 9.99686855e-01 -5.93014354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.72, Y:-23.80, Z:-5.93 [[ 9.82262714e-01 1.85897139e-01 2.45400687e-02 1.98724287e+02] [-1.85837744e-01 9.82569209e-01 -4.69917850e-03 -2.38039844e+01] [-2.49858797e-02 5.53568292e-05 9.99687803e-01 -5.93247954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.75, Y:-23.81, Z:-5.93 [[ 9.82806541e-01 1.82958530e-01 2.48491268e-02 1.98751663e+02] [-1.82896735e-01 9.83120623e-01 -4.75656391e-03 -2.38124059e+01] [-2.52999430e-02 1.29957968e-04 9.99679897e-01 -5.93177725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.78, Y:-23.82, Z:-5.93 [[ 9.83105955e-01 1.81328528e-01 2.49528692e-02 1.98778853e+02] [-1.81265719e-01 9.83422562e-01 -4.77528142e-03 -2.38200329e+01] [-2.54051093e-02 1.71507813e-04 9.99677223e-01 -5.93260321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.81, Y:-23.83, Z:-5.93 [[ 9.83410508e-01 1.79656939e-01 2.50431152e-02 1.98805995e+02] [-1.79593177e-01 9.83729301e-01 -4.79084591e-03 -2.38282875e+01] [-2.54963549e-02 2.13795582e-04 9.99674892e-01 -5.93303189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.83, Y:-23.84, Z:-5.93 [[ 9.83922547e-01 1.76677644e-01 2.61042366e-02 1.98832728e+02] [-1.76607363e-01 9.84268723e-01 -4.99200211e-03 -2.38386642e+01] [-2.65755588e-02 3.01543050e-04 9.99646762e-01 -5.93275079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.86, Y:-23.85, Z:-5.93 [[ 9.84137057e-01 1.75467108e-01 2.61829587e-02 1.98860991e+02] [-1.75396016e-01 9.84485237e-01 -5.00547001e-03 -2.38451126e+01] [-2.66550316e-02 3.33681883e-04 9.99644636e-01 -5.93315016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.89, Y:-23.85, Z:-5.93 [[ 9.84325667e-01 1.74452944e-01 2.58679552e-02 1.98889172e+02] [-1.74383235e-01 9.84665448e-01 -4.94401085e-03 -2.38532355e+01] [-2.63337789e-02 3.55579058e-04 9.99653143e-01 -5.93438929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.92, Y:-23.86, Z:-5.93 [[ 9.84353247e-01 1.74243022e-01 2.62307968e-02 1.98916985e+02] [-1.74171304e-01 9.84702613e-01 -5.01207152e-03 -2.38603564e+01] [-2.67028526e-02 3.64996787e-04 9.99643349e-01 -5.93461751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.95, Y:-23.86, Z:-5.94 [[ 9.84185711e-01 1.75178486e-01 2.62865976e-02 1.98945824e+02] [-1.75106830e-01 9.84536634e-01 -5.02143997e-03 -2.38648822e+01] [-2.67597665e-02 3.39066694e-04 9.99641836e-01 -5.93533891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.97, Y:-23.87, Z:-5.94 [[ 9.83464991e-01 1.79306062e-01 2.54154854e-02 1.98974176e+02] [-1.79240484e-01 9.83793316e-01 -4.85389183e-03 -2.38653354e+01] [-2.58739169e-02 2.18148775e-04 9.99665190e-01 -5.93744612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.00, Y:-23.87, Z:-5.94 [[ 9.82928986e-01 1.82269884e-01 2.50658735e-02 1.99003294e+02] [-1.82207101e-01 9.83248529e-01 -4.78556428e-03 -2.38660173e+01] [-2.55182475e-02 1.36689700e-04 9.99674347e-01 -5.93871564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.03, Y:-23.87, Z:-5.94 [[ 9.82340208e-01 1.85497160e-01 2.44646692e-02 1.99033069e+02] [-1.85438384e-01 9.82644799e-01 -4.66958064e-03 -2.38663817e+01] [-2.49062739e-02 5.04281087e-05 9.99689789e-01 -5.93988189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.06, Y:-23.87, Z:-5.94 [[ 9.81745156e-01 1.88692274e-01 2.39096975e-02 1.99060684e+02] [-1.88637095e-01 9.82036265e-01 -4.56306330e-03 -2.38666793e+01] [-2.43412048e-02 -3.04905757e-05 9.99703709e-01 -5.94194298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.09, Y:-23.87, Z:-5.94 [[ 9.81075758e-01 1.92206319e-01 2.33899104e-02 1.99089392e+02] [-1.92154559e-01 9.81354532e-01 -4.46186061e-03 -2.38665825e+01] [-2.38113924e-02 -1.17054636e-04 9.99716462e-01 -5.94384835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73587156000002 meters Centerline goodness [0,1] 0.999871761990254 Centerline is valid? [True, True] Translation: X:199.12, Y:-23.86, Z:-5.94 [[ 9.79662178e-01 1.99215533e-01 2.39830920e-02 1.99120034e+02] [-1.99163270e-01 9.79955654e-01 -4.57260967e-03 -2.38584349e+01] [-2.44133015e-02 -2.96938275e-04 9.99701907e-01 -5.94304764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76587156000002 meters Centerline goodness [0,1] 0.9999359001752062 Centerline is valid? [True, True] Translation: X:199.15, Y:-23.86, Z:-5.94 [[ 9.79001373e-01 2.02339023e-01 2.48038451e-02 1.99149038e+02] [-2.02284143e-01 9.79315459e-01 -4.72825874e-03 -2.38554176e+01] [-2.52475002e-02 -3.88452762e-04 9.99681156e-01 -5.94355820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.18, Y:-23.86, Z:-5.94 [[ 9.78394255e-01 2.05216143e-01 2.51200493e-02 1.99178409e+02] [-2.05160843e-01 9.78716564e-01 -4.78696210e-03 -2.38566904e+01] [-2.55677702e-02 -4.70114266e-04 9.99672981e-01 -5.94335084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82587156000002 meters Centerline goodness [0,1] 0.9998930435526654 Centerline is valid? [True, True] Translation: X:199.21, Y:-23.85, Z:-5.94 [[ 9.77392074e-01 2.09869887e-01 2.56780755e-02 1.99208997e+02] [-2.09813738e-01 9.77729136e-01 -4.89204629e-03 -2.38514369e+01] [-2.61328958e-02 -6.06165747e-04 9.99658294e-01 -5.94181643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85587156000003 meters Centerline goodness [0,1] 0.9999571807827353 Centerline is valid? [True, True] Translation: X:199.24, Y:-23.85, Z:-5.94 [[ 9.77066145e-01 2.11349726e-01 2.59430607e-02 1.99238285e+02] [-2.11292958e-01 9.77410286e-01 -4.94158438e-03 -2.38528083e+01] [-2.64014169e-02 -6.53331253e-04 9.99651208e-01 -5.94319349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88587156000003 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:199.27, Y:-23.85, Z:-5.94 [[ 9.76787981e-01 2.12620981e-01 2.60299679e-02 1.99265918e+02] [-2.12564407e-01 9.77134503e-01 -4.95344818e-03 -2.38534569e+01] [-2.64879867e-02 -6.94576038e-04 9.99648890e-01 -5.94423240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91587156000003 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:199.30, Y:-23.85, Z:-5.94 [[ 9.76538863e-01 2.13690555e-01 2.66119332e-02 1.99295337e+02] [-2.13631893e-01 9.76901119e-01 -5.06149822e-03 -2.38533610e+01] [-2.70788217e-02 -7.42407938e-04 9.99633026e-01 -5.94409068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94587156000003 meters Centerline goodness [0,1] 0.9999570621954099 Centerline is valid? [True, True] Translation: X:199.32, Y:-23.86, Z:-5.94 [[ 9.76471551e-01 2.13994946e-01 2.66359190e-02 1.99323457e+02] [-2.13936424e-01 9.76834475e-01 -5.06119015e-03 -2.38570428e+01] [-2.71019531e-02 -7.56285061e-04 9.99632389e-01 -5.94478363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97587156000003 meters Centerline goodness [0,1] 0.9999358439725412 Centerline is valid? [True, True] Translation: X:199.35, Y:-23.86, Z:-5.95 [[ 9.76501401e-01 2.13924115e-01 2.61052897e-02 1.99351006e+02] [-2.13867916e-01 9.76850001e-01 -4.95885923e-03 -2.38573085e+01] [-2.65617718e-02 -7.40750924e-04 9.99646899e-01 -5.94712449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00587156000003 meters Centerline goodness [0,1] 0.999914030261348 Centerline is valid? [True, True] Translation: X:199.38, Y:-23.86, Z:-5.95 [[ 9.76764154e-01 2.12933109e-01 2.43162094e-02 1.99378659e+02] [-2.12884095e-01 9.77066552e-01 -4.61693296e-03 -2.38589214e+01] [-2.47416528e-02 -6.66879598e-04 9.99693656e-01 -5.95194007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03587156000003 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:199.41, Y:-23.86, Z:-5.95 [[ 9.76948686e-01 2.12168507e-01 2.35751960e-02 1.99407381e+02] [-2.12122231e-01 9.77232894e-01 -4.47546245e-03 -2.38643629e+01] [-2.39880092e-02 -6.28526010e-04 9.99712049e-01 -5.95375166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06587156000003 meters Centerline goodness [0,1] 0.9999141059503103 Centerline is valid? [True, True] Translation: X:199.44, Y:-23.87, Z:-5.95 [[ 9.77367584e-01 2.10306255e-01 2.28885537e-02 1.99436056e+02] [-2.10262205e-01 9.77635390e-01 -4.34167158e-03 -2.38703594e+01] [-2.32897408e-02 -5.69188700e-04 9.99728595e-01 -5.95394466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09587156000003 meters Centerline goodness [0,1] 0.9999153492899922 Centerline is valid? [True, True] Translation: X:199.46, Y:-23.87, Z:-5.96 [[ 9.77577366e-01 2.09280815e-01 2.33245151e-02 1.99463600e+02] [-2.09234884e-01 9.77855423e-01 -4.41994971e-03 -2.38720995e+01] [-2.37330142e-02 -5.59459412e-04 9.99718176e-01 -5.95555432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12587156000004 meters Centerline goodness [0,1] 0.9998921670117322 Centerline is valid? [True, True] Translation: X:199.49, Y:-23.88, Z:-5.95 [[ 9.77878033e-01 2.07808666e-01 2.38769880e-02 1.99491999e+02] [-2.07760139e-01 9.78169346e-01 -4.52279998e-03 -2.38789836e+01] [-2.42956148e-02 -5.37939586e-04 9.99704673e-01 -5.95447179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15587156000004 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:199.52, Y:-23.88, Z:-5.95 [[ 9.78096588e-01 2.06740479e-01 2.41958334e-02 1.99519580e+02] [-2.06690442e-01 9.78395677e-01 -4.57826904e-03 -2.38817564e+01] [-2.46196123e-02 -5.23058158e-04 9.99696755e-01 -5.95434696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.55, Y:-23.88, Z:-5.95 [[ 9.78488939e-01 2.04752251e-01 2.52172750e-02 1.99548170e+02] [-2.04697269e-01 9.78813706e-01 -4.77038554e-03 -2.38849129e+01] [-2.56597616e-02 -4.94137833e-04 9.99670612e-01 -5.95379690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.58, Y:-23.89, Z:-5.95 [[ 9.78704716e-01 2.03701729e-01 2.53512340e-02 1.99576368e+02] [-2.03645924e-01 9.79032881e-01 -4.79128295e-03 -2.38880433e+01] [-2.57956842e-02 -4.73424247e-04 9.99667124e-01 -5.95444282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24587156000004 meters Centerline goodness [0,1] 0.9999787292876439 Centerline is valid? [True, True] Translation: X:199.60, Y:-23.89, Z:-5.96 [[ 9.78899750e-01 2.02764530e-01 2.53342507e-02 1.99604444e+02] [-2.02708611e-01 9.79227420e-01 -4.78320499e-03 -2.38900671e+01] [-2.57778572e-02 -4.53192587e-04 9.99667593e-01 -5.95584131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.63, Y:-23.89, Z:-5.96 [[ 9.79244065e-01 2.01179962e-01 2.46512383e-02 1.99632370e+02] [-2.01126552e-01 9.79554216e-01 -4.65279402e-03 -2.38904833e+01] [-2.50832733e-02 -4.01797650e-04 9.99685284e-01 -5.95806631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.66, Y:-23.89, Z:-5.96 [[ 9.79488180e-01 2.00054228e-01 2.41083192e-02 1.99660917e+02] [-2.00002823e-01 9.79784758e-01 -4.54952515e-03 -2.38945937e+01] [-2.45311154e-02 -3.65525802e-04 9.99699000e-01 -5.96017091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33587156000002 meters Centerline goodness [0,1] 0.9998072928933901 Centerline is valid? [True, True] Translation: X:199.69, Y:-23.90, Z:-5.96 [[ 9.79786113e-01 1.98651976e-01 2.35916455e-02 1.99688997e+02] [-1.98602434e-01 9.80070041e-01 -4.44829736e-03 -2.39013224e+01] [-2.40051281e-02 -3.26978255e-04 9.99711782e-01 -5.96063728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.72, Y:-23.91, Z:-5.96 [[ 9.80186614e-01 1.96708373e-01 2.32382727e-02 1.99716687e+02] [-1.96659850e-01 9.80462003e-01 -4.37781012e-03 -2.39077696e+01] [-2.36453953e-02 -2.78964336e-04 9.99720370e-01 -5.96264526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.74, Y:-23.91, Z:-5.96 [[ 9.81046412e-01 1.92414619e-01 2.29030789e-02 1.99743925e+02] [-1.92366424e-01 9.81313703e-01 -4.30997422e-03 -2.39128223e+01] [-2.33044072e-02 -1.77498637e-04 9.99728400e-01 -5.96474279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42587156000002 meters Centerline goodness [0,1] 0.9999360436608609 Centerline is valid? [True, True] Translation: X:199.77, Y:-23.92, Z:-5.96 [[ 9.81567096e-01 1.89739356e-01 2.29131716e-02 1.99771801e+02] [-1.89690406e-01 9.81834489e-01 -4.31115252e-03 -2.39193001e+01] [-2.33149374e-02 -1.14723378e-04 9.99728163e-01 -5.96450910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.80, Y:-23.93, Z:-5.96 [[ 9.82613912e-01 1.84126393e-01 2.38195651e-02 1.99799378e+02] [-1.84071960e-01 9.82902575e-01 -4.47685700e-03 -2.39286853e+01] [-2.42366194e-02 1.45079393e-05 9.99706250e-01 -5.96439432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48587156000002 meters Centerline goodness [0,1] 0.9999355268530657 Centerline is valid? [True, True] Translation: X:199.83, Y:-23.94, Z:-5.97 [[ 9.83174376e-01 1.81086048e-01 2.39997748e-02 1.99825912e+02] [-1.81029909e-01 9.83467252e-01 -4.50964272e-03 -2.39371492e+01] [-2.44196259e-02 8.90881191e-05 9.99701793e-01 -5.96513536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51587156000002 meters Centerline goodness [0,1] 0.9999140708915145 Centerline is valid? [True, True] Translation: X:199.85, Y:-23.94, Z:-5.96 [[ 9.83714089e-01 1.78121295e-01 2.40706324e-02 1.99853991e+02] [-1.78063972e-01 9.84008525e-01 -4.52148698e-03 -2.39444477e+01] [-2.44910806e-02 1.61738034e-04 9.99700035e-01 -5.96460919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54587156000002 meters Centerline goodness [0,1] 0.9998925470643858 Centerline is valid? [True, True] Translation: X:199.88, Y:-23.95, Z:-5.96 [[ 9.84686035e-01 1.72637468e-01 2.42840953e-02 1.99879946e+02] [-1.72577481e-01 9.84985388e-01 -4.56051239e-03 -2.39549710e+01] [-2.47067944e-02 2.99784868e-04 9.99694696e-01 -5.96498153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.91, Y:-23.96, Z:-5.97 [[ 9.85126764e-01 1.70134675e-01 2.40717779e-02 1.99906723e+02] [-1.70075030e-01 9.85420755e-01 -4.51883059e-03 -2.39639236e+01] [-2.44896393e-02 3.57612611e-04 9.99700020e-01 -5.96703818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.93, Y:-23.97, Z:-5.97 [[ 9.85472558e-01 1.68153601e-01 2.38370348e-02 1.99934307e+02] [-1.68094571e-01 9.85760724e-01 -4.47327234e-03 -2.39714944e+01] [-2.42498096e-02 4.01411005e-04 9.99705850e-01 -5.96866913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.96, Y:-23.98, Z:-5.97 [[ 9.85991189e-01 1.65087165e-01 2.38244122e-02 1.99963138e+02] [-1.65027332e-01 9.86278866e-01 -4.46964099e-03 -2.39794432e+01] [-2.42353946e-02 4.75347463e-04 9.99706167e-01 -5.96854827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.99, Y:-23.98, Z:-5.97 [[ 9.86002719e-01 1.65018283e-01 2.38244652e-02 1.99990171e+02] [-1.64958437e-01 9.86290393e-01 -4.46935842e-03 -2.39843823e+01] [-2.42353670e-02 4.76753004e-04 9.99706167e-01 -5.96937758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69587156000003 meters Centerline goodness [0,1] 0.9999570953555722 Centerline is valid? [True, True] Translation: X:200.02, Y:-23.99, Z:-5.97 [[ 9.86221823e-01 1.63715632e-01 2.37425158e-02 2.00018150e+02] [-1.63655864e-01 9.86507444e-01 -4.45213518e-03 -2.39898961e+01] [-2.41510527e-02 5.05190939e-04 9.99708193e-01 -5.96882563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.05, Y:-24.00, Z:-5.97 [[ 9.86408902e-01 1.62549059e-01 2.39850377e-02 2.00046052e+02] [-1.62487748e-01 9.86700316e-01 -4.49643218e-03 -2.39953352e+01] [-2.43969351e-02 5.38045957e-04 9.99702206e-01 -5.97002723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75587156000003 meters Centerline goodness [0,1] 0.9999571578518947 Centerline is valid? [True, True] Translation: X:200.07, Y:-24.00, Z:-5.97 [[ 9.86540304e-01 1.61714087e-01 2.42235928e-02 2.00073005e+02] [-1.61651326e-01 9.86837493e-01 -4.54001808e-03 -2.40029349e+01] [-2.46389345e-02 5.63134903e-04 9.99696257e-01 -5.96991260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.10, Y:-24.01, Z:-5.97 [[ 9.86907689e-01 1.59393334e-01 2.46369370e-02 2.00100053e+02] [-1.59327729e-01 9.87214955e-01 -4.61595458e-03 -2.40127007e+01] [-2.50577050e-02 6.30173855e-04 9.99685808e-01 -5.97129394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81587156000003 meters Centerline goodness [0,1] 0.9999570889117748 Centerline is valid? [True, True] Translation: X:200.13, Y:-24.02, Z:-5.97 [[ 9.87122448e-01 1.58069603e-01 2.45616278e-02 2.00126859e+02] [-1.58004025e-01 9.87427752e-01 -4.60038381e-03 -2.40214946e+01] [-2.49800138e-02 6.60306079e-04 9.99687733e-01 -5.97234930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84587156000003 meters Centerline goodness [0,1] 0.9998925539916192 Centerline is valid? [True, True] Translation: X:200.15, Y:-24.03, Z:-5.97 [[ 9.87356924e-01 1.56585048e-01 2.46460345e-02 2.00154853e+02] [-1.56518595e-01 9.87664232e-01 -4.61465605e-03 -2.40293227e+01] [-2.50645929e-02 6.98749906e-04 9.99685590e-01 -5.97225753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87587156000004 meters Centerline goodness [0,1] 0.999914256929112 Centerline is valid? [True, True] Translation: X:200.18, Y:-24.04, Z:-5.97 [[ 9.87768108e-01 1.53954343e-01 2.47431764e-02 2.00181283e+02] [-1.53886571e-01 9.88077665e-01 -4.63159099e-03 -2.40427358e+01] [-2.51612335e-02 7.67295301e-04 9.99683112e-01 -5.97338039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90587156000004 meters Centerline goodness [0,1] 0.9999145189554216 Centerline is valid? [True, True] Translation: X:200.21, Y:-24.05, Z:-5.98 [[ 9.87957188e-01 1.52833974e-01 2.41323560e-02 2.00207963e+02] [-1.52769191e-01 9.88251575e-01 -4.51654427e-03 -2.40523576e+01] [-2.45391202e-02 7.75471886e-04 9.99698570e-01 -5.97600703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.24, Y:-24.06, Z:-5.98 [[ 9.88077594e-01 1.52146508e-01 2.35395248e-02 2.00236498e+02] [-1.52084709e-01 9.88357650e-01 -4.40417763e-03 -2.40586741e+01] [-2.39355497e-02 7.71667456e-04 9.99713206e-01 -5.97731921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.26, Y:-24.07, Z:-5.98 [[ 9.87997305e-01 1.52790194e-01 2.27262320e-02 2.00262658e+02] [-1.52732784e-01 9.88258380e-01 -4.25104462e-03 -2.40695934e+01] [-2.31089071e-02 7.28979952e-04 9.99732688e-01 -5.98005506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.29, Y:-24.07, Z:-5.98 [[ 9.87831448e-01 1.53905585e-01 2.24075962e-02 2.00290930e+02] [-1.53850093e-01 9.88085316e-01 -4.19002984e-03 -2.40749187e+01] [-2.27854858e-02 6.91632487e-04 9.99740138e-01 -5.98174523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02587156000004 meters Centerline goodness [0,1] 0.9999568826129137 Centerline is valid? [True, True] Translation: X:200.32, Y:-24.08, Z:-5.98 [[ 9.87575870e-01 1.55610149e-01 2.18948275e-02 2.00319489e+02] [-1.55557608e-01 9.87818342e-01 -4.09316031e-03 -2.40793069e+01] [-2.22650495e-02 6.36399364e-04 9.99751901e-01 -5.98284334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.35, Y:-24.08, Z:-5.98 [[ 9.86861724e-01 1.60064038e-01 2.19872935e-02 2.00349919e+02] [-1.60012183e-01 9.87106486e-01 -4.10925503e-03 -2.40817034e+01] [-2.23615440e-02 5.37031661e-04 9.99749805e-01 -5.98331244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.38, Y:-24.08, Z:-5.98 [[ 9.86459161e-01 1.62515725e-01 2.20672314e-02 2.00379204e+02] [-1.62464117e-01 9.86705836e-01 -4.12367220e-03 -2.40845799e+01] [-2.24440275e-02 4.82700966e-04 9.99747985e-01 -5.98405921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.41, Y:-24.09, Z:-5.98 [[ 9.86058281e-01 1.64921754e-01 2.21332533e-02 2.00407111e+02] [-1.64870456e-01 9.86306561e-01 -4.13538180e-03 -2.40881044e+01] [-2.25121873e-02 4.28607920e-04 9.99746477e-01 -5.98476009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14587156000002 meters Centerline goodness [0,1] 0.999763150528605 Centerline is valid? [True, True] Translation: X:200.44, Y:-24.09, Z:-5.98 [[ 9.85207562e-01 1.69872274e-01 2.25714537e-02 2.00436909e+02] [-1.69820259e-01 9.85466036e-01 -4.21560569e-03 -2.40889943e+01] [-2.29595155e-02 3.20156485e-04 9.99736344e-01 -5.98324574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17587156000002 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:200.46, Y:-24.09, Z:-5.99 [[ 9.84830652e-01 1.72046750e-01 2.25500054e-02 2.00464083e+02] [-1.71995411e-01 9.85088749e-01 -4.21131002e-03 -2.40948460e+01] [-2.29382988e-02 2.68929754e-04 9.99736846e-01 -5.98525288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.49, Y:-24.10, Z:-5.99 [[ 9.84424680e-01 1.74369817e-01 2.24325008e-02 2.00492761e+02] [-1.74319647e-01 9.84680213e-01 -4.18793692e-03 -2.40965108e+01] [-2.28190895e-02 2.12282840e-04 9.99739588e-01 -5.98577215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.52, Y:-24.10, Z:-5.99 [[ 9.83581096e-01 1.79033020e-01 2.27025186e-02 2.00520719e+02] [-1.78982900e-01 9.83843060e-01 -4.23728701e-03 -2.40999224e+01] [-2.30943297e-02 1.04352774e-04 9.99733285e-01 -5.98637905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26587156000002 meters Centerline goodness [0,1] 0.9997870482761558 Centerline is valid? [True, True] Translation: X:200.55, Y:-24.10, Z:-5.99 [[ 9.83150755e-01 1.81352154e-01 2.29344541e-02 2.00548303e+02] [-1.81301669e-01 9.83418219e-01 -4.27913721e-03 -2.41037237e+01] [-2.33301907e-02 4.89821873e-05 9.99727813e-01 -5.98639413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29587156000002 meters Centerline goodness [0,1] 0.9998500235677251 Centerline is valid? [True, True] Translation: X:200.58, Y:-24.11, Z:-5.99 [[ 9.82709323e-01 1.83724752e-01 2.29695958e-02 2.00576445e+02] [-1.83674791e-01 9.82977729e-01 -4.28434570e-03 -2.41068083e+01] [-2.33657414e-02 -8.66923349e-06 9.99726984e-01 -5.98689469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.60, Y:-24.11, Z:-5.99 [[ 9.82241014e-01 1.86232405e-01 2.28052901e-02 2.00604944e+02] [-1.86183874e-01 9.82505718e-01 -4.25189033e-03 -2.41091671e+01] [-2.31981677e-02 -6.95961996e-05 9.99730884e-01 -5.98829601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35587156000003 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:200.63, Y:-24.11, Z:-5.99 [[ 9.81077315e-01 1.92339538e-01 2.21992140e-02 2.00633484e+02] [-1.92295130e-01 9.81328415e-01 -4.13814597e-03 -2.41057959e+01] [-2.25806486e-02 -2.08959609e-04 9.99745003e-01 -5.99034968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38587156000003 meters Centerline goodness [0,1] 0.9999361715708176 Centerline is valid? [True, True] Translation: X:200.66, Y:-24.11, Z:-5.99 [[ 9.80461858e-01 1.95500392e-01 2.17748144e-02 2.00661278e+02] [-1.95458493e-01 9.80703584e-01 -4.05689175e-03 -2.41053997e+01] [-2.21477625e-02 -2.78444793e-04 9.99754669e-01 -5.99303786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41587156000003 meters Centerline goodness [0,1] 0.99978563772776 Centerline is valid? [True, True] Translation: X:200.69, Y:-24.11, Z:-5.99 [[ 9.79828751e-01 1.98720082e-01 2.11174868e-02 2.00689892e+02] [-1.98681434e-01 9.80056229e-01 -3.93384365e-03 -2.41084856e+01] [-2.14780582e-02 -3.41159461e-04 9.99769262e-01 -5.99288826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44587156000003 meters Centerline goodness [0,1] 0.9999146429943238 Centerline is valid? [True, True] Translation: X:200.72, Y:-24.10, Z:-6.00 [[ 9.78665342e-01 2.04372106e-01 2.11232146e-02 2.00719972e+02] [-2.04334856e-01 9.78893161e-01 -3.93003740e-03 -2.41035760e+01] [-2.14805603e-02 -4.70017601e-04 9.99769156e-01 -5.99610591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47587156000003 meters Centerline goodness [0,1] 0.9998713660921019 Centerline is valid? [True, True] Translation: X:200.75, Y:-24.11, Z:-6.00 [[ 9.78173219e-01 2.06720035e-01 2.10708633e-02 2.00749316e+02] [-2.06683530e-01 9.78399998e-01 -3.91952099e-03 -2.41057182e+01] [-2.14259761e-02 -5.21029941e-04 9.99770302e-01 -5.99654225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.78, Y:-24.11, Z:-6.00 [[ 9.77732406e-01 2.08763086e-01 2.13849581e-02 2.00778094e+02] [-2.08725965e-01 9.77966075e-01 -3.97830857e-03 -2.41100118e+01] [-2.17442875e-02 -5.73874805e-04 9.99763400e-01 -5.99574833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53587156000003 meters Centerline goodness [0,1] 0.9997227494721577 Centerline is valid? [True, True] Translation: X:200.81, Y:-24.11, Z:-6.00 [[ 9.77100722e-01 2.11651717e-01 2.18570484e-02 2.00807976e+02] [-2.11613772e-01 9.77344934e-01 -4.06108174e-03 -2.41076912e+01] [-2.22214104e-02 -6.57166557e-04 9.99752858e-01 -5.99604502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56587156000003 meters Centerline goodness [0,1] 0.9997245646001949 Centerline is valid? [True, True] Translation: X:200.84, Y:-24.11, Z:-6.00 [[ 9.76938202e-01 2.12366738e-01 2.21837548e-02 2.00836394e+02] [-2.12327849e-01 9.77189798e-01 -4.12111718e-03 -2.41074604e+01] [-2.25529271e-02 -6.84152150e-04 9.99745416e-01 -5.99747433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59587156000003 meters Centerline goodness [0,1] 0.999721018069445 Centerline is valid? [True, True] Translation: X:200.86, Y:-24.11, Z:-6.00 [[ 9.76928411e-01 2.12454806e-01 2.17677502e-02 2.00864821e+02] [-2.12417395e-01 9.77170661e-01 -4.04338294e-03 -2.41123357e+01] [-2.21298430e-02 -6.73753138e-04 9.99754878e-01 -5.99883672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62587156000004 meters Centerline goodness [0,1] 0.999828855040219 Centerline is valid? [True, True] Translation: X:200.89, Y:-24.12, Z:-6.00 [[ 9.77278020e-01 2.10865718e-01 2.15248687e-02 2.00892310e+02] [-2.10828850e-01 9.77514831e-01 -3.99379895e-03 -2.41175726e+01] [-2.18830337e-02 -6.35011382e-04 9.99760336e-01 -6.00069667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65587156000004 meters Centerline goodness [0,1] 0.9998518863333404 Centerline is valid? [True, True] Translation: X:200.92, Y:-24.12, Z:-6.00 [[ 9.77664039e-01 2.09037957e-01 2.18210531e-02 2.00920680e+02] [-2.08999625e-01 9.77907342e-01 -4.04818226e-03 -2.41244574e+01] [-2.21851918e-02 -6.02829695e-04 9.99753697e-01 -6.00077545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68587156000004 meters Centerline goodness [0,1] 0.9997875143427819 Centerline is valid? [True, True] Translation: X:200.95, Y:-24.13, Z:-6.00 [[ 9.78567586e-01 2.04744799e-01 2.20237759e-02 2.00949475e+02] [-2.04704764e-01 9.78815255e-01 -4.08131509e-03 -2.41342632e+01] [-2.23928359e-02 -5.14529201e-04 9.99749117e-01 -6.00049008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.98, Y:-24.14, Z:-6.00 [[ 9.79071508e-01 2.02325787e-01 2.19831521e-02 2.00977607e+02] [-2.02285302e-01 9.79318163e-01 -4.07326771e-03 -2.41420260e+01] [-2.23526273e-02 -4.58848195e-04 9.99750044e-01 -6.00223313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.01, Y:-24.15, Z:-6.00 [[ 9.79572969e-01 1.99898117e-01 2.18527362e-02 2.01005323e+02] [-1.99857506e-01 9.79816606e-01 -4.04907241e-03 -2.41522844e+01] [-2.22210758e-02 -4.01071489e-04 9.99753001e-01 -6.00179548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77587156000004 meters Centerline goodness [0,1] 0.9999141501942352 Centerline is valid? [True, True] Translation: X:201.03, Y:-24.16, Z:-6.00 [[ 9.80025456e-01 1.97705480e-01 2.15092780e-02 2.01033127e+02] [-1.97665706e-01 9.80261404e-01 -3.98097718e-03 -2.41559900e+01] [-2.18717761e-02 -3.50187660e-04 9.99760723e-01 -6.00377215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80587156000004 meters Centerline goodness [0,1] 0.9999787721830687 Centerline is valid? [True, True] Translation: X:201.06, Y:-24.16, Z:-6.01 [[ 9.80728322e-01 1.94166651e-01 2.17087746e-02 2.01060569e+02] [-1.94125321e-01 9.80968519e-01 -4.01549086e-03 -2.41632452e+01] [-2.20752989e-02 -2.76117243e-04 9.99756273e-01 -6.00543914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83587156000002 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:201.09, Y:-24.17, Z:-6.01 [[ 9.81051574e-01 1.92491977e-01 2.20147206e-02 2.01088787e+02] [-1.92449056e-01 9.81298517e-01 -4.07192097e-03 -2.41689520e+01] [-2.23868248e-02 -2.41947713e-04 9.99749354e-01 -6.00583939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86587156000002 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:201.12, Y:-24.18, Z:-6.00 [[ 9.81352243e-01 1.90934376e-01 2.21774725e-02 2.01116547e+02] [-1.90890502e-01 9.81602781e-01 -4.09836853e-03 -2.41760449e+01] [-2.25519881e-02 -2.11525720e-04 9.99745649e-01 -6.00447807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.14, Y:-24.18, Z:-6.01 [[ 9.81628881e-01 1.89502075e-01 2.22194616e-02 2.01143943e+02] [-1.89457775e-01 9.81880303e-01 -4.10143373e-03 -2.41801929e+01] [-2.25940818e-02 -1.83563934e-04 9.99744704e-01 -6.00645863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92587156000002 meters Centerline goodness [0,1] 0.9998936306003489 Centerline is valid? [True, True] Translation: X:201.17, Y:-24.19, Z:-6.01 [[ 9.82147457e-01 1.86817706e-01 2.20344622e-02 2.01171952e+02] [-1.86773496e-01 9.82394590e-01 -4.06585366e-03 -2.41861095e+01] [-2.24061099e-02 -1.22185718e-04 9.99748944e-01 -6.00689319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:-24.19, Z:-6.01 [[ 9.82373750e-01 1.85614081e-01 2.21184992e-02 2.01200649e+02] [-1.85569252e-01 9.82622717e-01 -4.08029703e-03 -2.41910867e+01] [-2.24915003e-02 -9.61366533e-05 9.99747030e-01 -6.00785714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98587156000002 meters Centerline goodness [0,1] 0.9998932057498024 Centerline is valid? [True, True] Translation: X:201.23, Y:-24.20, Z:-6.01 [[ 9.82617707e-01 1.84288445e-01 2.23654141e-02 2.01228621e+02] [-1.84242292e-01 9.82872201e-01 -4.12473530e-03 -2.41955650e+01] [-2.27424849e-02 -6.76172147e-05 9.99741354e-01 -6.00855259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.26, Y:-24.20, Z:-6.01 [[ 9.83229541e-01 1.80991703e-01 2.23980710e-02 2.01256433e+02] [-1.80944584e-01 9.83484623e-01 -4.12966485e-03 -2.42018254e+01] [-2.27755935e-02 7.59882060e-06 9.99740602e-01 -6.00954123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.28, Y:-24.21, Z:-6.01 [[ 9.83577747e-01 1.79115950e-01 2.21876432e-02 2.01284907e+02] [-1.79069259e-01 9.83827970e-01 -4.08981003e-03 -2.42085407e+01] [-2.25613742e-02 4.95213149e-05 9.99745459e-01 -6.01070421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.31, Y:-24.22, Z:-6.01 [[ 9.84276517e-01 1.75312558e-01 2.15695513e-02 2.01311528e+02] [-1.75267533e-01 9.84512818e-01 -3.97520462e-03 -2.42170810e+01] [-2.19324030e-02 1.32258506e-04 9.99759447e-01 -6.01325796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.34, Y:-24.22, Z:-6.01 [[ 9.84579458e-01 1.73663399e-01 2.10787749e-02 2.01339916e+02] [-1.73620069e-01 9.84805055e-01 -3.88254892e-03 -2.42232250e+01] [-2.14327407e-02 1.62979549e-04 9.99770279e-01 -6.01481198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:-24.23, Z:-6.02 [[ 9.84814398e-01 1.72344142e-01 2.09308134e-02 2.01367410e+02] [-1.72301140e-01 9.85036781e-01 -3.85439978e-03 -2.42287272e+01] [-2.12819043e-02 1.89465390e-04 9.99773497e-01 -6.01579212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:-24.23, Z:-6.02 [[ 9.84984691e-01 1.71377928e-01 2.08509966e-02 2.01396171e+02] [-1.71335065e-01 9.85205340e-01 -3.83836211e-03 -2.42332554e+01] [-2.12003238e-02 2.08221057e-04 9.99775226e-01 -6.01626166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.42, Y:-24.24, Z:-6.02 [[ 9.85110109e-01 1.70659044e-01 2.08221838e-02 2.01423627e+02] [-1.70616158e-01 9.85330118e-01 -3.83215280e-03 -2.42374287e+01] [-2.11707163e-02 2.22491467e-04 9.99775851e-01 -6.01788902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.45, Y:-24.24, Z:-6.02 [[ 9.85072458e-01 1.70862028e-01 2.09385023e-02 2.01452303e+02] [-1.70818737e-01 9.85294941e-01 -3.85217370e-03 -2.42398593e+01] [-2.12887906e-02 2.17981706e-04 9.99773344e-01 -6.01823506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.48, Y:-24.24, Z:-6.02 [[ 9.85054757e-01 1.70988227e-01 2.07400865e-02 2.01479156e+02] [-1.70945794e-01 9.85273049e-01 -3.81500214e-03 -2.42416271e+01] [-2.10869687e-02 2.12555449e-04 9.99777623e-01 -6.02007999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.51, Y:-24.25, Z:-6.02 [[ 9.85088233e-01 1.70833118e-01 2.04259260e-02 2.01507369e+02] [-1.70791970e-01 9.85299955e-01 -3.75521774e-03 -2.42451303e+01] [-2.07671796e-02 2.10636666e-04 9.99784317e-01 -6.02093674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31587156000003 meters Centerline goodness [0,1] 0.9998935309399088 Centerline is valid? [True, True] Translation: X:201.53, Y:-24.25, Z:-6.02 [[ 9.85136905e-01 1.70563439e-01 2.03320444e-02 2.01534968e+02] [-1.70522628e-01 9.85346674e-01 -3.73709031e-03 -2.42487434e+01] [-2.06715233e-02 2.14471935e-04 9.99786298e-01 -6.02125237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.56, Y:-24.25, Z:-6.02 [[ 9.85282452e-01 1.69701769e-01 2.04889948e-02 2.01564163e+02] [-1.69660168e-01 9.85495437e-01 -3.76458276e-03 -2.42513295e+01] [-2.08306672e-02 2.33011045e-04 9.99782991e-01 -6.02242955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.59, Y:-24.26, Z:-6.02 [[ 9.85388788e-01 1.69078024e-01 2.05319057e-02 2.01591759e+02] [-1.69036132e-01 9.85602639e-01 -3.77158692e-03 -2.42564912e+01] [-2.08739929e-02 2.45845546e-04 9.99782084e-01 -6.02426163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.62, Y:-24.26, Z:-6.02 [[ 9.85509571e-01 1.68362751e-01 2.06123445e-02 2.01620250e+02] [-1.68320401e-01 9.85725071e-01 -3.78501076e-03 -2.42608504e+01] [-2.09553596e-02 2.60686240e-04 9.99780378e-01 -6.02481636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.65, Y:-24.27, Z:-6.03 [[ 9.85832324e-01 1.66465859e-01 2.05851109e-02 2.01647047e+02] [-1.66423226e-01 9.86047173e-01 -3.77914257e-03 -2.42675266e+01] [-2.09269886e-02 2.99760343e-04 9.99780962e-01 -6.02590718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.67, Y:-24.28, Z:-6.03 [[ 9.86040500e-01 1.65205118e-01 2.07702104e-02 2.01673684e+02] [-1.65161461e-01 9.86259176e-01 -3.81187042e-03 -2.42755874e+01] [-2.11145511e-02 3.28220309e-04 9.99777009e-01 -6.02741443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.70, Y:-24.28, Z:-6.03 [[ 9.86247001e-01 1.63916917e-01 2.11683130e-02 2.01702560e+02] [-1.63871303e-01 9.86474082e-01 -3.88357339e-03 -2.42802521e+01] [-2.15185755e-02 3.61283585e-04 9.99768383e-01 -6.02624384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.73, Y:-24.29, Z:-6.02 [[ 9.86662043e-01 1.61268389e-01 2.21476592e-02 2.01730374e+02] [-1.61217807e-01 9.86910490e-01 -4.06246223e-03 -2.42859472e+01] [-2.25129039e-02 4.37680244e-04 9.99746457e-01 -6.02419006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55587156000004 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:201.76, Y:-24.29, Z:-6.02 [[ 9.86891983e-01 1.59845381e-01 2.22186622e-02 2.01757097e+02] [-1.59794165e-01 9.87141952e-01 -4.07322413e-03 -2.42948885e+01] [-2.25840597e-02 4.69419665e-04 9.99744837e-01 -6.02466746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58587156000002 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:201.78, Y:-24.30, Z:-6.03 [[ 9.86903009e-01 1.59777255e-01 2.22188923e-02 2.01784151e+02] [-1.59726049e-01 9.87152981e-01 -4.07196864e-03 -2.42997147e+01] [-2.25840537e-02 4.69702211e-04 9.99744837e-01 -6.02549690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61587156000002 meters Centerline goodness [0,1] 0.9999787147995999 Centerline is valid? [True, True] Translation: X:201.81, Y:-24.31, Z:-6.03 [[ 9.87076960e-01 1.58657005e-01 2.25173050e-02 2.01810592e+02] [-1.58604162e-01 9.87333634e-01 -4.12493568e-03 -2.43078366e+01] [-2.28865425e-02 5.00290674e-04 9.99737944e-01 -6.02732859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64587156000002 meters Centerline goodness [0,1] 0.9998714046894424 Centerline is valid? [True, True] Translation: X:201.84, Y:-24.31, Z:-6.03 [[ 9.87261678e-01 1.57538182e-01 2.22733042e-02 2.01838989e+02] [-1.57486223e-01 9.87512760e-01 -4.07894627e-03 -2.43102937e+01] [-2.26377619e-02 5.19248779e-04 9.99743598e-01 -6.02580164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67587156000002 meters Centerline goodness [0,1] 0.9998052917378795 Centerline is valid? [True, True] Translation: X:201.87, Y:-24.31, Z:-6.03 [[ 9.87401647e-01 1.56710698e-01 2.19030821e-02 2.01867854e+02] [-1.56660280e-01 9.87644409e-01 -4.00977622e-03 -2.43136301e+01] [-2.22608314e-02 5.27916671e-04 9.99752058e-01 -6.02622763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.89, Y:-24.32, Z:-6.03 [[ 9.87422974e-01 1.56575038e-01 2.19118117e-02 2.01893842e+02] [-1.56524564e-01 9.87665923e-01 -4.01057280e-03 -2.43214470e+01] [-2.22695053e-02 5.30394950e-04 9.99751863e-01 -6.02977406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73587156000002 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:201.92, Y:-24.33, Z:-6.03 [[ 9.87396583e-01 1.56728786e-01 2.20017249e-02 2.01921151e+02] [-1.56677979e-01 9.87641539e-01 -4.02508926e-03 -2.43275067e+01] [-2.23606648e-02 5.27173588e-04 9.99749830e-01 -6.03125943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.95, Y:-24.33, Z:-6.03 [[ 9.87266856e-01 1.57580304e-01 2.17394521e-02 2.01950271e+02] [-1.57530951e-01 9.87506050e-01 -3.97509098e-03 -2.43288660e+01] [-2.20942365e-02 4.99838998e-04 9.99755768e-01 -6.03158067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79587156000002 meters Centerline goodness [0,1] 0.99993580003852 Centerline is valid? [True, True] Translation: X:201.98, Y:-24.34, Z:-6.03 [[ 9.87254049e-01 1.57714752e-01 2.13424568e-02 2.01976923e+02] [-1.57667233e-01 9.87484592e-01 -3.90179246e-03 -2.43350253e+01] [-2.16907175e-02 4.87054304e-04 9.99764610e-01 -6.03362866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82587156000002 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:202.01, Y:-24.34, Z:-6.03 [[ 9.87230866e-01 1.57856575e-01 2.13662953e-02 2.02005392e+02] [-1.57809028e-01 9.87461933e-01 -3.90404440e-03 -2.43373840e+01] [-2.17146823e-02 4.82398834e-04 9.99764092e-01 -6.03363678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85587156000003 meters Centerline goodness [0,1] 0.9999570971963018 Centerline is valid? [True, True] Translation: X:202.03, Y:-24.35, Z:-6.04 [[ 9.87376956e-01 1.56999484e-01 2.09262581e-02 2.02031552e+02] [-1.56953703e-01 9.87598563e-01 -3.82274489e-03 -2.43484027e+01] [-2.12669114e-02 4.90036513e-04 9.99773714e-01 -6.03680135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88587156000003 meters Centerline goodness [0,1] 0.999892867090913 Centerline is valid? [True, True] Translation: X:202.06, Y:-24.35, Z:-6.04 [[ 9.87511564e-01 1.56099200e-01 2.13061399e-02 2.02059157e+02] [-1.56051561e-01 9.87741248e-01 -3.89077108e-03 -2.43549344e+01] [-2.16522994e-02 5.17325052e-04 9.99765428e-01 -6.03701964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91587156000003 meters Centerline goodness [0,1] 0.9999141741406686 Centerline is valid? [True, True] Translation: X:202.09, Y:-24.36, Z:-6.04 [[ 9.87677080e-01 1.55070681e-01 2.11440063e-02 2.02087995e+02] [-1.55023557e-01 9.87903233e-01 -3.85985935e-03 -2.43594952e+01] [-2.14867832e-02 5.34475548e-04 9.99768990e-01 -6.03592719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94587156000003 meters Centerline goodness [0,1] 0.9999569086247387 Centerline is valid? [True, True] Translation: X:202.11, Y:-24.37, Z:-6.04 [[ 9.87942502e-01 1.53294335e-01 2.16900833e-02 2.02113691e+02] [-1.53244337e-01 9.88180400e-01 -3.95864308e-03 -2.43707381e+01] [-2.20405527e-02 5.87029313e-04 9.99756905e-01 -6.03781227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97587156000003 meters Centerline goodness [0,1] 0.9999140745832618 Centerline is valid? [True, True] Translation: X:202.14, Y:-24.38, Z:-6.04 [[ 9.88033530e-01 1.52699141e-01 2.17420401e-02 2.02141694e+02] [-1.52648798e-01 9.88272540e-01 -3.96636537e-03 -2.43771086e+01] [-2.20927217e-02 6.00005700e-04 9.99755746e-01 -6.03835610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00587156000003 meters Centerline goodness [0,1] 0.9999356416527223 Centerline is valid? [True, True] Translation: X:202.17, Y:-24.38, Z:-6.04 [[ 9.88234188e-01 1.51443020e-01 2.14056200e-02 2.02169338e+02] [-1.51393950e-01 9.88465796e-01 -3.90399970e-03 -2.43849635e+01] [-2.17499567e-02 6.17384609e-04 9.99763251e-01 -6.03957623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03587156000003 meters Centerline goodness [0,1] 0.9999139507367968 Centerline is valid? [True, True] Translation: X:202.20, Y:-24.39, Z:-6.04 [[ 9.88348655e-01 1.50719620e-01 2.12257549e-02 2.02195761e+02] [-1.50671225e-01 9.88576352e-01 -3.87028300e-03 -2.43926486e+01] [-2.15666069e-02 6.27078505e-04 9.99767217e-01 -6.04101982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06587156000003 meters Centerline goodness [0,1] 0.9997221866051204 Centerline is valid? [True, True] Translation: X:202.22, Y:-24.40, Z:-6.04 [[ 9.88462753e-01 1.50019287e-01 2.08709998e-02 2.02222343e+02] [-1.49972366e-01 9.88682869e-01 -3.80436918e-03 -2.44005617e+01] [-2.12055288e-02 6.30403998e-04 9.99774939e-01 -6.04096858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09587156000003 meters Centerline goodness [0,1] 0.9997186147186147 Centerline is valid? [True, True] Translation: X:202.25, Y:-24.41, Z:-6.04 [[ 9.88575918e-01 1.49253480e-01 2.10012452e-02 2.02250711e+02] [-1.49205828e-01 9.88798754e-01 -3.82675578e-03 -2.44078179e+01] [-2.13371617e-02 6.49530425e-04 9.99772126e-01 -6.04196796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12587156000004 meters Centerline goodness [0,1] 0.9998920412834132 Centerline is valid? [True, True] Translation: X:202.28, Y:-24.42, Z:-6.04 [[ 9.88811442e-01 1.47634859e-01 2.13513654e-02 2.02276348e+02] [-1.47585248e-01 9.89041690e-01 -3.88961158e-03 -2.44202906e+01] [-2.16916328e-02 6.94945867e-04 9.99764467e-01 -6.04369348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15587156000004 meters Centerline goodness [0,1] 0.9997197732318769 Centerline is valid? [True, True] Translation: X:202.30, Y:-24.43, Z:-6.04 [[ 9.88897811e-01 1.46989338e-01 2.18003293e-02 2.02302664e+02] [-1.46937491e-01 9.89137813e-01 -3.97007429e-03 -2.44308643e+01] [-2.21470887e-02 7.22712087e-04 9.99754462e-01 -6.04399598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18587156000004 meters Centerline goodness [0,1] 0.9998069166738179 Centerline is valid? [True, True] Translation: X:202.33, Y:-24.44, Z:-6.04 [[ 9.88945333e-01 1.46621610e-01 2.21185873e-02 2.02331063e+02] [-1.46568178e-01 9.89192375e-01 -4.02663418e-03 -2.44353902e+01] [-2.24699295e-02 7.40240038e-04 9.99747245e-01 -6.04329610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21587156000004 meters Centerline goodness [0,1] 0.9998496531282889 Centerline is valid? [True, True] Translation: X:202.36, Y:-24.44, Z:-6.04 [[ 9.88992323e-01 1.46335003e-01 2.19146559e-02 2.02358839e+02] [-1.46282503e-01 9.89234816e-01 -3.98849557e-03 -2.44420411e+01] [-2.22623971e-02 7.38860777e-04 9.99751889e-01 -6.04266545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24587156000004 meters Centerline goodness [0,1] 0.999935935764927 Centerline is valid? [True, True] Translation: X:202.39, Y:-24.45, Z:-6.04 [[ 9.88888157e-01 1.46922118e-01 2.26738671e-02 2.02385499e+02] [-1.46866096e-01 9.89147779e-01 -4.12563237e-03 -2.44512062e+01] [-2.30339519e-02 7.49766655e-04 9.99734402e-01 -6.04350309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27587156000004 meters Centerline goodness [0,1] 0.999827919982792 Centerline is valid? [True, True] Translation: X:202.41, Y:-24.46, Z:-6.04 [[ 9.88725725e-01 1.47999304e-01 2.27518718e-02 2.02413946e+02] [-1.47943213e-01 9.88987199e-01 -4.13839327e-03 -2.44569391e+01] [-2.31137893e-02 7.25750868e-04 9.99732577e-01 -6.04386933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.44, Y:-24.46, Z:-6.04 [[ 9.88201101e-01 1.51393303e-01 2.32088881e-02 2.02443823e+02] [-1.51335902e-01 9.88473386e-01 -4.22019095e-03 -2.44595492e+01] [-2.35802769e-02 6.58059326e-04 9.99721730e-01 -6.04346603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33587156000002 meters Centerline goodness [0,1] 0.9998923341946597 Centerline is valid? [True, True] Translation: X:202.47, Y:-24.47, Z:-6.04 [[ 9.87891359e-01 1.53393813e-01 2.32594292e-02 2.02471490e+02] [-1.53336717e-01 9.88164948e-01 -4.22933146e-03 -2.44653333e+01] [-2.36329060e-02 6.11595481e-04 9.99720517e-01 -6.04269500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.50, Y:-24.47, Z:-6.05 [[ 9.87582974e-01 1.55316515e-01 2.35934126e-02 2.02498952e+02] [-1.55258343e-01 9.87864592e-01 -4.28890396e-03 -2.44724785e+01] [-2.39732346e-02 5.72574378e-04 9.99712437e-01 -6.04512860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.53, Y:-24.48, Z:-6.05 [[ 9.87361498e-01 1.56667667e-01 2.39272600e-02 2.02527740e+02] [-1.56608261e-01 9.87651226e-01 -4.34843878e-03 -2.44753826e+01] [-2.43130474e-02 5.46274459e-04 9.99704245e-01 -6.04510561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42587156000002 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:202.55, Y:-24.49, Z:-6.05 [[ 9.87115782e-01 1.58228857e-01 2.37920637e-02 2.02554004e+02] [-1.58170599e-01 9.87402337e-01 -4.32280837e-03 -2.44852400e+01] [-2.41763324e-02 5.03907393e-04 9.99707583e-01 -6.04677113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45587156000002 meters Centerline goodness [0,1] 0.9999358178939711 Centerline is valid? [True, True] Translation: X:202.58, Y:-24.49, Z:-6.05 [[ 9.87140148e-01 1.58106103e-01 2.35963510e-02 2.02581106e+02] [-1.58048798e-01 9.87422001e-01 -4.28586963e-03 -2.44933241e+01] [-2.39771783e-02 5.01379076e-04 9.99712380e-01 -6.04858664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48587156000002 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:202.61, Y:-24.50, Z:-6.05 [[ 9.87283221e-01 1.57265588e-01 2.32244578e-02 2.02608656e+02] [-1.57209873e-01 9.87556212e-01 -4.21705450e-03 -2.45002421e+01] [-2.35986551e-02 5.12313094e-04 9.99721382e-01 -6.04914934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51587156000002 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:202.64, Y:-24.51, Z:-6.05 [[ 9.87342581e-01 1.56885080e-01 2.32744185e-02 2.02635406e+02] [-1.56829055e-01 9.87616727e-01 -4.22460935e-03 -2.45106631e+01] [-2.36489832e-02 5.21031647e-04 9.99720188e-01 -6.05071689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54587156000002 meters Centerline goodness [0,1] 0.9997222696974876 Centerline is valid? [True, True] Translation: X:202.66, Y:-24.52, Z:-6.05 [[ 9.87398579e-01 1.56531246e-01 2.32812429e-02 2.02662092e+02] [-1.56475114e-01 9.87672866e-01 -4.22481406e-03 -2.45193895e+01] [-2.36555673e-02 5.28640252e-04 9.99720028e-01 -6.05001289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57587156000002 meters Centerline goodness [0,1] 0.9999138265328106 Centerline is valid? [True, True] Translation: X:202.69, Y:-24.53, Z:-6.05 [[ 9.87496139e-01 1.55886940e-01 2.34656824e-02 2.02690129e+02] [-1.55829772e-01 9.87774753e-01 -4.25662793e-03 -2.45273755e+01] [-2.38423613e-02 5.46751695e-04 9.99715581e-01 -6.05173279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60587156000003 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:202.72, Y:-24.54, Z:-6.05 [[ 9.87560671e-01 1.55501546e-01 2.33064293e-02 2.02716788e+02] [-1.55445073e-01 9.87835495e-01 -4.22654996e-03 -2.45393305e+01] [-2.36801532e-02 5.51104897e-04 9.99719434e-01 -6.05280627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63587156000003 meters Centerline goodness [0,1] 0.9999362813814197 Centerline is valid? [True, True] Translation: X:202.74, Y:-24.55, Z:-6.05 [[ 9.87566642e-01 1.55499485e-01 2.30659215e-02 2.02744674e+02] [-1.55444191e-01 9.87835823e-01 -4.18211634e-03 -2.45483870e+01] [-2.34356605e-02 5.44655085e-04 9.99725199e-01 -6.05390197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66587156000003 meters Centerline goodness [0,1] 0.9999354547214871 Centerline is valid? [True, True] Translation: X:202.77, Y:-24.55, Z:-6.05 [[ 9.87559284e-01 1.55552995e-01 2.30201224e-02 2.02772378e+02] [-1.55497952e-01 9.87827400e-01 -4.17307723e-03 -2.45547210e+01] [-2.33890423e-02 5.41579263e-04 9.99726292e-01 -6.05477085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69587156000003 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:202.80, Y:-24.56, Z:-6.06 [[ 9.87453647e-01 1.56210891e-01 2.30965854e-02 2.02800673e+02] [-1.56155692e-01 9.87723585e-01 -4.18566830e-03 -2.45648387e+01] [-2.34668891e-02 5.26490171e-04 9.99724476e-01 -6.05521031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72587156000003 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:202.83, Y:-24.57, Z:-6.06 [[ 9.87342091e-01 1.56875590e-01 2.33590261e-02 2.02829311e+02] [-1.56819328e-01 9.87618237e-01 -4.23266060e-03 -2.45723413e+01] [-2.37338013e-02 5.15937199e-04 9.99718181e-01 -6.05557411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75587156000003 meters Centerline goodness [0,1] 0.999978456169076 Centerline is valid? [True, True] Translation: X:202.86, Y:-24.58, Z:-6.06 [[ 9.87027792e-01 1.58810562e-01 2.35657164e-02 2.02857399e+02] [-1.58753864e-01 9.87308960e-01 -4.26954167e-03 -2.45816875e+01] [-2.39446913e-02 4.73007746e-04 9.99713173e-01 -6.05645646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:-24.59, Z:-6.06 [[ 9.86838377e-01 1.60028500e-01 2.32571962e-02 2.02884770e+02] [-1.59973627e-01 9.87112298e-01 -4.21317228e-03 -2.45892284e+01] [-2.36316921e-02 4.37182060e-04 9.99720637e-01 -6.05792977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:-24.60, Z:-6.06 [[ 9.86650208e-01 1.61208940e-01 2.30877803e-02 2.02912470e+02] [-1.61155205e-01 9.86920216e-01 -4.18166192e-03 -2.45959339e+01] [-2.34599184e-02 4.05121631e-04 9.99724696e-01 -6.05920196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:-24.60, Z:-6.06 [[ 9.86200767e-01 1.64079043e-01 2.20480027e-02 2.02939827e+02] [-1.64030773e-01 9.86447142e-01 -3.99259885e-03 -2.46030571e+01] [-2.24042910e-02 3.20953121e-04 9.99748941e-01 -6.06225444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:-24.61, Z:-6.06 [[ 9.85974532e-01 1.65454748e-01 2.18848870e-02 2.02968185e+02] [-1.65407544e-01 9.86217341e-01 -3.96238662e-03 -2.46089601e+01] [-2.22388508e-02 2.86886885e-04 9.99752645e-01 -6.06323113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:-24.61, Z:-6.06 [[ 9.85681510e-01 1.67209802e-01 2.17449298e-02 2.02996753e+02] [-1.67163649e-01 9.85921306e-01 -3.93601768e-03 -2.46147305e+01] [-2.20969303e-02 2.44698037e-04 9.99755803e-01 -6.06383483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:-24.62, Z:-6.06 [[ 9.85035368e-01 1.70900655e-01 2.23224240e-02 2.03024529e+02] [-1.70852990e-01 9.85288252e-01 -4.03945116e-03 -2.46194812e+01] [-2.26843669e-02 1.65149388e-04 9.99742663e-01 -6.06389872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:-24.62, Z:-6.06 [[ 9.84627716e-01 1.73207568e-01 2.25255234e-02 2.03053581e+02] [-1.73159661e-01 9.84885336e-01 -4.07504240e-03 -2.46237662e+01] [-2.28908859e-02 1.11887689e-04 9.99737963e-01 -6.06437302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99587156000004 meters Centerline goodness [0,1] 0.9998723214095716 Centerline is valid? [True, True] Translation: X:203.08, Y:-24.63, Z:-6.06 [[ 9.84195008e-01 1.75639703e-01 2.26026854e-02 2.03080803e+02] [-1.75592122e-01 9.84454515e-01 -4.08837851e-03 -2.46282943e+01] [-2.29693973e-02 5.49082162e-05 9.99736167e-01 -6.06401501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02587156000004 meters Centerline goodness [0,1] 0.9999573569859918 Centerline is valid? [True, True] Translation: X:203.11, Y:-24.63, Z:-6.06 [[ 9.83206356e-01 1.81113936e-01 2.24277375e-02 2.03110042e+02] [-1.81068548e-01 9.83462118e-01 -4.05515138e-03 -2.46291336e+01] [-2.27912747e-02 -7.39072644e-05 9.99740242e-01 -6.06492250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.14, Y:-24.63, Z:-6.07 [[ 9.82651518e-01 1.84118695e-01 2.22777955e-02 2.03139039e+02] [-1.84074699e-01 9.82904006e-01 -4.02736094e-03 -2.46313453e+01] [-2.26384469e-02 -1.43286156e-04 9.99743707e-01 -6.06683350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.17, Y:-24.63, Z:-6.07 [[ 9.82058957e-01 1.87275389e-01 2.20937369e-02 2.03167426e+02] [-1.87232937e-01 9.82307428e-01 -3.99310841e-03 -2.46318067e+01] [-2.24506528e-02 -2.15207372e-04 9.99747929e-01 -6.06901916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11587156000002 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:203.20, Y:-24.63, Z:-6.07 [[ 9.80793952e-01 1.93839696e-01 2.16655344e-02 2.03197525e+02] [-1.93800508e-01 9.81033151e-01 -3.91414052e-03 -2.46311700e+01] [-2.20133233e-02 -3.59826215e-04 9.99757613e-01 -6.06937846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14587156000002 meters Centerline goodness [0,1] 0.9999363989060612 Centerline is valid? [True, True] Translation: X:203.23, Y:-24.63, Z:-6.07 [[ 9.80172499e-01 1.96961199e-01 2.16369793e-02 2.03226907e+02] [-1.96922883e-01 9.80411190e-01 -3.90855188e-03 -2.46298670e+01] [-2.19829697e-02 -4.29761279e-04 9.99758253e-01 -6.07085594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.26, Y:-24.63, Z:-6.07 [[ 9.79626221e-01 1.99649863e-01 2.17347631e-02 2.03256089e+02] [-1.99611878e-01 9.79867179e-01 -3.92542153e-03 -2.46320904e+01] [-2.20808909e-02 -4.93071036e-04 9.99756066e-01 -6.07097233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20587156000002 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:203.29, Y:-24.63, Z:-6.07 [[ 9.78739909e-01 2.03906359e-01 2.21446748e-02 2.03285952e+02] [-2.03868034e-01 9.78990212e-01 -3.99864116e-03 -2.46316587e+01] [-2.24947682e-02 -6.00961633e-04 9.99746780e-01 -6.07068819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23587156000002 meters Centerline goodness [0,1] 0.9999137633666781 Centerline is valid? [True, True] Translation: X:203.31, Y:-24.64, Z:-6.07 [[ 9.78481707e-01 2.05082703e-01 2.26855556e-02 2.03314034e+02] [-2.05042816e-01 9.78744436e-01 -4.09555329e-03 -2.46367079e+01] [-2.30432885e-02 -6.44086220e-04 9.99734261e-01 -6.07021123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26587156000002 meters Centerline goodness [0,1] 0.9998716028247379 Centerline is valid? [True, True] Translation: X:203.34, Y:-24.64, Z:-6.07 [[ 9.78292113e-01 2.05937139e-01 2.31178949e-02 2.03342660e+02] [-2.05895981e-01 9.78564988e-01 -4.17251072e-03 -2.46363858e+01] [-2.34816375e-02 -6.77947323e-04 9.99724038e-01 -6.07073885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29587156000002 meters Centerline goodness [0,1] 0.9999360586555267 Centerline is valid? [True, True] Translation: X:203.37, Y:-24.64, Z:-6.07 [[ 9.78259558e-01 2.06003422e-01 2.38919938e-02 2.03369971e+02] [-2.05959517e-01 9.78551018e-01 -4.31075989e-03 -2.46408206e+01] [-2.42675661e-02 -7.03741427e-04 9.99705252e-01 -6.06981475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32587156000002 meters Centerline goodness [0,1] 0.999806875241406 Centerline is valid? [True, True] Translation: X:203.40, Y:-24.65, Z:-6.07 [[ 9.78384438e-01 2.05428280e-01 2.37300252e-02 2.03397849e+02] [-2.05384844e-01 9.78671932e-01 -4.27968605e-03 -2.46462489e+01] [-2.41030781e-02 -6.86609275e-04 9.99709243e-01 -6.06928845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35587156000003 meters Centerline goodness [0,1] 0.9998281786941581 Centerline is valid? [True, True] Translation: X:203.43, Y:-24.65, Z:-6.07 [[ 9.78662944e-01 2.04111453e-01 2.36083932e-02 2.03426043e+02] [-2.04068105e-01 9.78947440e-01 -4.25662337e-03 -2.46542459e+01] [-2.39802017e-02 -6.51920494e-04 9.99712221e-01 -6.06988109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38587156000003 meters Centerline goodness [0,1] 0.9999141925519135 Centerline is valid? [True, True] Translation: X:203.45, Y:-24.66, Z:-6.07 [[ 9.79019740e-01 2.02375650e-01 2.37580484e-02 2.03453922e+02] [-2.02331268e-01 9.79307775e-01 -4.28244247e-03 -2.46631158e+01] [-2.41331036e-02 -6.14400351e-04 9.99708565e-01 -6.07209009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41587156000003 meters Centerline goodness [0,1] 0.9997649723308335 Centerline is valid? [True, True] Translation: X:203.48, Y:-24.67, Z:-6.07 [[ 9.79970138e-01 1.97684470e-01 2.40702800e-02 2.03482070e+02] [-1.97637531e-01 9.80265573e-01 -4.33737124e-03 -2.46708132e+01] [-2.44526978e-02 -5.06696405e-04 9.99700860e-01 -6.07177563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.51, Y:-24.68, Z:-6.07 [[ 9.80584893e-01 1.94590759e-01 2.42425928e-02 2.03508314e+02] [-1.94542210e-01 9.80884422e-01 -4.36799839e-03 -2.46799313e+01] [-2.46291538e-02 -4.33014354e-04 9.99696563e-01 -6.07419152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.54, Y:-24.68, Z:-6.08 [[ 9.80597898e-01 1.94525184e-01 2.42428271e-02 2.03535388e+02] [-1.94476647e-01 9.80897429e-01 -4.36669774e-03 -2.46846669e+01] [-2.46291594e-02 -4.32689098e-04 9.99696563e-01 -6.07502093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.56, Y:-24.70, Z:-6.08 [[ 9.81199592e-01 1.91502477e-01 2.39616949e-02 2.03562120e+02] [-1.91454201e-01 9.81492066e-01 -4.31430917e-03 -2.46966681e+01] [-2.43444143e-02 -3.54368754e-04 9.99703568e-01 -6.07577445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53587156000003 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:203.59, Y:-24.71, Z:-6.08 [[ 9.81872526e-01 1.88094335e-01 2.33851291e-02 2.03590135e+02] [-1.88047415e-01 9.82150931e-01 -4.20933414e-03 -2.47070363e+01] [-2.37594782e-02 -2.64483521e-04 9.99717669e-01 -6.07632387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.62, Y:-24.72, Z:-6.08 [[ 9.83167300e-01 1.81261325e-01 2.29432390e-02 2.03616892e+02] [-1.81214316e-01 9.83434961e-01 -4.12907706e-03 -2.47220065e+01] [-2.33116254e-02 -9.80698135e-05 9.99728242e-01 -6.07837114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:-24.73, Z:-6.08 [[ 9.83816573e-01 1.77718588e-01 2.28266327e-02 2.03644249e+02] [-1.77671130e-01 9.84081350e-01 -4.10685108e-03 -2.47316430e+01] [-2.31931273e-02 -1.52454737e-05 9.99731003e-01 -6.08100036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62587156000004 meters Centerline goodness [0,1] 0.9999566846425401 Centerline is valid? [True, True] Translation: X:203.67, Y:-24.75, Z:-6.08 [[ 9.84988633e-01 1.71023405e-01 2.34176735e-02 2.03672602e+02] [-1.70971591e-01 9.85266956e-01 -4.21203818e-03 -2.47483013e+01] [-2.37930170e-02 1.45052840e-04 9.99716896e-01 -6.07832413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:-24.76, Z:-6.08 [[ 9.85547276e-01 1.67783109e-01 2.33536974e-02 2.03701630e+02] [-1.67730667e-01 9.85823909e-01 -4.20053107e-03 -2.47586778e+01] [-2.37274114e-02 2.22690714e-04 9.99718441e-01 -6.08076395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68587156000004 meters Centerline goodness [0,1] 0.9999155012886054 Centerline is valid? [True, True] Translation: X:203.73, Y:-24.77, Z:-6.08 [[ 9.86034399e-01 1.64940409e-01 2.30396466e-02 2.03730573e+02] [-1.64888594e-01 9.86303492e-01 -4.14396144e-03 -2.47708044e+01] [-2.34075906e-02 2.87113597e-04 9.99725964e-01 -6.08329299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71587156000004 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:203.76, Y:-24.78, Z:-6.08 [[ 9.86900863e-01 1.59650931e-01 2.32005726e-02 2.03760345e+02] [-1.59596923e-01 9.87173443e-01 -4.17312261e-03 -2.47836073e+01] [-2.35692320e-02 4.15718312e-04 9.99722121e-01 -6.08281128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74587156000004 meters Centerline goodness [0,1] 0.999956938314135 Centerline is valid? [True, True] Translation: X:203.79, Y:-24.79, Z:-6.08 [[ 9.87219721e-01 1.57584868e-01 2.37535878e-02 2.03791766e+02] [-1.57527662e-01 9.87505333e-01 -4.27230108e-03 -2.47916550e+01] [-2.41300447e-02 4.75852715e-04 9.99708715e-01 -6.08224118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77587156000004 meters Centerline goodness [0,1] 0.9996356075707886 Centerline is valid? [True, True] Translation: X:203.82, Y:-24.80, Z:-6.08 [[ 9.87519575e-01 1.55724198e-01 2.35597765e-02 2.03821219e+02] [-1.55667275e-01 9.87800436e-01 -4.24235482e-03 -2.48009314e+01] [-2.39329948e-02 5.21922204e-04 9.99713429e-01 -6.08113926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80587156000004 meters Centerline goodness [0,1] 0.9998271204754187 Centerline is valid? [True, True] Translation: X:203.85, Y:-24.81, Z:-6.08 [[ 9.88004420e-01 1.52591014e-01 2.37328559e-02 2.03850869e+02] [-1.52532354e-01 9.88289239e-01 -4.27331542e-03 -2.48138798e+01] [-2.41069956e-02 6.02026161e-04 9.99709203e-01 -6.08369427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83587156000004 meters Centerline goodness [0,1] 0.9998073712597919 Centerline is valid? [True, True] Translation: X:203.88, Y:-24.82, Z:-6.09 [[ 9.88158678e-01 1.51615047e-01 2.35649259e-02 2.03880689e+02] [-1.51556847e-01 9.88439420e-01 -4.24677883e-03 -2.48246271e+01] [-2.39363773e-02 6.25065481e-04 9.99713288e-01 -6.08514857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86587156000002 meters Centerline goodness [0,1] 0.9998076470965398 Centerline is valid? [True, True] Translation: X:203.91, Y:-24.83, Z:-6.08 [[ 9.88259871e-01 1.51017319e-01 2.31559308e-02 2.03912043e+02] [-1.50960877e-01 9.88530915e-01 -4.17654320e-03 -2.48320502e+01] [-2.35210839e-02 6.31870414e-04 9.99723141e-01 -6.08482997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89587156000002 meters Centerline goodness [0,1] 0.9999132264572532 Centerline is valid? [True, True] Translation: X:203.94, Y:-24.84, Z:-6.09 [[ 9.88475530e-01 1.49638443e-01 2.29011760e-02 2.03941182e+02] [-1.49582754e-01 9.88740562e-01 -4.13540884e-03 -2.48435376e+01] [-2.32621378e-02 6.62129459e-04 9.99729181e-01 -6.08808769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92587156000002 meters Centerline goodness [0,1] 0.9998710564772629 Centerline is valid? [True, True] Translation: X:203.97, Y:-24.85, Z:-6.09 [[ 9.88519879e-01 1.49395976e-01 2.25674742e-02 2.03971923e+02] [-1.49341847e-01 9.88777230e-01 -4.07467172e-03 -2.48521297e+01] [-2.29229442e-02 6.57625713e-04 9.99737018e-01 -6.08931625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95587156000002 meters Centerline goodness [0,1] 0.9998493230298986 Centerline is valid? [True, True] Translation: X:204.00, Y:-24.86, Z:-6.09 [[ 9.88525540e-01 1.49380023e-01 2.24246596e-02 2.04004278e+02] [-1.49326493e-01 9.88779640e-01 -4.05237323e-03 -2.48577815e+01] [-2.27783905e-02 6.57278659e-04 9.99740323e-01 -6.08969204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98587156000002 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:204.03, Y:-24.87, Z:-6.09 [[ 9.88408292e-01 1.50198120e-01 2.21262885e-02 2.04033385e+02] [-1.50146097e-01 9.88655714e-01 -4.00349552e-03 -2.48697156e+01] [-2.24765990e-02 6.34912312e-04 9.99747168e-01 -6.09101050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01587156000002 meters Centerline goodness [0,1] 0.9998497821841671 Centerline is valid? [True, True] Translation: X:204.06, Y:-24.88, Z:-6.09 [[ 9.88223686e-01 1.51418706e-01 2.20527085e-02 2.04063893e+02] [-1.51367292e-01 9.88469528e-01 -3.99193410e-03 -2.48769918e+01] [-2.24028839e-02 6.06865055e-04 9.99748840e-01 -6.09212031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04587156000002 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:204.09, Y:-24.88, Z:-6.09 [[ 9.87941281e-01 1.53261622e-01 2.19749876e-02 2.04094750e+02] [-1.53210951e-01 9.88185486e-01 -3.98122172e-03 -2.48832621e+01] [-2.23255323e-02 5.66404535e-04 9.99750594e-01 -6.09325193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07587156000002 meters Centerline goodness [0,1] 0.9999786612039349 Centerline is valid? [True, True] Translation: X:204.13, Y:-24.89, Z:-6.09 [[ 9.87194716e-01 1.58037328e-01 2.16978265e-02 2.04125268e+02] [-1.57988980e-01 9.87433033e-01 -3.93547930e-03 -2.48862503e+01] [-2.20471032e-02 4.57066890e-04 9.99756829e-01 -6.09420688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.16, Y:-24.89, Z:-6.09 [[ 9.86709553e-01 1.61043962e-01 2.16587142e-02 2.04157530e+02] [-1.60996519e-01 9.86947157e-01 -3.92808421e-03 -2.48864857e+01] [-2.20086006e-02 3.88900625e-04 9.99757706e-01 -6.09380708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.19, Y:-24.89, Z:-6.10 [[ 9.86119074e-01 1.64639995e-01 2.15138071e-02 2.04187807e+02] [-1.64594044e-01 9.86353678e-01 -3.90158939e-03 -2.48918889e+01] [-2.18625804e-02 3.06387215e-04 9.99760938e-01 -6.09649033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.22, Y:-24.89, Z:-6.10 [[ 9.84742723e-01 1.72625162e-01 2.19618600e-02 2.04221334e+02] [-1.72579159e-01 9.84987581e-01 -3.98736986e-03 -2.48866771e+01] [-2.23204798e-02 1.36374123e-04 9.99750858e-01 -6.09566567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:-24.89, Z:-6.10 [[ 9.83975098e-01 1.76885888e-01 2.24585941e-02 2.04252786e+02] [-1.76838859e-01 9.84231365e-01 -4.07886177e-03 -2.48867914e+01] [-2.28259458e-02 4.19462507e-05 9.99739453e-01 -6.09505213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.28, Y:-24.89, Z:-6.10 [[ 9.83247135e-01 1.80850003e-01 2.27672505e-02 2.04282806e+02] [-1.80802715e-01 9.83510688e-01 -4.13574812e-03 -2.48868293e+01] [-2.31397843e-02 -4.99182073e-05 9.99732238e-01 -6.09609712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25587156000003 meters Centerline goodness [0,1] 0.9999571404080233 Centerline is valid? [True, True] Translation: X:204.31, Y:-24.88, Z:-6.10 [[ 9.81974990e-01 1.87611283e-01 2.29592347e-02 2.04312612e+02] [-1.87565042e-01 9.82243331e-01 -4.17049478e-03 -2.48822203e+01] [-2.33339871e-02 -2.11028258e-04 9.99727703e-01 -6.09522919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.34, Y:-24.88, Z:-6.10 [[ 9.81509997e-01 1.90002681e-01 2.31755629e-02 2.04341070e+02] [-1.89956248e-01 9.81783534e-01 -4.20903579e-03 -2.48844525e+01] [-2.35531142e-02 -2.71132273e-04 9.99722550e-01 -6.09689637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.37, Y:-24.88, Z:-6.10 [[ 9.80883086e-01 1.93248997e-01 2.28734965e-02 2.04370622e+02] [-1.93204674e-01 9.81149686e-01 -4.15309662e-03 -2.48848501e+01] [-2.32449057e-02 -3.45564211e-04 9.99729741e-01 -6.09796126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34587156000003 meters Centerline goodness [0,1] 0.9999787170646576 Centerline is valid? [True, True] Translation: X:204.40, Y:-24.89, Z:-6.10 [[ 9.80695596e-01 1.94226668e-01 2.26307143e-02 2.04399515e+02] [-1.94183566e-01 9.80956608e-01 -4.10793251e-03 -2.48883455e+01] [-2.29976188e-02 -3.65881474e-04 9.99735453e-01 -6.09960193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:-24.89, Z:-6.10 [[ 9.80593268e-01 1.94764335e-01 2.24431790e-02 2.04427456e+02] [-1.94722110e-01 9.80849995e-01 -4.07282451e-03 -2.48933220e+01] [-2.28066330e-02 -3.76398871e-04 9.99739824e-01 -6.10044906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.46, Y:-24.90, Z:-6.10 [[ 9.80635509e-01 1.94498722e-01 2.28964178e-02 2.04456120e+02] [-1.94454728e-01 9.80902698e-01 -4.15392241e-03 -2.48979712e+01] [-2.32670906e-02 -3.78832889e-04 9.99729213e-01 -6.10026726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43587156000004 meters Centerline goodness [0,1] 0.9998702534382838 Centerline is valid? [True, True] Translation: X:204.48, Y:-24.90, Z:-6.10 [[ 9.80754326e-01 1.93889843e-01 2.29712855e-02 2.04483938e+02] [-1.93845420e-01 9.81023238e-01 -4.16637756e-03 -2.49039991e+01] [-2.33431832e-02 -3.66685684e-04 9.99727444e-01 -6.09874412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.51, Y:-24.91, Z:-6.10 [[ 9.80932122e-01 1.92980826e-01 2.30341509e-02 2.04511100e+02] [-1.92935934e-01 9.81202467e-01 -4.17672015e-03 -2.49084289e+01] [-2.34071926e-02 -3.47036455e-04 9.99725954e-01 -6.10180213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.54, Y:-24.91, Z:-6.10 [[ 9.81163671e-01 1.91812704e-01 2.29289589e-02 2.04538644e+02] [-1.91767937e-01 9.81431498e-01 -4.15612807e-03 -2.49144170e+01] [-2.33004006e-02 -3.19197282e-04 9.99728458e-01 -6.10342488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:-24.92, Z:-6.11 [[ 9.81706278e-01 1.89080577e-01 2.23901545e-02 2.04566549e+02] [-1.89037211e-01 9.81961544e-01 -4.05706607e-03 -2.49230491e+01] [-2.27533830e-02 -2.49725126e-04 9.99741077e-01 -6.10587285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:-24.93, Z:-6.11 [[ 9.81964977e-01 1.87765153e-01 2.21140414e-02 2.04594432e+02] [-1.87722541e-01 9.82213928e-01 -4.00598549e-03 -2.49292980e+01] [-2.24729040e-02 -2.17566586e-04 9.99747429e-01 -6.10727938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.62, Y:-24.94, Z:-6.11 [[ 9.82155765e-01 1.86759985e-01 2.21531555e-02 2.04623594e+02] [-1.86716994e-01 9.82405553e-01 -4.01181900e-03 -2.49361506e+01] [-2.25126303e-02 -1.96139446e-04 9.99746539e-01 -6.10703318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61587156000002 meters Centerline goodness [0,1] 0.9998073836276083 Centerline is valid? [True, True] Translation: X:204.65, Y:-24.94, Z:-6.11 [[ 9.82284210e-01 1.86039377e-01 2.25184789e-02 2.04652235e+02] [-1.85994778e-01 9.82542272e-01 -4.07748997e-03 -2.49402416e+01] [-2.28839312e-02 -1.83065483e-04 9.99738112e-01 -6.10633804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64587156000002 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:204.68, Y:-24.95, Z:-6.11 [[ 9.82403095e-01 1.85344155e-01 2.30586722e-02 2.04681454e+02] [-1.85297222e-01 9.82673656e-01 -4.17433661e-03 -2.49459989e+01] [-2.34328386e-02 -1.71826698e-04 9.99725399e-01 -6.10593649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.71, Y:-24.95, Z:-6.11 [[ 9.82494226e-01 1.84881502e-01 2.28894228e-02 2.04709799e+02] [-1.84835141e-01 9.82760807e-01 -4.14321206e-03 -2.49497168e+01] [-2.32608309e-02 -1.60087751e-04 9.99729417e-01 -6.10859816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.74, Y:-24.95, Z:-6.11 [[ 9.82753762e-01 1.83518243e-01 2.27177911e-02 2.04738052e+02] [-1.83472230e-01 9.83016296e-01 -4.11129504e-03 -2.49526169e+01] [-2.30864565e-02 -1.27693130e-04 9.99733464e-01 -6.11081477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73587156000002 meters Centerline goodness [0,1] 0.999892225120169 Centerline is valid? [True, True] Translation: X:204.77, Y:-24.96, Z:-6.11 [[ 9.83050569e-01 1.81982062e-01 2.22285577e-02 2.04767415e+02] [-1.81937636e-01 9.83301846e-01 -4.02188694e-03 -2.49587836e+01] [-2.25892931e-02 -9.04929984e-05 9.99744825e-01 -6.11050306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:-24.97, Z:-6.11 [[ 9.83440885e-01 1.79855138e-01 2.22745250e-02 2.04795309e+02] [-1.79809993e-01 9.83693106e-01 -4.02974983e-03 -2.49661743e+01] [-2.26360679e-02 -4.21614337e-05 9.99743771e-01 -6.11371586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79587156000002 meters Centerline goodness [0,1] 0.9999783418522048 Centerline is valid? [True, True] Translation: X:204.82, Y:-24.97, Z:-6.11 [[ 9.83922739e-01 1.77224484e-01 2.20799887e-02 2.04824968e+02] [-1.77179486e-01 9.84170454e-01 -3.99348532e-03 -2.49748658e+01] [-2.24382158e-02 1.71599801e-05 9.99748231e-01 -6.11306235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.85, Y:-24.99, Z:-6.12 [[ 9.84860278e-01 1.71950390e-01 2.19839802e-02 2.04853721e+02] [-1.71904482e-01 9.85105601e-01 -3.97544557e-03 -2.49875807e+01] [-2.23401214e-02 1.36113696e-04 9.99750419e-01 -6.11594558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:-25.00, Z:-6.12 [[ 9.85335379e-01 1.69273774e-01 2.14611131e-02 2.04884589e+02] [-1.69229364e-01 9.85569050e-01 -3.88202448e-03 -2.49970139e+01] [-2.18085338e-02 1.93245531e-04 9.99762147e-01 -6.11789699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:-25.01, Z:-6.12 [[ 9.85746401e-01 1.66914701e-01 2.10598128e-02 2.04915472e+02] [-1.66871323e-01 9.85971309e-01 -3.81294442e-03 -2.50061626e+01] [-2.14008077e-02 2.44317405e-04 9.99770947e-01 -6.11972302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91587156000003 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:204.95, Y:-25.01, Z:-6.12 [[ 9.86242462e-01 1.64036299e-01 2.04425811e-02 2.04946194e+02] [-1.63994737e-01 9.86454257e-01 -3.70466084e-03 -2.50145161e+01] [-2.07733700e-02 3.01218121e-04 9.99784165e-01 -6.12115720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:-25.02, Z:-6.12 [[ 9.86238475e-01 1.64111384e-01 2.00280626e-02 2.04977588e+02] [-1.64071433e-01 9.86441770e-01 -3.63310923e-03 -2.50200585e+01] [-2.03527521e-02 2.97079180e-04 9.99792817e-01 -6.12340534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.01, Y:-25.02, Z:-6.12 [[ 9.86154781e-01 1.64626314e-01 1.99229572e-02 2.05008334e+02] [-1.64586843e-01 9.86355967e-01 -3.61622239e-03 -2.50245492e+01] [-2.02464531e-02 2.87098372e-04 9.99794978e-01 -6.12481056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:-25.03, Z:-6.13 [[ 9.85876704e-01 1.66214889e-01 2.04874471e-02 2.05039546e+02] [-1.66173396e-01 9.86089519e-01 -3.72329212e-03 -2.50268394e+01] [-2.08213234e-02 2.66238314e-04 9.99783177e-01 -6.12519781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.07, Y:-25.03, Z:-6.12 [[ 9.85793108e-01 1.66620497e-01 2.12027856e-02 2.05070730e+02] [-1.66576137e-01 9.86021064e-01 -3.85382463e-03 -2.50317927e+01] [-2.15485194e-02 2.67195657e-04 9.99767768e-01 -6.12469556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.10, Y:-25.04, Z:-6.12 [[ 9.85768389e-01 1.66704036e-01 2.16898047e-02 2.05101542e+02] [-1.66657623e-01 9.86006942e-01 -3.94288296e-03 -2.50368890e+01] [-2.20435925e-02 2.71998087e-04 9.99756973e-01 -6.12483128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09587156000003 meters Centerline goodness [0,1] 0.9999569540699926 Centerline is valid? [True, True] Translation: X:205.13, Y:-25.04, Z:-6.12 [[ 9.85884693e-01 1.66045176e-01 2.14562643e-02 2.05133130e+02] [-1.65999616e-01 9.86118106e-01 -3.89971643e-03 -2.50417821e+01] [-2.18059398e-02 2.82939094e-04 9.99762182e-01 -6.12396809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12587156000004 meters Centerline goodness [0,1] 0.9999144385026738 Centerline is valid? [True, True] Translation: X:205.16, Y:-25.05, Z:-6.13 [[ 9.85971156e-01 1.65542850e-01 2.13645773e-02 2.05163720e+02] [-1.65497479e-01 9.86202554e-01 -3.88681872e-03 -2.50497550e+01] [-2.17132357e-02 2.96507454e-04 9.99764196e-01 -6.12604560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:-25.06, Z:-6.13 [[ 9.86078423e-01 1.64886374e-01 2.14901776e-02 2.05195875e+02] [-1.64840241e-01 9.86312518e-01 -3.91298551e-03 -2.50551775e+01] [-2.18412291e-02 3.16064538e-04 9.99761402e-01 -6.12793503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:-25.06, Z:-6.13 [[ 9.86191563e-01 1.64201956e-01 2.15387858e-02 2.05225947e+02] [-1.64155354e-01 9.86426685e-01 -3.92622157e-03 -2.50628874e+01] [-2.18911263e-02 3.36299573e-04 9.99760304e-01 -6.12956506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21587156000004 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:205.26, Y:-25.07, Z:-6.13 [[ 9.86385441e-01 1.63101011e-01 2.10195736e-02 2.05255859e+02] [-1.63056337e-01 9.86609312e-01 -3.83351542e-03 -2.50731729e+01] [-2.13633573e-02 3.53949102e-04 9.99771715e-01 -6.13126278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.29, Y:-25.08, Z:-6.13 [[ 9.86437897e-01 1.62742551e-01 2.13339514e-02 2.05288555e+02] [-1.62696422e-01 9.86668499e-01 -3.89201285e-03 -2.50802096e+01] [-2.16829339e-02 3.68271414e-04 9.99764830e-01 -6.13108742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27587156000004 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:205.32, Y:-25.09, Z:-6.13 [[ 9.86476633e-01 1.62378280e-01 2.22968005e-02 2.05319680e+02] [-1.62327693e-01 9.86728502e-01 -4.07237710e-03 -2.50884237e+01] [-2.26621541e-02 3.97916670e-04 9.99743101e-01 -6.13078211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30587156000004 meters Centerline goodness [0,1] 0.9999785596363714 Centerline is valid? [True, True] Translation: X:205.35, Y:-25.10, Z:-6.13 [[ 9.86454087e-01 1.62456192e-01 2.27226740e-02 2.05351694e+02] [-1.62403577e-01 9.86715673e-01 -4.15435388e-03 -2.50952025e+01] [-2.30957191e-02 4.07835824e-04 9.99733175e-01 -6.13079574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:-25.10, Z:-6.13 [[ 9.86364801e-01 1.62933182e-01 2.31788014e-02 2.05383036e+02] [-1.62878455e-01 9.86637021e-01 -4.24238901e-03 -2.51003982e+01] [-2.35602895e-02 4.09215820e-04 9.99722334e-01 -6.13047138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36587156000002 meters Centerline goodness [0,1] 0.9999574259744131 Centerline is valid? [True, True] Translation: X:205.41, Y:-25.11, Z:-6.13 [[ 9.86218063e-01 1.63772258e-01 2.35070256e-02 2.05413123e+02] [-1.63716111e-01 9.86498093e-01 -4.30657064e-03 -2.51066388e+01] [-2.38949328e-02 3.98738931e-04 9.99714396e-01 -6.13104472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39587156000002 meters Centerline goodness [0,1] 0.9999574259744131 Centerline is valid? [True, True] Translation: X:205.45, Y:-25.11, Z:-6.13 [[ 9.86188214e-01 1.63951988e-01 2.35064132e-02 2.05445057e+02] [-1.63895812e-01 9.86468239e-01 -4.30991067e-03 -2.51126915e+01] [-2.38949484e-02 3.97780435e-04 9.99714396e-01 -6.13202564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:-25.12, Z:-6.13 [[ 9.85909564e-01 1.65583072e-01 2.37608349e-02 2.05477054e+02] [-1.65526034e-01 9.86195778e-01 -4.36122453e-03 -2.51174528e+01] [-2.41549800e-02 3.66736223e-04 9.99708159e-01 -6.13291710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:-25.12, Z:-6.13 [[ 9.85698325e-01 1.66903448e-01 2.32819749e-02 2.05507939e+02] [-1.66848963e-01 9.85973189e-01 -4.27718807e-03 -2.51236425e+01] [-2.36692804e-02 3.31443763e-04 9.99719788e-01 -6.13488017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48587156000002 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:205.54, Y:-25.13, Z:-6.14 [[ 9.85458530e-01 1.68326068e-01 2.31909554e-02 2.05539904e+02] [-1.68272319e-01 9.85731325e-01 -4.26396401e-03 -2.51284183e+01] [-2.35777874e-02 2.99563857e-04 9.99721960e-01 -6.13651116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:-25.13, Z:-6.14 [[ 9.84862614e-01 1.71792286e-01 2.30877241e-02 2.05571589e+02] [-1.71739858e-01 9.85133170e-01 -4.24959983e-03 -2.51287083e+01] [-2.34745313e-02 2.20189544e-04 9.99724411e-01 -6.13717367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:-25.13, Z:-6.14 [[ 9.84563338e-01 1.73568531e-01 2.25609849e-02 2.05603079e+02] [-1.73518923e-01 9.84821778e-01 -4.15316396e-03 -2.51316536e+01] [-2.29394078e-02 1.74295188e-04 9.99736842e-01 -6.13844340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:-25.13, Z:-6.14 [[ 9.83902933e-01 1.77326104e-01 2.21465899e-02 2.05632400e+02] [-1.77279235e-01 9.84152146e-01 -4.07767670e-03 -2.51326747e+01] [-2.25186924e-02 8.59075629e-05 9.99746418e-01 -6.14135311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:-25.14, Z:-6.14 [[ 9.83643718e-01 1.78823077e-01 2.16181016e-02 2.05661958e+02] [-1.78778786e-01 9.83881245e-01 -3.98011690e-03 -2.51362170e+01] [-2.19813815e-02 5.01590350e-05 9.99758379e-01 -6.14287984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:-25.14, Z:-6.15 [[ 9.83413946e-01 1.80108679e-01 2.13980063e-02 2.05690756e+02] [-1.80065591e-01 9.83646717e-01 -3.93954033e-03 -2.51404176e+01] [-2.17576241e-02 2.11542592e-05 9.99763275e-01 -6.14513415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66587156000003 meters Centerline goodness [0,1] 0.9998912168483345 Centerline is valid? [True, True] Translation: X:205.72, Y:-25.15, Z:-6.14 [[ 9.83239126e-01 1.81112038e-01 2.09583047e-02 2.05720609e+02] [-1.81070952e-01 9.83462470e-01 -3.85753987e-03 -2.51453903e+01] [-2.13103530e-02 -2.05604916e-06 9.99772909e-01 -6.14263679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:-25.15, Z:-6.15 [[ 9.82902597e-01 1.82886274e-01 2.13329738e-02 2.05749043e+02] [-1.82844119e-01 9.83134075e-01 -3.92670621e-03 -2.51493111e+01] [-2.16913142e-02 -4.10390873e-05 9.99764715e-01 -6.14622636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72587156000003 meters Centerline goodness [0,1] 0.9998509274442575 Centerline is valid? [True, True] Translation: X:205.78, Y:-25.15, Z:-6.15 [[ 9.82775451e-01 1.83549037e-01 2.14979806e-02 2.05777567e+02] [-1.83506395e-01 9.83010553e-01 -3.95663115e-03 -2.51536340e+01] [-2.18589776e-02 -5.65369550e-05 9.99761062e-01 -6.14511074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.81, Y:-25.16, Z:-6.15 [[ 9.82663954e-01 1.84055464e-01 2.22517293e-02 2.05807185e+02] [-1.84009930e-01 9.82915857e-01 -4.09444276e-03 -2.51585195e+01] [-2.26251821e-02 -7.10778539e-05 9.99744015e-01 -6.14581757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78587156000003 meters Centerline goodness [0,1] 0.999764731044808 Centerline is valid? [True, True] Translation: X:205.84, Y:-25.16, Z:-6.14 [[ 9.82358795e-01 1.85636597e-01 2.25887636e-02 2.05836387e+02] [-1.85590102e-01 9.82618462e-01 -4.15598987e-03 -2.51610558e+01] [-2.29676399e-02 -1.09577731e-04 9.99736203e-01 -6.14463657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.87, Y:-25.17, Z:-6.15 [[ 9.82198186e-01 1.86490568e-01 2.25386743e-02 2.05865014e+02] [-1.86444524e-01 9.82456743e-01 -4.14588476e-03 -2.51667079e+01] [-2.29164409e-02 -1.30131905e-04 9.99737375e-01 -6.14722972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84587156000003 meters Centerline goodness [0,1] 0.9998075895243186 Centerline is valid? [True, True] Translation: X:205.89, Y:-25.17, Z:-6.15 [[ 9.82137417e-01 1.86866654e-01 2.20668860e-02 2.05893189e+02] [-1.86822624e-01 9.82385278e-01 -4.05859006e-03 -2.51710603e+01] [-2.24365991e-02 -1.36500384e-04 9.99748259e-01 -6.14738564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.92, Y:-25.18, Z:-6.15 [[ 9.81949812e-01 1.87795483e-01 2.25260409e-02 2.05921231e+02] [-1.87749856e-01 9.82208140e-01 -4.14261202e-03 -2.51760180e+01] [-2.29032245e-02 -1.61423832e-04 9.99737674e-01 -6.14946224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90587156000004 meters Centerline goodness [0,1] 0.9998703935715212 Centerline is valid? [True, True] Translation: X:205.95, Y:-25.18, Z:-6.15 [[ 9.81968670e-01 1.87791867e-01 2.17197304e-02 2.05950471e+02] [-1.87749473e-01 9.82208832e-01 -3.99315740e-03 -2.51814710e+01] [-2.20831935e-02 -1.56712472e-04 9.99756124e-01 -6.14874056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.98, Y:-25.19, Z:-6.15 [[ 9.81886412e-01 1.88214271e-01 2.17821713e-02 2.05978765e+02] [-1.88171748e-01 9.82127976e-01 -4.00410209e-03 -2.51852571e+01] [-2.21465089e-02 -1.67215815e-04 9.99754722e-01 -6.15318934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96587156000004 meters Centerline goodness [0,1] 0.9998282524688707 Centerline is valid? [True, True] Translation: X:206.01, Y:-25.19, Z:-6.15 [[ 9.81847349e-01 1.88520635e-01 2.08747147e-02 2.06007808e+02] [-1.88481658e-01 9.82069215e-01 -3.83699583e-03 -2.51892181e+01] [-2.12237676e-02 -1.67156660e-04 9.99774737e-01 -6.15233511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.04, Y:-25.19, Z:-6.16 [[ 9.81827299e-01 1.88597230e-01 2.11244078e-02 2.06035551e+02] [-1.88557352e-01 9.82054507e-01 -3.88195060e-03 -2.51916816e+01] [-2.14774451e-02 -1.71757339e-04 9.99769318e-01 -6.15780652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.06, Y:-25.20, Z:-6.16 [[ 9.81793949e-01 1.88801500e-01 2.08479174e-02 2.06063572e+02] [-1.88762734e-01 9.82015256e-01 -3.82979846e-03 -2.51983292e+01] [-2.11960446e-02 -1.75236936e-04 9.99775323e-01 -6.15652739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:-25.20, Z:-6.16 [[ 9.81743448e-01 1.88954396e-01 2.18183213e-02 2.06091509e+02] [-1.88911996e-01 9.81985846e-01 -4.00706505e-03 -2.51991552e+01] [-2.21824352e-02 -1.87832764e-04 9.99753922e-01 -6.15739972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.12, Y:-25.21, Z:-6.15 [[ 9.81725222e-01 1.89012531e-01 2.21325767e-02 2.06119174e+02] [-1.88968950e-01 9.81974656e-01 -4.06323515e-03 -2.52062874e+01] [-2.25016318e-02 -1.93389358e-04 9.99746788e-01 -6.15475398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11587156000002 meters Centerline goodness [0,1] 0.9999138617912441 Centerline is valid? [True, True] Translation: X:206.15, Y:-25.21, Z:-6.15 [[ 9.81752972e-01 1.88919614e-01 2.16906006e-02 2.06147678e+02] [-1.88877758e-01 9.81992538e-01 -3.98104683e-03 -2.52108772e+01] [-2.20521058e-02 -1.88467462e-04 9.99756805e-01 -6.15451956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.18, Y:-25.21, Z:-6.16 [[ 9.81785698e-01 1.88683413e-01 2.22578595e-02 2.06175538e+02] [-1.88639302e-01 9.82037949e-01 -4.08410805e-03 -2.52132032e+01] [-2.26286662e-02 -1.88988212e-04 9.99743921e-01 -6.15653435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.20, Y:-25.22, Z:-6.16 [[ 9.81778094e-01 1.88723929e-01 2.22497988e-02 2.06204293e+02] [-1.88679893e-01 9.82030164e-01 -4.08116608e-03 -2.52172202e+01] [-2.26201872e-02 -1.91290202e-04 9.99744113e-01 -6.15751389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20587156000002 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:206.23, Y:-25.22, Z:-6.16 [[ 9.81818317e-01 1.88547530e-01 2.19686514e-02 2.06232384e+02] [-1.88504577e-01 9.82064048e-01 -4.02863214e-03 -2.52182873e+01] [-2.23342114e-02 -1.85806516e-04 9.99750543e-01 -6.16032580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23587156000002 meters Centerline goodness [0,1] 0.9999569688885064 Centerline is valid? [True, True] Translation: X:206.26, Y:-25.23, Z:-6.16 [[ 9.81863302e-01 1.88302655e-01 2.20582643e-02 2.06260548e+02] [-1.88259322e-01 9.82111031e-01 -4.04362425e-03 -2.52263073e+01] [-2.24250899e-02 -1.82387631e-04 9.99748509e-01 -6.15744321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26587156000002 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:206.29, Y:-25.23, Z:-6.16 [[ 9.81880202e-01 1.88004208e-01 2.37841673e-02 2.06288707e+02] [-1.87953769e-01 9.82168204e-01 -4.35881209e-03 -2.52297329e+01] [-2.41795279e-02 -1.90492594e-04 9.99707614e-01 -6.15543053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.32, Y:-25.23, Z:-6.16 [[ 9.81871832e-01 1.87989827e-01 2.42390079e-02 2.06316120e+02] [-1.87937473e-01 9.82170956e-01 -4.44066410e-03 -2.52329838e+01] [-2.46416493e-02 -1.95254902e-04 9.99696329e-01 -6.15748607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.34, Y:-25.24, Z:-6.16 [[ 9.81903899e-01 1.87889411e-01 2.37128964e-02 2.06344284e+02] [-1.87839311e-01 9.82190172e-01 -4.34282804e-03 -2.52366659e+01] [-2.41065452e-02 -1.89974336e-04 9.99709377e-01 -6.15784502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.37, Y:-25.24, Z:-6.16 [[ 9.81861007e-01 1.88072666e-01 2.40340351e-02 2.06373262e+02] [-1.88021283e-01 9.82155096e-01 -4.40047483e-03 -2.52394007e+01] [-2.44327591e-02 -1.98255462e-04 9.99701456e-01 -6.15835793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38587156000003 meters Centerline goodness [0,1] 0.9999141114832947 Centerline is valid? [True, True] Translation: X:206.40, Y:-25.24, Z:-6.16 [[ 9.81776420e-01 1.88523228e-01 2.39594074e-02 2.06402189e+02] [-1.88472325e-01 9.82068709e-01 -4.38567533e-03 -2.52418441e+01] [-2.43565859e-02 -2.09932591e-04 9.99703312e-01 -6.15757178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.43, Y:-25.24, Z:-6.16 [[ 9.81479452e-01 1.90067146e-01 2.39283252e-02 2.06430745e+02] [-1.90016860e-01 9.81771062e-01 -4.37892007e-03 -2.52412258e+01] [-2.43244260e-02 -2.48965142e-04 9.99704086e-01 -6.16033079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.46, Y:-25.24, Z:-6.16 [[ 9.81344867e-01 1.90820232e-01 2.34497656e-02 2.06458325e+02] [-1.90772184e-01 9.81624964e-01 -4.28999681e-03 -2.52425584e+01] [-2.38374935e-02 -2.63596663e-04 9.99715812e-01 -6.16200704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.49, Y:-25.24, Z:-6.16 [[ 9.81186694e-01 1.91708776e-01 2.28126397e-02 2.06486002e+02] [-1.91663574e-01 9.81451816e-01 -4.17215106e-03 -2.52433266e+01] [-2.31893446e-02 -2.78692944e-04 9.99731052e-01 -6.16427515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50587156000003 meters Centerline goodness [0,1] 0.9999144311812775 Centerline is valid? [True, True] Translation: X:206.51, Y:-25.24, Z:-6.17 [[ 9.80766448e-01 1.93970713e-01 2.17379284e-02 2.06514824e+02] [-1.93930248e-01 9.81007269e-01 -3.97458920e-03 -2.52384133e+01] [-2.20960197e-02 -3.17498120e-04 9.99755803e-01 -6.16526108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53587156000003 meters Centerline goodness [0,1] 0.9999784649840641 Centerline is valid? [True, True] Translation: X:206.54, Y:-25.24, Z:-6.17 [[ 9.80580576e-01 1.94889765e-01 2.19023533e-02 2.06543499e+02] [-1.94848958e-01 9.80825092e-01 -4.00271895e-03 -2.52384883e+01] [-2.22624667e-02 -3.42662257e-04 9.99752102e-01 -6.16829575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.57, Y:-25.24, Z:-6.17 [[ 9.80400042e-01 1.95826626e-01 2.16261530e-02 2.06572599e+02] [-1.95787098e-01 9.80638467e-01 -3.95092675e-03 -2.52385965e+01] [-2.19811341e-02 -3.60632987e-04 9.99758321e-01 -6.16939602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59587156000003 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:206.60, Y:-25.24, Z:-6.17 [[ 9.80368748e-01 1.95973683e-01 2.17125429e-02 2.06601454e+02] [-1.95933896e-01 9.80609087e-01 -3.96570529e-03 -2.52397030e+01] [-2.20686907e-02 -3.66369598e-04 9.99756390e-01 -6.17059280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.63, Y:-25.24, Z:-6.17 [[ 9.80779429e-01 1.93954522e-01 2.12921181e-02 2.06629539e+02] [-1.93915804e-01 9.81010471e-01 -3.88806496e-03 -2.52406514e+01] [-2.16418986e-02 -3.15544058e-04 9.99765737e-01 -6.17285056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65587156000004 meters Centerline goodness [0,1] 0.9998710509348807 Centerline is valid? [True, True] Translation: X:206.66, Y:-25.25, Z:-6.17 [[ 9.81238269e-01 1.91713706e-01 2.04282959e-02 2.06657449e+02] [-1.91677606e-01 9.81450859e-01 -3.72912893e-03 -2.52468470e+01] [-2.07642937e-02 -2.56482822e-04 9.99784366e-01 -6.17369714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.69, Y:-25.26, Z:-6.18 [[ 9.81843531e-01 1.88546680e-01 2.08189832e-02 2.06685019e+02] [-1.88508494e-01 9.82064210e-01 -3.79947812e-03 -2.52551371e+01] [-2.11619573e-02 -1.94062165e-04 9.99776042e-01 -6.17694858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.71, Y:-25.27, Z:-6.18 [[ 9.83250296e-01 1.81124458e-01 2.03171485e-02 2.06710573e+02] [-1.81086520e-01 9.83460182e-01 -3.70711082e-03 -2.52690562e+01] [-2.06525550e-02 -3.41439146e-05 9.99786713e-01 -6.17858294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.74, Y:-25.28, Z:-6.18 [[ 9.83982956e-01 1.77105116e-01 2.02810254e-02 2.06736968e+02] [-1.77066480e-01 9.84191940e-01 -3.69947734e-03 -2.52790241e+01] [-2.06156181e-02 4.91328564e-05 9.99787474e-01 -6.17964341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.76, Y:-25.29, Z:-6.18 [[ 9.85390622e-01 1.68987705e-01 2.11772763e-02 2.06764101e+02] [-1.68943737e-01 9.85618133e-01 -3.86130841e-03 -2.52924714e+01] [-2.15252211e-02 2.27128912e-04 9.99768280e-01 -6.17678199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80587156000004 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:206.79, Y:-25.30, Z:-6.18 [[ 9.86033376e-01 1.65179792e-01 2.13030087e-02 2.06792008e+02] [-1.65134436e-01 9.86263423e-01 -3.88309970e-03 -2.53016869e+01] [-2.16517879e-02 3.11005580e-04 9.99765524e-01 -6.17743410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.82, Y:-25.31, Z:-6.18 [[ 9.87159545e-01 1.58376042e-01 2.08101167e-02 2.06820793e+02] [-1.58331271e-01 9.87378766e-01 -3.79220398e-03 -2.53139443e+01] [-2.11480617e-02 4.48618130e-04 9.99776254e-01 -6.17812108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.85, Y:-25.32, Z:-6.18 [[ 9.87606123e-01 1.55537068e-01 2.10325020e-02 2.06849678e+02] [-1.55490688e-01 9.87829922e-01 -3.83283511e-03 -2.53219266e+01] [-2.13726827e-02 5.14973225e-04 9.99771445e-01 -6.17891043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89587156000002 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:206.88, Y:-25.33, Z:-6.18 [[ 9.87994514e-01 1.53067719e-01 2.09072445e-02 2.06878023e+02] [-1.53021356e-01 9.88215541e-01 -3.80911117e-03 -2.53329163e+01] [-2.12439159e-02 5.64126033e-04 9.99774163e-01 -6.18067566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92587156000002 meters Centerline goodness [0,1] 0.9996379589402845 Centerline is valid? [True, True] Translation: X:206.91, Y:-25.35, Z:-6.18 [[ 9.88324695e-01 1.50940700e-01 2.07654136e-02 2.06905452e+02] [-1.50894460e-01 9.88542632e-01 -3.78496794e-03 -2.53488412e+01] [-2.10988024e-02 6.07391419e-04 9.99777211e-01 -6.18431514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95587156000002 meters Centerline goodness [0,1] 0.9996350208252823 Centerline is valid? [True, True] Translation: X:206.94, Y:-25.35, Z:-6.18 [[ 9.88785681e-01 1.47839965e-01 2.11239727e-02 2.06936400e+02] [-1.47791405e-01 9.89011059e-01 -3.85039683e-03 -2.53514845e+01] [-2.14610851e-02 6.85275661e-04 9.99769450e-01 -6.18030316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98587156000002 meters Centerline goodness [0,1] 0.999786183155509 Centerline is valid? [True, True] Translation: X:206.97, Y:-25.36, Z:-6.18 [[ 9.88976393e-01 1.46481051e-01 2.16563063e-02 2.06966637e+02] [-1.46429669e-01 9.89213204e-01 -3.94822856e-03 -2.53600355e+01] [-2.20010448e-02 7.33579077e-04 9.99757679e-01 -6.18251332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01587156000002 meters Centerline goodness [0,1] 0.9998508385007139 Centerline is valid? [True, True] Translation: X:207.00, Y:-25.36, Z:-6.18 [[ 9.89201867e-01 1.44914525e-01 2.18962859e-02 2.06998898e+02] [-1.44861607e-01 9.89443872e-01 -3.99229922e-03 -2.53646236e+01] [-2.22436880e-02 7.77258694e-04 9.99752276e-01 -6.18189673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04587156000002 meters Centerline goodness [0,1] 0.9997647914127483 Centerline is valid? [True, True] Translation: X:207.03, Y:-25.38, Z:-6.18 [[ 9.89667036e-01 1.41639935e-01 2.22999425e-02 2.07027005e+02] [-1.41584185e-01 9.89917863e-01 -4.06735521e-03 -2.53782046e+01] [-2.26512113e-02 8.68008197e-04 9.99743052e-01 -6.18218978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07587156000002 meters Centerline goodness [0,1] 0.9901090158470768 Centerline is valid? [True, True] Translation: X:207.05, Y:-25.40, Z:-6.19 [[ 9.89844561e-01 1.40361781e-01 2.25014414e-02 2.07053940e+02] [-1.40304703e-01 9.90099870e-01 -4.10350467e-03 -2.54024728e+01] [-2.28546494e-02 9.04773741e-04 9.99738389e-01 -6.18599929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10587156000003 meters Centerline goodness [0,1] 0.9985658018665982 Centerline is valid? [True, True] Translation: X:207.09, Y:-25.40, Z:-6.19 [[ 9.90022715e-01 1.39107627e-01 2.24520086e-02 2.07087177e+02] [-1.39050428e-01 9.90276828e-01 -4.09665216e-03 -2.54017493e+01] [-2.28035794e-02 9.33817298e-04 9.99739528e-01 -6.18529469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13587156000003 meters Centerline goodness [0,1] 0.9993152297190302 Centerline is valid? [True, True] Translation: X:207.12, Y:-25.41, Z:-6.19 [[ 9.90105714e-01 1.38499415e-01 2.25518823e-02 2.07118689e+02] [-1.38441544e-01 9.90362058e-01 -4.11504045e-03 -2.54086812e+01] [-2.29044592e-02 9.52207656e-04 9.99737205e-01 -6.18531267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16587156000003 meters Centerline goodness [0,1] 0.9993355339306383 Centerline is valid? [True, True] Translation: X:207.15, Y:-25.42, Z:-6.19 [[ 9.90003013e-01 1.39221931e-01 2.26117039e-02 2.07148930e+02] [-1.39163852e-01 9.90260757e-01 -4.12980580e-03 -2.54165426e+01] [-2.29664426e-02 9.41788372e-04 9.99735793e-01 -6.18596223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19587156000003 meters Centerline goodness [0,1] 0.9995732878173672 Centerline is valid? [True, True] Translation: X:207.18, Y:-25.42, Z:-6.19 [[ 9.89788704e-01 1.40734225e-01 2.26318390e-02 2.07180196e+02] [-1.40676360e-01 9.90046993e-01 -4.13687063e-03 -2.54230009e+01] [-2.29887835e-02 9.10863088e-04 9.99735308e-01 -6.18708776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22587156000003 meters Centerline goodness [0,1] 0.9996360756106437 Centerline is valid? [True, True] Translation: X:207.21, Y:-25.43, Z:-6.19 [[ 9.89215527e-01 1.44803541e-01 2.20130819e-02 2.07209551e+02] [-1.44749697e-01 9.89460104e-01 -4.02848585e-03 -2.54271597e+01] [-2.23644053e-02 7.98653813e-04 9.99749566e-01 -6.18876862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25587156000003 meters Centerline goodness [0,1] 0.9997443272611057 Centerline is valid? [True, True] Translation: X:207.24, Y:-25.43, Z:-6.19 [[ 9.88856548e-01 1.47265064e-01 2.18112046e-02 2.07241097e+02] [-1.47212807e-01 9.89096790e-01 -3.99125530e-03 -2.54311721e+01] [-2.21611649e-02 7.35890282e-04 9.99754140e-01 -6.19012265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28587156000003 meters Centerline goodness [0,1] 0.9997443272611057 Centerline is valid? [True, True] Translation: X:207.27, Y:-25.44, Z:-6.19 [[ 9.88829695e-01 1.47445249e-01 2.18112810e-02 2.07273049e+02] [-1.47393045e-01 9.89069949e-01 -3.99083873e-03 -2.54372076e+01] [-2.21613128e-02 7.31428722e-04 9.99754140e-01 -6.19110388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31587156000003 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:207.30, Y:-25.44, Z:-6.19 [[ 9.88442236e-01 1.50031197e-01 2.17390263e-02 2.07304730e+02] [-1.49979845e-01 9.88681032e-01 -3.98290391e-03 -2.54402767e+01] [-2.20905228e-02 6.76454641e-04 9.99755746e-01 -6.19193126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.33, Y:-25.45, Z:-6.19 [[ 9.87546535e-01 1.55775687e-01 2.20403174e-02 2.07333759e+02] [-1.55724305e-01 9.87792299e-01 -4.03924044e-03 -2.54458107e+01] [-2.24004713e-02 5.56724779e-04 9.99748923e-01 -6.19352503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.36, Y:-25.45, Z:-6.19 [[ 9.87047344e-01 1.58856272e-01 2.24103702e-02 2.07364032e+02] [-1.58803949e-01 9.87301595e-01 -4.10677226e-03 -2.54494418e+01] [-2.27781808e-02 4.94723364e-04 9.99740421e-01 -6.19387545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.40, Y:-25.45, Z:-6.19 [[ 9.86524038e-01 1.62029038e-01 2.27357063e-02 2.07395706e+02] [-1.61976023e-01 9.86785898e-01 -4.16657688e-03 -2.54515161e+01] [-2.31103808e-02 4.27788981e-04 9.99732828e-01 -6.19361887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.43, Y:-25.45, Z:-6.19 [[ 9.85554982e-01 1.67875705e-01 2.23410882e-02 2.07426885e+02] [-1.67826001e-01 9.85808128e-01 -4.09485854e-03 -2.54526103e+01] [-2.27114536e-02 2.86292762e-04 9.99742021e-01 -6.19490729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.46, Y:-25.46, Z:-6.20 [[ 9.85131594e-01 1.70376679e-01 2.20800696e-02 2.07457405e+02] [-1.70328749e-01 9.85378981e-01 -4.04736592e-03 -2.54569253e+01] [-2.24468133e-02 2.26317398e-04 9.99748013e-01 -6.19615783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.49, Y:-25.46, Z:-6.20 [[ 9.84759385e-01 1.72522181e-01 2.20238781e-02 2.07487403e+02] [-1.72475031e-01 9.85005617e-01 -4.03706578e-03 -2.54617837e+01] [-2.23901270e-02 1.76969346e-04 9.99749294e-01 -6.19708504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.52, Y:-25.47, Z:-6.20 [[ 9.84412426e-01 1.74450476e-01 2.23429594e-02 2.07516966e+02] [-1.74402446e-01 9.84665940e-01 -4.09555467e-03 -2.54668411e+01] [-2.27148226e-02 1.35048144e-04 9.99741976e-01 -6.19815322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.55, Y:-25.47, Z:-6.20 [[ 9.83859262e-01 1.77594554e-01 2.19346161e-02 2.07546268e+02] [-1.77549045e-01 9.84103740e-01 -4.02070369e-03 -2.54735266e+01] [-2.22999928e-02 6.13364381e-05 9.99751322e-01 -6.19960503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.57, Y:-25.48, Z:-6.20 [[ 9.83634724e-01 1.78829065e-01 2.19748746e-02 2.07574590e+02] [-1.78783690e-01 9.83880158e-01 -4.02836110e-03 -2.54797548e+01] [-2.23410311e-02 3.36866890e-05 9.99750407e-01 -6.20139451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.60, Y:-25.49, Z:-6.20 [[ 9.83402382e-01 1.80123363e-01 2.18020327e-02 2.07603201e+02] [-1.80079037e-01 9.83644028e-01 -3.99580221e-03 -2.54854137e+01] [-2.21651766e-02 3.39236891e-06 9.99754322e-01 -6.20207516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.63, Y:-25.49, Z:-6.20 [[ 9.82786881e-01 1.83520114e-01 2.12206075e-02 2.07631565e+02] [-1.83478921e-01 9.83015952e-01 -3.88884897e-03 -2.54899393e+01] [-2.15738777e-02 -7.16244088e-05 9.99767254e-01 -6.20398466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67587156000002 meters Centerline goodness [0,1] 0.9998295406119492 Centerline is valid? [True, True] Translation: X:207.66, Y:-25.49, Z:-6.20 [[ 9.82436685e-01 1.85403875e-01 2.10609557e-02 2.07658845e+02] [-1.85363743e-01 9.82662399e-01 -3.85904711e-03 -2.54932083e+01] [-2.14112915e-02 -1.12668134e-04 9.99770746e-01 -6.20340485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.69, Y:-25.50, Z:-6.20 [[ 9.81573242e-01 1.89857778e-01 2.16331898e-02 2.07687638e+02] [-1.89816547e-01 9.81811579e-01 -3.96246761e-03 -2.54956940e+01] [-2.19920215e-02 -2.16885209e-04 9.99758123e-01 -6.20470993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73587156000002 meters Centerline goodness [0,1] 0.9997858351358876 Centerline is valid? [True, True] Translation: X:207.72, Y:-25.50, Z:-6.20 [[ 9.81119879e-01 1.92194737e-01 2.15630759e-02 2.07715830e+02] [-1.92154358e-01 9.81356770e-01 -3.94870183e-03 -2.54987222e+01] [-2.19199903e-02 -2.69289150e-04 9.99759692e-01 -6.20340605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.74, Y:-25.50, Z:-6.21 [[ 9.80670188e-01 1.94422014e-01 2.20468266e-02 2.07744053e+02] [-1.94380395e-01 9.80917924e-01 -4.03594309e-03 -2.55016785e+01] [-2.24108036e-02 -3.27541799e-04 9.99748793e-01 -6.20527716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79587156000002 meters Centerline goodness [0,1] 0.9999787500796872 Centerline is valid? [True, True] Translation: X:207.77, Y:-25.50, Z:-6.21 [[ 9.80259756e-01 1.96461870e-01 2.22158651e-02 2.07772815e+02] [-1.96420166e-01 9.80511392e-01 -4.06549239e-03 -2.55044495e+01] [-2.25816231e-02 -3.78405328e-04 9.99744931e-01 -6.20596385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82587156000002 meters Centerline goodness [0,1] 0.9999357147448947 Centerline is valid? [True, True] Translation: X:207.80, Y:-25.51, Z:-6.21 [[ 9.79515307e-01 2.00171485e-01 2.19348953e-02 2.07801744e+02] [-2.00131782e-01 9.79760770e-01 -4.01297872e-03 -2.55051356e+01] [-2.22942338e-02 -4.59095603e-04 9.99751347e-01 -6.20752198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85587156000003 meters Centerline goodness [0,1] 0.9998714873200822 Centerline is valid? [True, True] Translation: X:207.83, Y:-25.51, Z:-6.21 [[ 9.79193559e-01 2.01759790e-01 2.17476808e-02 2.07830661e+02] [-2.01721167e-01 9.79434911e-01 -3.97807118e-03 -2.55081789e+01] [-2.21030526e-02 -4.91665872e-04 9.99755577e-01 -6.20917939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88587156000003 meters Centerline goodness [0,1] 0.9998709871632228 Centerline is valid? [True, True] Translation: X:207.86, Y:-25.51, Z:-6.21 [[ 9.78664758e-01 2.04383300e-01 2.10418057e-02 2.07860775e+02] [-2.04347774e-01 9.78890791e-01 -3.84783235e-03 -2.55091678e+01] [-2.13840626e-02 -5.34108247e-04 9.99771192e-01 -6.21047996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91587156000003 meters Centerline goodness [0,1] 0.9997650978047322 Centerline is valid? [True, True] Translation: X:207.89, Y:-25.51, Z:-6.21 [[ 9.78442765e-01 2.05413259e-01 2.13342263e-02 2.07888509e+02] [-2.05376988e-01 9.78675163e-01 -3.90109117e-03 -2.55118581e+01] [-2.16806132e-02 -5.64564709e-04 9.99764788e-01 -6.20957719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94587156000003 meters Centerline goodness [0,1] 0.999786875812536 Centerline is valid? [True, True] Translation: X:207.92, Y:-25.52, Z:-6.21 [[ 9.78255478e-01 2.06265528e-01 2.16968121e-02 2.07917075e+02] [-2.06228253e-01 9.78495875e-01 -3.96604039e-03 -2.55157878e+01] [-2.20482985e-02 -5.94694917e-04 9.99756730e-01 -6.21134645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97587156000003 meters Centerline goodness [0,1] 0.9997639383664535 Centerline is valid? [True, True] Translation: X:207.94, Y:-25.52, Z:-6.21 [[ 9.78125344e-01 2.06865139e-01 2.18546741e-02 2.07944344e+02] [-2.06827489e-01 9.78369275e-01 -3.99398974e-03 -2.55194959e+01] [-2.22081589e-02 -6.13524777e-04 9.99753180e-01 -6.21160006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00587156000003 meters Centerline goodness [0,1] 0.9997422015983501 Centerline is valid? [True, True] Translation: X:207.97, Y:-25.52, Z:-6.21 [[ 9.77869900e-01 2.07964139e-01 2.28336560e-02 2.07972452e+02] [-2.07923367e-01 9.78136223e-01 -4.17170665e-03 -2.55208588e+01] [-2.32019914e-02 -6.68264256e-04 9.99730574e-01 -6.21078860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03587156000003 meters Centerline goodness [0,1] 0.9997232511602163 Centerline is valid? [True, True] Translation: X:208.00, Y:-25.52, Z:-6.21 [[ 9.77796622e-01 2.08295262e-01 2.29532081e-02 2.08001428e+02] [-2.08254202e-01 9.78065754e-01 -4.19146087e-03 -2.55241738e+01] [-2.33228083e-02 -6.81705754e-04 9.99727754e-01 -6.21098519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06587156000003 meters Centerline goodness [0,1] 0.9997230152980782 Centerline is valid? [True, True] Translation: X:208.03, Y:-25.53, Z:-6.21 [[ 9.77738177e-01 2.08603480e-01 2.26416773e-02 2.08029241e+02] [-2.08563630e-01 9.78000064e-01 -4.13366383e-03 -2.55260010e+01] [-2.30058586e-02 -6.80589481e-04 9.99735099e-01 -6.21269145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09587156000003 meters Centerline goodness [0,1] 0.9996586739482891 Centerline is valid? [True, True] Translation: X:208.06, Y:-25.53, Z:-6.21 [[ 9.77723742e-01 2.08696661e-01 2.24050874e-02 2.08057861e+02] [-2.08657694e-01 9.77980187e-01 -4.08916516e-03 -2.55295054e+01] [-2.27651266e-02 -6.76919993e-04 9.99740612e-01 -6.21401343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12587156000004 meters Centerline goodness [0,1] 0.99974641815646 Centerline is valid? [True, True] Translation: X:208.09, Y:-25.53, Z:-6.21 [[ 9.77713389e-01 2.08703675e-01 2.27882467e-02 2.08086159e+02] [-2.08663386e-01 9.77978681e-01 -4.15822363e-03 -2.55323052e+01] [-2.31542560e-02 -6.89521780e-04 9.99731666e-01 -6.21436660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15587156000004 meters Centerline goodness [0,1] 0.9999353573660281 Centerline is valid? [True, True] Translation: X:208.11, Y:-25.55, Z:-6.21 [[ 9.77719665e-01 2.08633350e-01 2.31599132e-02 2.08112973e+02] [-2.08591755e-01 9.77993678e-01 -4.22438823e-03 -2.55466783e+01] [-2.35315969e-02 -7.00699492e-04 9.99722848e-01 -6.21195961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18587156000004 meters Centerline goodness [0,1] 0.999572183362211 Centerline is valid? [True, True] Translation: X:208.14, Y:-25.54, Z:-6.21 [[ 9.77860272e-01 2.08003607e-01 2.28864086e-02 2.08142848e+02] [-2.07962837e-01 9.78127824e-01 -4.17359682e-03 -2.55388063e+01] [-2.32539562e-02 -6.78327947e-04 9.99729360e-01 -6.21431168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21587156000004 meters Centerline goodness [0,1] 0.9998286203941731 Centerline is valid? [True, True] Translation: X:208.17, Y:-25.54, Z:-6.22 [[ 9.77987872e-01 2.07429417e-01 2.26441659e-02 2.08171353e+02] [-2.07389400e-01 9.78249764e-01 -4.12736355e-03 -2.55441667e+01] [-2.30077866e-02 -6.59648484e-04 9.99735068e-01 -6.21680872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24587156000004 meters Centerline goodness [0,1] 0.9997852049145115 Centerline is valid? [True, True] Translation: X:208.20, Y:-25.55, Z:-6.22 [[ 9.78354258e-01 2.05699224e-01 2.26003252e-02 2.08199521e+02] [-2.05658917e-01 9.78615066e-01 -4.11863795e-03 -2.55506297e+01] [-2.29642194e-02 -6.18471436e-04 9.99736096e-01 -6.21726376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27587156000004 meters Centerline goodness [0,1] 0.9997448979591836 Centerline is valid? [True, True] Translation: X:208.23, Y:-25.55, Z:-6.22 [[ 9.78688295e-01 2.04079251e-01 2.28228305e-02 2.08227777e+02] [-2.04037748e-01 9.78954194e-01 -4.15734739e-03 -2.55523743e+01] [-2.31909340e-02 -5.87971724e-04 9.99730881e-01 -6.21905615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30587156000004 meters Centerline goodness [0,1] 0.9997664890568281 Centerline is valid? [True, True] Translation: X:208.26, Y:-25.56, Z:-6.22 [[ 9.79044267e-01 2.02343090e-01 2.30129654e-02 2.08255601e+02] [-2.02300460e-01 9.79314540e-01 -4.18998247e-03 -2.55582411e+01] [-2.33847456e-02 -5.53355165e-04 9.99726386e-01 -6.21960228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33587156000004 meters Centerline goodness [0,1] 0.999957470335559 Centerline is valid? [True, True] Translation: X:208.28, Y:-25.57, Z:-6.22 [[ 9.79820850e-01 1.98473413e-01 2.36517749e-02 2.08283661e+02] [-1.98427284e-01 9.80106157e-01 -4.30510808e-03 -2.55690135e+01] [-2.40356997e-02 -4.74922806e-04 9.99710988e-01 -6.21810339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36587156000002 meters Centerline goodness [0,1] 0.9998933651815991 Centerline is valid? [True, True] Translation: X:208.31, Y:-25.57, Z:-6.22 [[ 9.80250737e-01 1.96358191e-01 2.34936838e-02 2.08310952e+02] [-1.96312076e-01 9.80532143e-01 -4.27609726e-03 -2.55724410e+01] [-2.38759589e-02 -4.20446341e-04 9.99714840e-01 -6.21895101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:-25.58, Z:-6.22 [[ 9.80630417e-01 1.94466803e-01 2.33805151e-02 2.08338480e+02] [-1.94420636e-01 9.80909029e-01 -4.25369183e-03 -2.55849593e+01] [-2.37613602e-02 -3.74355026e-04 9.99717589e-01 -6.21969742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.37, Y:-25.59, Z:-6.22 [[ 9.81205582e-01 1.91593447e-01 2.29685878e-02 2.08365360e+02] [-1.91548121e-01 9.81474330e-01 -4.17810058e-03 -2.55906447e+01] [-2.33435760e-02 -3.00014216e-04 9.99727457e-01 -6.22147069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.39, Y:-25.59, Z:-6.22 [[ 9.81405534e-01 1.90590704e-01 2.27675663e-02 2.08394267e+02] [-1.90545930e-01 9.81669551e-01 -4.14011798e-03 -2.55948030e+01] [-2.31392946e-02 -2.75132395e-04 9.99732213e-01 -6.22239844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:-25.60, Z:-6.22 [[ 9.81565814e-01 1.89782538e-01 2.26084436e-02 2.08422995e+02] [-1.89738198e-01 9.81826117e-01 -4.11011579e-03 -2.55985213e+01] [-2.29775886e-02 -2.55336202e-04 9.99735948e-01 -6.22367049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:-25.60, Z:-6.23 [[ 9.81969113e-01 1.87729668e-01 2.22313462e-02 2.08451279e+02] [-1.87686293e-01 9.82220713e-01 -4.04049663e-03 -2.56006504e+01] [-2.25946099e-02 -2.04876069e-04 9.99744688e-01 -6.22663872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54587156000002 meters Centerline goodness [0,1] 0.9999786247141056 Centerline is valid? [True, True] Translation: X:208.48, Y:-25.61, Z:-6.23 [[ 9.82243685e-01 1.86298871e-01 2.21375969e-02 2.08478813e+02] [-1.86255520e-01 9.82493105e-01 -4.02245911e-03 -2.56061307e+01] [-2.24994160e-02 -1.72214572e-04 9.99746841e-01 -6.22803395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57587156000002 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:208.51, Y:-25.61, Z:-6.23 [[ 9.82546257e-01 1.84714255e-01 2.19885527e-02 2.08506709e+02] [-1.84671119e-01 9.82792260e-01 -3.99402363e-03 -2.56114860e+01] [-2.23479325e-02 -1.36337665e-04 9.99750244e-01 -6.22851210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.53, Y:-25.62, Z:-6.23 [[ 9.83177187e-01 1.81308441e-01 2.21329456e-02 2.08533571e+02] [-1.81263895e-01 9.83426279e-01 -4.01930738e-03 -2.56174831e+01] [-2.24948547e-02 -6.02125980e-05 9.99746957e-01 -6.22981141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:-25.62, Z:-6.23 [[ 9.83506581e-01 1.79473802e-01 2.24490465e-02 2.08562171e+02] [-1.79427528e-01 9.83762753e-01 -4.07531026e-03 -2.56234491e+01] [-2.28159472e-02 -1.98824603e-05 9.99739682e-01 -6.23021075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.59, Y:-25.63, Z:-6.23 [[ 9.84104728e-01 1.76205510e-01 2.21246970e-02 2.08590552e+02] [-1.76159759e-01 9.84353400e-01 -4.01547555e-03 -2.56297334e+01] [-2.24860696e-02 5.41671755e-05 9.99747155e-01 -6.23002158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.62, Y:-25.64, Z:-6.23 [[ 9.84353387e-01 1.74862573e-01 2.17138262e-02 2.08618653e+02] [-1.74818205e-01 9.84592847e-01 -3.93974661e-03 -2.56357406e+01] [-2.20681922e-02 8.21307935e-05 9.99756464e-01 -6.23264147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72587156000003 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:208.65, Y:-25.64, Z:-6.23 [[ 9.84538110e-01 1.73851775e-01 2.14539155e-02 2.08646922e+02] [-1.73808237e-01 9.84771826e-01 -3.89189416e-03 -2.56400236e+01] [-2.18038242e-02 1.02850899e-04 9.99762263e-01 -6.23218998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75587156000003 meters Centerline goodness [0,1] 0.9997850941287716 Centerline is valid? [True, True] Translation: X:208.68, Y:-25.64, Z:-6.23 [[ 9.84609971e-01 1.73462923e-01 2.13030341e-02 2.08675286e+02] [-1.73419927e-01 9.84840394e-01 -3.86349231e-03 -2.56437629e+01] [-2.16502612e-02 1.09662421e-04 9.99765600e-01 -6.23267925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78587156000003 meters Centerline goodness [0,1] 0.9999571174339072 Centerline is valid? [True, True] Translation: X:208.70, Y:-25.64, Z:-6.23 [[ 9.84532795e-01 1.73896319e-01 2.13365105e-02 2.08704427e+02] [-1.73853311e-01 9.84763962e-01 -3.86853836e-03 -2.56434204e+01] [-2.16841512e-02 9.92798726e-05 9.99764866e-01 -6.23316439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:-25.65, Z:-6.24 [[ 9.84455252e-01 1.74332605e-01 2.13541300e-02 2.08731555e+02] [-1.74289651e-01 9.84686821e-01 -3.87076174e-03 -2.56467370e+01] [-2.17019303e-02 8.87878731e-05 9.99764481e-01 -6.23837182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84587156000003 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:208.76, Y:-25.65, Z:-6.24 [[ 9.84330215e-01 1.75058595e-01 2.11782188e-02 2.08760885e+02] [-1.75016544e-01 9.84558014e-01 -3.83743697e-03 -2.56476349e+01] [-2.15229614e-02 7.07664985e-05 9.99768352e-01 -6.23746632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:-25.65, Z:-6.24 [[ 9.84113124e-01 1.76244891e-01 2.14265748e-02 2.08790835e+02] [-1.76202151e-01 9.84346350e-01 -3.88145499e-03 -2.56455621e+01] [-2.17752573e-02 4.43822397e-05 9.99762890e-01 -6.23775575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90587156000004 meters Centerline goodness [0,1] 0.9997863110883176 Centerline is valid? [True, True] Translation: X:208.82, Y:-25.65, Z:-6.24 [[ 9.83999234e-01 1.76918237e-01 2.11055695e-02 2.08818670e+02] [-1.76876942e-01 9.84225552e-01 -3.82239125e-03 -2.56471555e+01] [-2.14488916e-02 2.81414648e-05 9.99769946e-01 -6.23738894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.85, Y:-25.65, Z:-6.24 [[ 9.83950793e-01 1.77155338e-01 2.13734245e-02 2.08847361e+02] [-1.77113075e-01 9.84182903e-01 -3.86945641e-03 -2.56490922e+01] [-2.17208538e-02 2.18417693e-05 9.99764074e-01 -6.24012047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:-25.65, Z:-6.24 [[ 9.83855773e-01 1.77673311e-01 2.14479155e-02 2.08875194e+02] [-1.77630895e-01 9.84089526e-01 -3.88210700e-03 -2.56504639e+01] [-2.17964158e-02 9.62097801e-06 9.99762430e-01 -6.24029494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99587156000004 meters Centerline goodness [0,1] 0.9999353768606078 Centerline is valid? [True, True] Translation: X:208.90, Y:-25.65, Z:-6.24 [[ 9.83779606e-01 1.78112062e-01 2.13021099e-02 2.08902680e+02] [-1.78070354e-01 9.84010210e-01 -3.85427088e-03 -2.56484980e+01] [-2.16479857e-02 -1.52116822e-06 9.99765655e-01 -6.24067991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02587156000004 meters Centerline goodness [0,1] 0.9998272436727995 Centerline is valid? [True, True] Translation: X:208.93, Y:-25.65, Z:-6.24 [[ 9.83823180e-01 1.77881186e-01 2.12187297e-02 2.08930372e+02] [-1.77839791e-01 9.84051972e-01 -3.83728930e-03 -2.56505835e+01] [-2.15629143e-02 1.67970223e-06 9.99767493e-01 -6.24117364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:-25.65, Z:-6.24 [[ 9.83943020e-01 1.77227408e-01 2.11324264e-02 2.08956974e+02] [-1.77186230e-01 9.84169927e-01 -3.82025069e-03 -2.56535787e+01] [-2.14749516e-02 1.45340414e-05 9.99769387e-01 -6.24444266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:-25.66, Z:-6.25 [[ 9.84189493e-01 1.75901045e-01 2.07331847e-02 2.08984653e+02] [-1.75861155e-01 9.84407853e-01 -3.74615490e-03 -2.56562416e+01] [-2.10688624e-02 4.07644973e-05 9.99778026e-01 -6.24646328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11587156000002 meters Centerline goodness [0,1] 0.9999784524553427 Centerline is valid? [True, True] Translation: X:209.01, Y:-25.66, Z:-6.25 [[ 9.84351579e-01 1.74997946e-01 2.06806315e-02 2.09012284e+02] [-1.74958086e-01 9.84568797e-01 -3.73531381e-03 -2.56606346e+01] [-2.10151767e-02 5.86183458e-05 9.99779155e-01 -6.24749316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.04, Y:-25.66, Z:-6.25 [[ 9.84749353e-01 1.72684377e-01 2.11853340e-02 2.09040853e+02] [-1.72642034e-01 9.84977205e-01 -3.82544302e-03 -2.56648496e+01] [-2.15276653e-02 1.09623390e-04 9.99768247e-01 -6.24793717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17587156000002 meters Centerline goodness [0,1] 0.9999356181728437 Centerline is valid? [True, True] Translation: X:209.07, Y:-25.67, Z:-6.25 [[ 9.84949873e-01 1.71532409e-01 2.12221641e-02 2.09067883e+02] [-1.71489671e-01 9.85178468e-01 -3.83118715e-03 -2.56693237e+01] [-2.15647919e-02 1.34145345e-04 9.99767444e-01 -6.24735172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20587156000002 meters Centerline goodness [0,1] 0.9999356181728437 Centerline is valid? [True, True] Translation: X:209.09, Y:-25.67, Z:-6.25 [[ 9.84961446e-01 1.71465920e-01 2.12223635e-02 2.09094950e+02] [-1.71423191e-01 9.85190043e-01 -3.83008234e-03 -2.56740689e+01] [-2.15647898e-02 1.34478159e-04 9.99767444e-01 -6.24818101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.12, Y:-25.68, Z:-6.25 [[ 9.85183294e-01 1.70179227e-01 2.12816401e-02 2.09123358e+02] [-1.70135994e-01 9.85413114e-01 -3.83911493e-03 -2.56779435e+01] [-2.16245448e-02 1.61458900e-04 9.99766149e-01 -6.24934852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26587156000002 meters Centerline goodness [0,1] 0.9998274262786634 Centerline is valid? [True, True] Translation: X:209.15, Y:-25.68, Z:-6.25 [[ 9.85617299e-01 1.67656919e-01 2.12060672e-02 2.09150942e+02] [-1.67613429e-01 9.85845379e-01 -3.82455351e-03 -2.56826238e+01] [-2.15471162e-02 2.15124467e-04 9.99767811e-01 -6.24938204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:-25.69, Z:-6.25 [[ 9.85907476e-01 1.65958372e-01 2.10776736e-02 2.09178628e+02] [-1.65915046e-01 9.86132728e-01 -3.80013883e-03 -2.56884952e+01] [-2.14160486e-02 2.49482099e-04 9.99770619e-01 -6.25159938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:-25.70, Z:-6.25 [[ 9.86161613e-01 1.64478028e-01 2.07906558e-02 2.09207025e+02] [-1.64435574e-01 9.86380708e-01 -3.74704396e-03 -2.56953123e+01] [-2.11238082e-02 2.76467506e-04 9.99776829e-01 -6.25298885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.24, Y:-25.70, Z:-6.25 [[ 9.86401557e-01 1.63009091e-01 2.09762900e-02 2.09235599e+02] [-1.62965565e-01 9.86624518e-01 -3.77946716e-03 -2.57011085e+01] [-2.13118095e-02 3.09659359e-04 9.99772830e-01 -6.25352499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.26, Y:-25.71, Z:-6.25 [[ 9.86873976e-01 1.60046588e-01 2.15602738e-02 2.09262770e+02] [-1.59999917e-01 9.87109388e-01 -3.88376260e-03 -2.57090462e+01] [-2.19039316e-02 3.83142215e-04 9.99760007e-01 -6.25357966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:-25.71, Z:-6.25 [[ 9.87075833e-01 1.58742067e-01 2.19603411e-02 2.09291321e+02] [-1.58693366e-01 9.87320000e-01 -3.95397695e-03 -2.57146312e+01] [-2.23095465e-02 4.17914631e-04 9.99751024e-01 -6.25377122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.32, Y:-25.72, Z:-6.25 [[ 9.87261301e-01 1.57548054e-01 2.22201473e-02 2.09318223e+02] [-1.57497913e-01 9.87511220e-01 -3.99981191e-03 -2.57217773e+01] [-2.25728073e-02 4.49232675e-04 9.99745101e-01 -6.25449556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.35, Y:-25.73, Z:-6.26 [[ 9.87466419e-01 1.56166852e-01 2.28470139e-02 2.09345285e+02] [-1.56113511e-01 9.87730566e-01 -4.11100135e-03 -2.57286397e+01] [-2.32086961e-02 4.92748224e-04 9.99730521e-01 -6.25504551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.37, Y:-25.73, Z:-6.26 [[ 9.87490042e-01 1.55978755e-01 2.31094252e-02 2.09373530e+02] [-1.55924163e-01 9.87760283e-01 -4.15678322e-03 -2.57323324e+01] [-2.34749423e-02 5.01464259e-04 9.99724300e-01 -6.25507253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:-25.73, Z:-6.26 [[ 9.87433542e-01 1.56362899e-01 2.29269325e-02 2.09402568e+02] [-1.56309294e-01 9.87699553e-01 -4.12290769e-03 -2.57331170e+01] [-2.32895908e-02 4.87404729e-04 9.99728642e-01 -6.25525702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56587156000003 meters Centerline goodness [0,1] 0.9998926232148609 Centerline is valid? [True, True] Translation: X:209.43, Y:-25.74, Z:-6.26 [[ 9.87337205e-01 1.57047582e-01 2.23897465e-02 2.09430021e+02] [-1.56996658e-01 9.87590931e-01 -4.02531069e-03 -2.57388686e+01] [-2.27440759e-02 4.59223631e-04 9.99741215e-01 -6.25627296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:-25.74, Z:-6.26 [[ 9.87036261e-01 1.59061540e-01 2.14206772e-02 2.09458434e+02] [-1.59015433e-01 9.87268591e-01 -3.84972687e-03 -2.57406360e+01] [-2.17603053e-02 3.93601745e-04 9.99763139e-01 -6.26018251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:-25.74, Z:-6.26 [[ 9.86831731e-01 1.60306902e-01 2.15599424e-02 2.09487206e+02] [-1.60260513e-01 9.87067152e-01 -3.87372421e-03 -2.57422437e+01] [-2.19020956e-02 3.67506537e-04 9.99760053e-01 -6.26062338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:-25.75, Z:-6.26 [[ 9.86577581e-01 1.61832991e-01 2.17889857e-02 2.09514501e+02] [-1.61786005e-01 9.86818104e-01 -3.91389668e-03 -2.57454037e+01] [-2.21351632e-02 3.36209761e-04 9.99754931e-01 -6.26158139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.54, Y:-25.75, Z:-6.26 [[ 9.86277704e-01 1.63608591e-01 2.21024556e-02 2.09542347e+02] [-1.63560720e-01 9.86525286e-01 -3.96882552e-03 -2.57473815e+01] [-2.24539653e-02 2.99270570e-04 9.99747833e-01 -6.26194972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.57, Y:-25.75, Z:-6.26 [[ 9.85997740e-01 1.65316876e-01 2.18811937e-02 2.09569733e+02] [-1.65270408e-01 9.86240470e-01 -3.92781353e-03 -2.57502738e+01] [-2.22294526e-02 2.56501458e-04 9.99752862e-01 -6.26326020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.60, Y:-25.75, Z:-6.26 [[ 9.85395772e-01 1.68878894e-01 2.17966076e-02 2.09599241e+02] [-1.68833684e-01 9.85636794e-01 -3.91127666e-03 -2.57469970e+01] [-2.21440705e-02 1.74153915e-04 9.99754775e-01 -6.26356135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.63, Y:-25.75, Z:-6.26 [[ 9.85076685e-01 1.70757520e-01 2.15822775e-02 2.09628042e+02] [-1.70713669e-01 9.85313073e-01 -3.87179625e-03 -2.57484236e+01] [-2.19264385e-02 1.29626434e-04 9.99759578e-01 -6.26488207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.66, Y:-25.75, Z:-6.27 [[ 9.84625193e-01 1.73396245e-01 2.11416995e-02 2.09656990e+02] [-1.73354797e-01 9.84852140e-01 -3.79167064e-03 -2.57482889e+01] [-2.14789095e-02 6.83594066e-05 9.99769299e-01 -6.26682762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:-25.75, Z:-6.27 [[ 9.84514862e-01 1.74022065e-01 2.11378188e-02 2.09683980e+02] [-1.73980784e-01 9.84741752e-01 -3.79061590e-03 -2.57513960e+01] [-2.14749435e-02 5.43434126e-05 9.99769385e-01 -6.26797953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86587156000002 meters Centerline goodness [0,1] 0.9998718386876282 Centerline is valid? [True, True] Translation: X:209.71, Y:-25.75, Z:-6.27 [[ 9.84464973e-01 1.74333869e-01 2.08906467e-02 2.09710468e+02] [-1.74293656e-01 9.84686600e-01 -3.74451294e-03 -2.57549943e+01] [-2.12235353e-02 4.52346489e-05 9.99774754e-01 -6.26820070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:-25.76, Z:-6.27 [[ 9.84562549e-01 1.73755838e-01 2.11067750e-02 2.09737876e+02] [-1.73714698e-01 9.84788762e-01 -3.78132054e-03 -2.57598377e+01] [-2.14427413e-02 5.63895580e-05 9.99770076e-01 -6.26990942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:-25.77, Z:-6.27 [[ 9.84676342e-01 1.73058848e-01 2.15206141e-02 2.09764166e+02] [-1.73015944e-01 9.84911483e-01 -3.85395458e-03 -2.57653932e+01] [-2.18628608e-02 7.14885363e-05 9.99760977e-01 -6.27015081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:-25.77, Z:-6.27 [[ 9.84854542e-01 1.72041600e-01 2.15224984e-02 2.09791308e+02] [-1.71998490e-01 9.85089681e-01 -3.85229252e-03 -2.57716980e+01] [-2.18643456e-02 9.21105547e-05 9.99760942e-01 -6.27079388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:-25.78, Z:-6.27 [[ 9.85190226e-01 1.70082417e-01 2.17299306e-02 2.09818796e+02] [-1.70038026e-01 9.85429832e-01 -3.88802000e-03 -2.57795347e+01] [-2.20746057e-02 1.35524798e-04 9.99756317e-01 -6.27121746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:-25.79, Z:-6.27 [[ 9.85344928e-01 1.69192506e-01 2.16626194e-02 2.09847181e+02] [-1.69148197e-01 9.85583011e-01 -3.87494702e-03 -2.57864079e+01] [-2.20059217e-02 1.53966374e-04 9.99757829e-01 -6.27244318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:-25.79, Z:-6.27 [[ 9.85458031e-01 1.68567250e-01 2.13904291e-02 2.09875357e+02] [-1.68523922e-01 9.85690141e-01 -3.82526580e-03 -2.57932787e+01] [-2.17291497e-02 1.64839881e-04 9.99763881e-01 -6.27372780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:-25.80, Z:-6.28 [[ 9.85601183e-01 1.67752487e-01 2.11993227e-02 2.09902173e+02] [-1.67709760e-01 9.85829129e-01 -3.79020388e-03 -2.58001282e+01] [-2.15347259e-02 1.80296106e-04 9.99768085e-01 -6.27511143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10587156000003 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:209.93, Y:-25.81, Z:-6.28 [[ 9.85873411e-01 1.66106988e-01 2.14961835e-02 2.09929382e+02] [-1.66062691e-01 9.86107713e-01 -3.84210091e-03 -2.58090015e+01] [-2.18357521e-02 2.18111055e-04 9.99761548e-01 -6.27560392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:-25.82, Z:-6.28 [[ 9.86031230e-01 1.65135763e-01 2.17392232e-02 2.09956195e+02] [-1.65090260e-01 9.86270816e-01 -3.88386528e-03 -2.58167703e+01] [-2.20821265e-02 2.40678455e-04 9.99756131e-01 -6.27609609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:-25.83, Z:-6.28 [[ 9.86308427e-01 1.63539880e-01 2.12225251e-02 2.09983807e+02] [-1.63496172e-01 9.86536687e-01 -3.79026630e-03 -2.58268122e+01] [-2.15566593e-02 2.68569970e-04 9.99767592e-01 -6.27765302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19587156000003 meters Centerline goodness [0,1] 0.9999150562752177 Centerline is valid? [True, True] Translation: X:210.01, Y:-25.83, Z:-6.28 [[ 9.86388253e-01 1.63073815e-01 2.10984710e-02 2.10010646e+02] [-1.63030529e-01 9.86613833e-01 -3.76724070e-03 -2.58342776e+01] [-2.14303817e-02 2.76267094e-04 9.99770305e-01 -6.27820155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:-25.84, Z:-6.28 [[ 9.86489591e-01 1.62470486e-01 2.10149521e-02 2.10039023e+02] [-1.62427433e-01 9.86713362e-01 -3.75102957e-03 -2.58416747e+01] [-2.13451657e-02 2.86946901e-04 9.99772125e-01 -6.28002017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25587156000003 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:210.07, Y:-25.85, Z:-6.28 [[ 9.86521734e-01 1.62342146e-01 2.04913409e-02 2.10065314e+02] [-1.62301201e-01 9.86734487e-01 -3.65676889e-03 -2.58517860e+01] [-2.08131605e-02 2.81712748e-04 9.99783343e-01 -6.28185076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.09, Y:-25.86, Z:-6.28 [[ 9.86505654e-01 1.62441920e-01 2.04747990e-02 2.10092296e+02] [-1.62401087e-01 9.86718068e-01 -3.65265053e-03 -2.58591332e+01] [-2.07961976e-02 2.78230795e-04 9.99783697e-01 -6.28312713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.12, Y:-25.87, Z:-6.28 [[ 9.86499541e-01 1.62504022e-01 2.02755451e-02 2.10120610e+02] [-1.62464018e-01 9.86707843e-01 -3.61587118e-03 -2.58662303e+01] [-2.05936330e-02 2.73008729e-04 9.99787891e-01 -6.28435386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34587156000003 meters Centerline goodness [0,1] 0.9999785412330208 Centerline is valid? [True, True] Translation: X:210.15, Y:-25.87, Z:-6.28 [[ 9.86425805e-01 1.62965524e-01 2.01585810e-02 2.10148943e+02] [-1.62926094e-01 9.86631730e-01 -3.59414463e-03 -2.58719202e+01] [-2.04748173e-02 2.60998149e-04 9.99790335e-01 -6.28252203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.18, Y:-25.88, Z:-6.28 [[ 9.86368790e-01 1.63338982e-01 1.99245236e-02 2.10175816e+02] [-1.63300555e-01 9.86569975e-01 -3.55158402e-03 -2.58780325e+01] [-2.02370489e-02 2.49485862e-04 9.99795179e-01 -6.28387784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40587156000004 meters Centerline goodness [0,1] 0.9998272212863375 Centerline is valid? [True, True] Translation: X:210.20, Y:-25.88, Z:-6.28 [[ 9.86202555e-01 1.64284531e-01 2.03743089e-02 2.10204389e+02] [-1.64244580e-01 9.86412965e-01 -3.63037753e-03 -2.58834731e+01] [-2.06938973e-02 2.33917779e-04 9.99785831e-01 -6.28322271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.23, Y:-25.89, Z:-6.28 [[ 9.85814442e-01 1.66531448e-01 2.09084522e-02 2.10232752e+02] [-1.66489902e-01 9.86036125e-01 -3.72450960e-03 -2.58891857e+01] [-2.12367372e-02 1.90629175e-04 9.99774457e-01 -6.28439308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.26, Y:-25.89, Z:-6.29 [[ 9.85570974e-01 1.67971430e-01 2.08675242e-02 2.10259515e+02] [-1.67930388e-01 9.85791851e-01 -3.71631872e-03 -2.58948918e+01] [-2.11952707e-02 1.58404420e-04 9.99775342e-01 -6.28636562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49587156000004 meters Centerline goodness [0,1] 0.9998706645685586 Centerline is valid? [True, True] Translation: X:210.29, Y:-25.90, Z:-6.28 [[ 9.85271336e-01 1.69736011e-01 2.07383779e-02 2.10288495e+02] [-1.69695894e-01 9.85489560e-01 -3.69200518e-03 -2.58972821e+01] [-2.10641212e-02 1.18409290e-04 9.99778120e-01 -6.28371138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.32, Y:-25.90, Z:-6.29 [[ 9.85028724e-01 1.71193469e-01 2.02782707e-02 2.10315708e+02] [-1.71155439e-01 9.85237428e-01 -3.60922295e-03 -2.59019324e+01] [-2.05967867e-02 8.44519516e-05 9.99787860e-01 -6.28777398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.35, Y:-25.90, Z:-6.29 [[ 9.84370301e-01 1.74931220e-01 2.03513685e-02 2.10345058e+02] [-1.74893743e-01 9.84580656e-01 -3.62082250e-03 -2.59028376e+01] [-2.06709587e-02 4.90311495e-06 9.99786333e-01 -6.28667159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.37, Y:-25.91, Z:-6.29 [[ 9.84005203e-01 1.76961700e-01 2.04528232e-02 2.10372370e+02] [-1.76924301e-01 9.84217738e-01 -3.63818721e-03 -2.59054209e+01] [-2.07738512e-02 -3.86063101e-05 9.99784200e-01 -6.28751221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.40, Y:-25.91, Z:-6.29 [[ 9.83356631e-01 1.80518823e-01 2.05594255e-02 2.10400015e+02] [-1.80481853e-01 9.83571523e-01 -3.65512110e-03 -2.59068939e+01] [-2.08814836e-02 -1.16315634e-04 9.99781951e-01 -6.28871113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64587156000002 meters Centerline goodness [0,1] 0.9999137131393318 Centerline is valid? [True, True] Translation: X:210.43, Y:-25.91, Z:-6.29 [[ 9.83060075e-01 1.82110779e-01 2.07015010e-02 2.10428370e+02] [-1.82073678e-01 9.83278008e-01 -3.67900935e-03 -2.59106956e+01] [-2.10253180e-02 -1.52511221e-04 9.99778932e-01 -6.28710132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.46, Y:-25.91, Z:-6.29 [[ 9.82838888e-01 1.83250570e-01 2.11411655e-02 2.10456189e+02] [-1.83212160e-01 9.83066221e-01 -3.75615609e-03 -2.59121131e+01] [-2.14714834e-02 -1.81622316e-04 9.99769445e-01 -6.29013373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70587156000002 meters Centerline goodness [0,1] 0.9998719070899426 Centerline is valid? [True, True] Translation: X:210.48, Y:-25.92, Z:-6.29 [[ 9.82429782e-01 1.85363161e-01 2.17306764e-02 2.10484939e+02] [-1.85323129e-01 9.82670058e-01 -3.85936150e-03 -2.59152002e+01] [-2.20694685e-02 -2.35645277e-04 9.99756412e-01 -6.28738142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73587156000002 meters Centerline goodness [0,1] 0.9999783577890318 Centerline is valid? [True, True] Translation: X:210.51, Y:-25.92, Z:-6.29 [[ 9.82352790e-01 1.85793045e-01 2.15392620e-02 2.10513568e+02] [-1.85753841e-01 9.82588869e-01 -3.82437198e-03 -2.59206836e+01] [-2.18747808e-02 -2.44118155e-04 9.99760689e-01 -6.28891730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76587156000002 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:210.54, Y:-25.92, Z:-6.29 [[ 9.82301665e-01 1.86080234e-01 2.13912399e-02 2.10540788e+02] [-1.86041656e-01 9.82534521e-01 -3.79713447e-03 -2.59239156e+01] [-2.17242033e-02 -2.49730173e-04 9.99763970e-01 -6.29030941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.57, Y:-25.93, Z:-6.29 [[ 9.82288319e-01 1.86165699e-01 2.12600544e-02 2.10568819e+02] [-1.86127641e-01 9.82518330e-01 -3.77253243e-03 -2.59270864e+01] [-2.15907093e-02 -2.51369239e-04 9.99766862e-01 -6.29193037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.60, Y:-25.93, Z:-6.29 [[ 9.82442259e-01 1.85337904e-01 2.13791955e-02 2.10596081e+02] [-1.85299251e-01 9.82674822e-01 -3.79234121e-03 -2.59318901e+01] [-2.17116617e-02 -2.35792639e-04 9.99764246e-01 -6.29224322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.62, Y:-25.94, Z:-6.29 [[ 9.82595243e-01 1.84534518e-01 2.12978837e-02 2.10624619e+02] [-1.84496000e-01 9.82826009e-01 -3.77652121e-03 -2.59386545e+01] [-2.16290125e-02 -2.18582567e-04 9.99766042e-01 -6.29283198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.65, Y:-25.95, Z:-6.29 [[ 9.83186221e-01 1.81370639e-01 2.12024807e-02 2.10650947e+02] [-1.81331749e-01 9.83414800e-01 -3.75867712e-03 -2.59476584e+01] [-2.15325470e-02 -1.49203348e-04 9.99768137e-01 -6.29321026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.68, Y:-25.96, Z:-6.29 [[ 9.83518703e-01 1.79563530e-01 2.11636526e-02 2.10678711e+02] [-1.79524394e-01 9.83746373e-01 -3.75041175e-03 -2.59554503e+01] [-2.14931037e-02 -1.10791811e-04 9.99768990e-01 -6.29402423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94587156000003 meters Centerline goodness [0,1] 0.9998710287605864 Centerline is valid? [True, True] Translation: X:210.71, Y:-25.97, Z:-6.29 [[ 9.84164399e-01 1.76056246e-01 2.06066632e-02 2.10705975e+02] [-1.76018394e-01 9.84380108e-01 -3.65075626e-03 -2.59669693e+01] [-2.09275277e-02 -3.42074062e-05 9.99780995e-01 -6.29468121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.73, Y:-25.97, Z:-6.30 [[ 9.84538047e-01 1.73975306e-01 2.04310097e-02 2.10732997e+02] [-1.73937664e-01 9.84750015e-01 -3.61889203e-03 -2.59745255e+01] [-2.07490349e-02 9.21480813e-06 9.99784716e-01 -6.29729745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00587156000003 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:210.76, Y:-25.98, Z:-6.30 [[ 9.84804843e-01 1.72513987e-01 1.99586077e-02 2.10759782e+02] [-1.72477793e-01 9.85007067e-01 -3.53383678e-03 -2.59823119e+01] [-2.02690059e-02 3.77229627e-05 9.99794562e-01 -6.29765493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03587156000003 meters Centerline goodness [0,1] 0.9998502705824475 Centerline is valid? [True, True] Translation: X:210.79, Y:-25.99, Z:-6.30 [[ 9.85085101e-01 1.71000687e-01 1.91339463e-02 2.10787934e+02] [-1.70967167e-01 9.85270907e-01 -3.38630502e-03 -2.59897727e+01] [-1.94311811e-02 6.45220387e-05 9.99811195e-01 -6.29947654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.82, Y:-26.00, Z:-6.30 [[ 9.85475618e-01 1.68799425e-01 1.85623279e-02 2.10815747e+02] [-1.68767503e-01 9.85650416e-01 -3.28432507e-03 -2.59981222e+01] [-1.88503584e-02 1.03904554e-04 9.99822311e-01 -6.30107106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.84, Y:-26.00, Z:-6.30 [[ 9.85483766e-01 1.68751830e-01 1.85624862e-02 2.10843646e+02] [-1.68719916e-01 9.85658566e-01 -3.28343005e-03 -2.60029683e+01] [-1.88503584e-02 1.03905895e-04 9.99822311e-01 -6.30192559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.87, Y:-26.01, Z:-6.30 [[ 9.85547908e-01 1.68373694e-01 1.85908388e-02 2.10870536e+02] [-1.68341630e-01 9.85723230e-01 -3.28765188e-03 -2.60095829e+01] [-1.88789758e-02 1.10526327e-04 9.99821770e-01 -6.30402312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.90, Y:-26.02, Z:-6.30 [[ 9.85560759e-01 1.68311199e-01 1.84751476e-02 2.10898495e+02] [-1.68279546e-01 9.85733903e-01 -3.26590995e-03 -2.60150262e+01] [-1.87612685e-02 1.09763243e-04 9.99823986e-01 -6.30430305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.93, Y:-26.02, Z:-6.31 [[ 9.85537184e-01 1.68497555e-01 1.80286757e-02 2.10926596e+02] [-1.68467460e-01 9.85702066e-01 -3.18614488e-03 -2.60212065e+01] [-1.83077605e-02 1.02819046e-04 9.99832394e-01 -6.30557123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21587156000004 meters Centerline goodness [0,1] 0.9997195071957192 Centerline is valid? [True, True] Translation: X:210.96, Y:-26.03, Z:-6.30 [[ 9.85429780e-01 1.69182900e-01 1.74726878e-02 2.10955422e+02] [-1.69154754e-01 9.85584669e-01 -3.08709865e-03 -2.60259068e+01] [-1.77430975e-02 8.65307385e-05 9.99842575e-01 -6.30452275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.98, Y:-26.03, Z:-6.31 [[ 9.85221412e-01 1.70419992e-01 1.71987370e-02 2.10982448e+02] [-1.70392925e-01 9.85371515e-01 -3.03786158e-03 -2.60294363e+01] [-1.74648579e-02 6.24231715e-05 9.99847476e-01 -6.30866363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.01, Y:-26.03, Z:-6.31 [[ 9.85092075e-01 1.71178531e-01 1.70737683e-02 2.11010964e+02] [-1.71151985e-01 9.85240026e-01 -3.01494721e-03 -2.60337149e+01] [-1.73378541e-02 4.77912658e-05 9.99849687e-01 -6.30908208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30587156000004 meters Centerline goodness [0,1] 0.9999574477138784 Centerline is valid? [True, True] Translation: X:211.04, Y:-26.04, Z:-6.31 [[ 9.84991756e-01 1.71780596e-01 1.68126982e-02 2.11038073e+02] [-1.71754954e-01 9.85135232e-01 -2.96819948e-03 -2.60387702e+01] [-1.70726604e-02 3.59878022e-05 9.99854251e-01 -6.31019426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.07, Y:-26.04, Z:-6.31 [[ 9.84917923e-01 1.72241520e-01 1.64177800e-02 2.11066139e+02] [-1.72217151e-01 9.85054749e-01 -2.89737072e-03 -2.60444380e+01] [-1.66714597e-02 2.62490580e-05 9.99861021e-01 -6.31148561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.09, Y:-26.05, Z:-6.31 [[ 9.84867913e-01 1.72493072e-01 1.67730304e-02 2.11094940e+02] [-1.72467687e-01 9.85010731e-01 -2.95922763e-03 -2.60493436e+01] [-1.70320612e-02 2.16425691e-05 9.99854944e-01 -6.31118942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.12, Y:-26.05, Z:-6.31 [[ 9.84769465e-01 1.72982440e-01 1.74979013e-02 2.11122735e+02] [-1.72954906e-01 9.84924908e-01 -3.08633662e-03 -2.60537484e+01] [-1.77680009e-02 1.29821877e-05 9.99842137e-01 -6.31154001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.15, Y:-26.06, Z:-6.31 [[ 9.84394230e-01 1.74947683e-01 1.90081213e-02 2.11150397e+02] [-1.74915582e-01 9.84577731e-01 -3.35137833e-03 -2.60567949e+01] [-1.93012889e-02 -2.57391161e-05 9.99813712e-01 -6.30927608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45587156000002 meters Centerline goodness [0,1] 0.9998071277028909 Centerline is valid? [True, True] Translation: X:211.18, Y:-26.06, Z:-6.31 [[ 9.84152933e-01 1.76259757e-01 1.93778736e-02 2.11178308e+02] [-1.76226670e-01 9.84343688e-01 -3.41549418e-03 -2.60606062e+01] [-1.96765018e-02 -5.35295325e-05 9.99806397e-01 -6.30713702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.21, Y:-26.06, Z:-6.31 [[ 9.83820346e-01 1.78035580e-01 2.00214495e-02 2.11205419e+02] [-1.78000654e-01 9.84024046e-01 -3.52753250e-03 -2.60625710e+01] [-2.03296140e-02 -9.33728593e-05 9.99793328e-01 -6.30878486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.23, Y:-26.07, Z:-6.31 [[ 9.83636059e-01 1.79058589e-01 1.99530924e-02 2.11234459e+02] [-1.79024153e-01 9.83838406e-01 -3.51347388e-03 -2.60662664e+01] [-2.02597362e-02 -1.16105859e-04 9.99794744e-01 -6.30969321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.26, Y:-26.07, Z:-6.31 [[ 9.83551807e-01 1.79549845e-01 1.96900205e-02 2.11262696e+02] [-1.79516427e-01 9.83748869e-01 -3.46629607e-03 -2.60717961e+01] [-1.99924083e-02 -1.25400352e-04 9.99800124e-01 -6.30884292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57587156000002 meters Centerline goodness [0,1] 0.9998046069342827 Centerline is valid? [True, True] Translation: X:211.29, Y:-26.08, Z:-6.31 [[ 9.83460113e-01 1.80137928e-01 1.88820985e-02 2.11290981e+02] [-1.80107321e-01 9.83641352e-01 -3.32319096e-03 -2.60780793e+01] [-1.91718456e-02 -1.32578416e-04 9.99816194e-01 -6.30923588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.32, Y:-26.08, Z:-6.31 [[ 9.83548546e-01 1.79668636e-01 1.87467230e-02 2.11318279e+02] [-1.79638397e-01 9.83727181e-01 -3.29855166e-03 -2.60825703e+01] [-1.90343073e-02 -1.23345576e-04 9.99818824e-01 -6.31356862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.35, Y:-26.09, Z:-6.32 [[ 9.83667156e-01 1.79093152e-01 1.80157984e-02 2.11346416e+02] [-1.79065151e-01 9.83832115e-01 -3.16870205e-03 -2.60886940e+01] [-1.82920139e-02 -1.09053534e-04 9.99832681e-01 -6.31585980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.37, Y:-26.10, Z:-6.32 [[ 9.83817277e-01 1.78307620e-01 1.76056046e-02 2.11373090e+02] [-1.78280763e-01 9.83974788e-01 -3.09605186e-03 -2.60961100e+01] [-1.78755207e-02 -9.27913168e-05 9.99840216e-01 -6.31642766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.40, Y:-26.11, Z:-6.32 [[ 9.84114369e-01 1.76648299e-01 1.77281409e-02 2.11400622e+02] [-1.76620826e-01 9.84274034e-01 -3.11596706e-03 -2.61068239e+01] [-1.79997790e-02 -6.46909310e-05 9.99837989e-01 -6.31711870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.43, Y:-26.11, Z:-6.32 [[ 9.84267376e-01 1.75825249e-01 1.74130638e-02 2.11428368e+02] [-1.75798631e-01 9.84421393e-01 -3.05973889e-03 -2.61142427e+01] [-1.76797719e-02 -4.95916121e-05 9.99843699e-01 -6.31841557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75587156000003 meters Centerline goodness [0,1] 0.9999145134748135 Centerline is valid? [True, True] Translation: X:211.46, Y:-26.12, Z:-6.32 [[ 9.84367616e-01 1.75277004e-01 1.72733371e-02 2.11455415e+02] [-1.75250740e-01 9.84519157e-01 -3.03448396e-03 -2.61194759e+01] [-1.75378066e-02 -4.01173622e-05 9.99846200e-01 -6.32422623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.48, Y:-26.13, Z:-6.33 [[ 9.84550495e-01 1.74219364e-01 1.75480800e-02 2.11483341e+02] [-1.74192113e-01 9.84706866e-01 -3.08139387e-03 -2.61265607e+01] [-1.78165533e-02 -2.29492694e-05 9.99841272e-01 -6.32549479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81587156000003 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:211.51, Y:-26.13, Z:-6.32 [[ 9.84548631e-01 1.74216474e-01 1.76808603e-02 2.11511672e+02] [-1.74188822e-01 9.84707378e-01 -3.10399745e-03 -2.61332298e+01] [-1.79512411e-02 -2.37717891e-05 9.99838863e-01 -6.31981186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.54, Y:-26.14, Z:-6.32 [[ 9.84568188e-01 1.74051300e-01 1.82106786e-02 2.11539937e+02] [-1.74021954e-01 9.84736586e-01 -3.19609962e-03 -2.61386592e+01] [-1.84890068e-02 -2.22798729e-05 9.99829063e-01 -6.32080251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.57, Y:-26.14, Z:-6.32 [[ 9.84441305e-01 1.74763283e-01 1.82513416e-02 2.11568328e+02] [-1.74733945e-01 9.84610478e-01 -3.20235633e-03 -2.61447216e+01] [-1.85301164e-02 -3.65970671e-05 9.99828302e-01 -6.32117096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.60, Y:-26.15, Z:-6.32 [[ 9.84388715e-01 1.75033909e-01 1.84929157e-02 2.11596738e+02] [-1.75003854e-01 9.84562405e-01 -3.24381898e-03 -2.61503283e+01] [-1.87752078e-02 -4.31527158e-05 9.99823729e-01 -6.32178782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93587156000004 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:211.63, Y:-26.16, Z:-6.32 [[ 9.84330958e-01 1.75316526e-01 1.88859940e-02 2.11625097e+02] [-1.75285250e-01 9.84512119e-01 -3.31182067e-03 -2.61556725e+01] [-1.91741068e-02 -5.05085561e-05 9.99816159e-01 -6.32093711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.65, Y:-26.16, Z:-6.32 [[ 9.84277938e-01 1.75634708e-01 1.86919917e-02 2.11653414e+02] [-1.75604145e-01 9.84455406e-01 -3.27692439e-03 -2.61610502e+01] [-1.89769740e-02 -5.69868481e-05 9.99819919e-01 -6.32190081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.68, Y:-26.17, Z:-6.32 [[ 9.84263395e-01 1.75763320e-01 1.82434891e-02 2.11680318e+02] [-1.75734242e-01 9.84432452e-01 -3.19756099e-03 -2.61660892e+01] [-1.85214966e-02 -5.87634938e-05 9.99828461e-01 -6.32419456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.71, Y:-26.17, Z:-6.33 [[ 9.84234518e-01 1.75927429e-01 1.82195673e-02 2.11707840e+02] [-1.75898477e-01 9.84403137e-01 -3.19223410e-03 -2.61712470e+01] [-1.84970007e-02 -6.28871342e-05 9.99828914e-01 -6.32643273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.74, Y:-26.18, Z:-6.33 [[ 9.84216207e-01 1.76071941e-01 1.78081174e-02 2.11736198e+02] [-1.76044326e-01 9.84377299e-01 -3.11893180e-03 -2.61784161e+01] [-1.80790628e-02 -6.53147972e-05 9.99836558e-01 -6.32798875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.76, Y:-26.18, Z:-6.33 [[ 9.84189771e-01 1.76225222e-01 1.77529333e-02 2.11764784e+02] [-1.76197818e-01 9.84349870e-01 -3.10843334e-03 -2.61838915e+01] [-1.80228820e-02 -6.87398277e-05 9.99837572e-01 -6.32793390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.79, Y:-26.19, Z:-6.33 [[ 9.84091065e-01 1.76724704e-01 1.82525528e-02 2.11791853e+02] [-1.76695836e-01 9.84260317e-01 -3.19516592e-03 -2.61882119e+01] [-1.85299281e-02 -8.08158398e-05 9.99828303e-01 -6.32880093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.82, Y:-26.19, Z:-6.33 [[ 9.83895975e-01 1.77753065e-01 1.87765129e-02 2.11820602e+02] [-1.77722731e-01 9.84075117e-01 -3.28543750e-03 -2.61925327e+01] [-1.90614957e-02 -1.04484406e-04 9.99818308e-01 -6.32734027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.85, Y:-26.20, Z:-6.33 [[ 9.83698883e-01 1.78796631e-01 1.91903976e-02 2.11849572e+02] [-1.78765162e-01 9.83886044e-01 -3.35690765e-03 -2.61965620e+01] [-1.94813681e-02 -1.28388211e-04 9.99810212e-01 -6.32680757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.88, Y:-26.20, Z:-6.33 [[ 9.83377913e-01 1.80534540e-01 1.93690600e-02 2.11877612e+02] [-1.80502835e-01 9.83568631e-01 -3.38729768e-03 -2.61978262e+01] [-1.96623240e-02 -1.65176516e-04 9.99806664e-01 -6.32818667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23587156000002 meters Centerline goodness [0,1] 0.9998483601230449 Centerline is valid? [True, True] Translation: X:211.91, Y:-26.20, Z:-6.33 [[ 9.83185535e-01 1.81586025e-01 1.93059415e-02 2.11906349e+02] [-1.81554756e-01 9.83375046e-01 -3.37492750e-03 -2.62021393e+01] [-1.95978208e-02 -1.86905591e-04 9.99807927e-01 -6.32597299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26587156000002 meters Centerline goodness [0,1] 0.9999783540413005 Centerline is valid? [True, True] Translation: X:211.94, Y:-26.21, Z:-6.33 [[ 9.83099287e-01 1.82060272e-01 1.92314840e-02 2.11935006e+02] [-1.82029352e-01 9.83287353e-01 -3.36095797e-03 -2.62054865e+01] [-1.95219719e-02 -1.96539194e-04 9.99809409e-01 -6.32940368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.96, Y:-26.21, Z:-6.33 [[ 9.82995883e-01 1.82646852e-01 1.89531177e-02 2.11963967e+02] [-1.82616948e-01 9.83178562e-01 -3.31138950e-03 -2.62097719e+01] [-1.92391139e-02 -2.06078267e-04 9.99814890e-01 -6.33027351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.99, Y:-26.21, Z:-6.33 [[ 9.82706786e-01 1.84211084e-01 1.88055653e-02 2.11992530e+02] [-1.84181946e-01 9.82886678e-01 -3.28479795e-03 -2.62098286e+01] [-1.90888358e-02 -2.35652373e-04 9.99817764e-01 -6.33283146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35587156000003 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:212.02, Y:-26.21, Z:-6.33 [[ 9.82632706e-01 1.84650613e-01 1.83607187e-02 2.12020967e+02] [-1.84622938e-01 9.82804199e-01 -3.20581240e-03 -2.62128790e+01] [-1.86369466e-02 -2.39673709e-04 9.99826288e-01 -6.33477482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38587156000003 meters Centerline goodness [0,1] 0.9997870709479602 Centerline is valid? [True, True] Translation: X:212.05, Y:-26.22, Z:-6.33 [[ 9.82523682e-01 1.85320113e-01 1.74261315e-02 2.12050069e+02] [-1.85295302e-01 9.82678176e-01 -3.04186777e-03 -2.62153900e+01] [-1.76879984e-02 -2.40273186e-04 9.99843526e-01 -6.33498589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.08, Y:-26.22, Z:-6.34 [[ 9.82594397e-01 1.84918137e-01 1.77069050e-02 2.12078119e+02] [-1.84892471e-01 9.82753899e-01 -3.09000351e-03 -2.62194238e+01] [-1.79729277e-02 -2.37653278e-04 9.99838446e-01 -6.33714746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.11, Y:-26.22, Z:-6.34 [[ 9.82661888e-01 1.84571336e-01 1.75794365e-02 2.12105392e+02] [-1.84545990e-01 9.82819093e-01 -3.06734336e-03 -2.62222376e+01] [-1.78435495e-02 -2.30053095e-04 9.99840765e-01 -6.33866320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47587156000003 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:212.13, Y:-26.23, Z:-6.34 [[ 9.82872869e-01 1.83424303e-01 1.77889945e-02 2.12133821e+02] [-1.83398197e-01 9.83033814e-01 -3.10189497e-03 -2.62266142e+01] [-1.80561460e-02 -2.13701109e-04 9.99836952e-01 -6.33951146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50587156000003 meters Centerline goodness [0,1] 0.9999784992474736 Centerline is valid? [True, True] Translation: X:212.16, Y:-26.23, Z:-6.34 [[ 9.83024192e-01 1.82549498e-01 1.84151650e-02 2.12162231e+02] [-1.82521387e-01 9.83196643e-01 -3.21013415e-03 -2.62324482e+01] [-1.86917368e-02 -2.05521922e-04 9.99825273e-01 -6.33944433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.19, Y:-26.24, Z:-6.34 [[ 9.83431201e-01 1.80222734e-01 1.95662721e-02 2.12189086e+02] [-1.80190556e-01 9.83625811e-01 -3.40987131e-03 -2.62398836e+01] [-1.98604266e-02 -1.72283608e-04 9.99802747e-01 -6.33791212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56587156000003 meters Centerline goodness [0,1] 0.9999784862957704 Centerline is valid? [True, True] Translation: X:212.22, Y:-26.25, Z:-6.34 [[ 9.83668402e-01 1.78834270e-01 2.03660922e-02 2.12216124e+02] [-1.78799137e-01 9.83879200e-01 -3.54794939e-03 -2.62450778e+01] [-2.06722695e-02 -1.51434001e-04 9.99786294e-01 -6.33809935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.24, Y:-26.25, Z:-6.34 [[ 9.83916809e-01 1.77431615e-01 2.06333215e-02 2.12244372e+02] [-1.77395274e-01 9.84133124e-01 -3.59314161e-03 -2.62511154e+01] [-2.09434721e-02 -1.24901287e-04 9.99780654e-01 -6.33811362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.27, Y:-26.26, Z:-6.34 [[ 9.84569313e-01 1.73843517e-01 2.00424459e-02 2.12271575e+02] [-1.73808502e-01 9.84773288e-01 -3.48931671e-03 -2.62607100e+01] [-2.03438604e-02 -4.80733414e-05 9.99793041e-01 -6.33999060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.30, Y:-26.27, Z:-6.34 [[ 9.84872687e-01 1.72166904e-01 1.96047993e-02 2.12298738e+02] [-1.72133085e-01 9.85067793e-01 -3.41236255e-03 -2.62675222e+01] [-1.98995523e-02 -1.38919135e-05 9.99801984e-01 -6.34194779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68587156000004 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:212.33, Y:-26.28, Z:-6.34 [[ 9.85530070e-01 1.68428629e-01 1.90336042e-02 2.12326663e+02] [-1.68396081e-01 9.85713850e-01 -3.31155150e-03 -2.62776582e+01] [-1.93194474e-02 5.84492210e-05 9.99813360e-01 -6.34282587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.35, Y:-26.29, Z:-6.34 [[ 9.85874035e-01 1.66368117e-01 1.93400333e-02 2.12353644e+02] [-1.66334133e-01 9.86063710e-01 -3.36401006e-03 -2.62859201e+01] [-1.96301690e-02 9.95824998e-05 9.99807305e-01 -6.34446240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.38, Y:-26.29, Z:-6.34 [[ 9.86161266e-01 1.64632162e-01 1.95501394e-02 2.12382316e+02] [-1.64597126e-01 9.86355024e-01 -3.39895777e-03 -2.62946537e+01] [-1.98429560e-02 1.34023756e-04 9.99803100e-01 -6.34490270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.41, Y:-26.30, Z:-6.35 [[ 9.86401706e-01 1.63185523e-01 1.95488962e-02 2.12409522e+02] [-1.63150212e-01 9.86595387e-01 -3.39851325e-03 -2.63025796e+01] [-1.98414390e-02 1.62892712e-04 9.99803126e-01 -6.34576197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.44, Y:-26.31, Z:-6.35 [[ 9.86648315e-01 1.61664955e-01 1.97368979e-02 2.12438261e+02] [-1.61628681e-01 9.86845684e-01 -3.43000673e-03 -2.63101275e+01] [-2.00317844e-02 1.94161584e-04 9.99799325e-01 -6.34503681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.47, Y:-26.32, Z:-6.35 [[ 9.86647612e-01 1.61617350e-01 2.01574471e-02 2.12466024e+02] [-1.61579514e-01 9.86853481e-01 -3.50257716e-03 -2.63160738e+01] [-2.04585241e-02 1.98778886e-04 9.99790683e-01 -6.34588486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.50, Y:-26.32, Z:-6.35 [[ 9.86594925e-01 1.61901485e-01 2.04539514e-02 2.12495563e+02] [-1.61862599e-01 9.86806907e-01 -3.55357470e-03 -2.63216126e+01] [-2.07594295e-02 1.95209035e-04 9.99784481e-01 -6.34607386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.53, Y:-26.33, Z:-6.35 [[ 9.86283005e-01 1.63767111e-01 2.06438121e-02 2.12525048e+02] [-1.63727919e-01 9.86499016e-01 -3.58605048e-03 -2.63251333e+01] [-2.09523774e-02 1.56892254e-04 9.99780463e-01 -6.34628105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.55, Y:-26.33, Z:-6.35 [[ 9.86038174e-01 1.65238094e-01 2.06177374e-02 2.12554395e+02] [-1.65199333e-01 9.86253698e-01 -3.58101471e-03 -2.63282766e+01] [-2.09260398e-02 1.24980739e-04 9.99781019e-01 -6.34676731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.58, Y:-26.33, Z:-6.35 [[ 9.85485193e-01 1.68585899e-01 1.99431604e-02 2.12583403e+02] [-1.68550328e-01 9.85686964e-01 -3.46337196e-03 -2.63290268e+01] [-2.02415889e-02 5.16755509e-05 9.99795117e-01 -6.35041568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.61, Y:-26.33, Z:-6.35 [[ 9.85207968e-01 1.70238319e-01 1.96003944e-02 2.12612044e+02] [-1.70204292e-01 9.85402920e-01 -3.40358634e-03 -2.63310386e+01] [-1.98937067e-02 1.71691185e-05 9.99802100e-01 -6.35197663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.64, Y:-26.34, Z:-6.35 [[ 9.85215874e-01 1.70192537e-01 1.96005529e-02 2.12639959e+02] [-1.70158520e-01 9.85410828e-01 -3.40267326e-03 -2.63357928e+01] [-1.98937067e-02 1.71666292e-05 9.99802100e-01 -6.35283114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.67, Y:-26.34, Z:-6.35 [[ 9.84971923e-01 1.71616882e-01 1.94411222e-02 2.12668387e+02] [-1.71583711e-01 9.85163766e-01 -3.37407989e-03 -2.63380783e+01] [-1.97317383e-02 -1.24059510e-05 9.99805310e-01 -6.35386377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.70, Y:-26.34, Z:-6.35 [[ 9.84707748e-01 1.73073332e-01 1.99065837e-02 2.12695868e+02] [-1.73038869e-01 9.84908940e-01 -3.45398662e-03 -2.63401792e+01] [-2.02039652e-02 -4.34453365e-05 9.99795878e-01 -6.35452439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.73, Y:-26.34, Z:-6.35 [[ 9.84192188e-01 1.75915097e-01 2.04845029e-02 2.12725555e+02] [-1.75879248e-01 9.84405337e-01 -3.55287391e-03 -2.63402238e+01] [-2.07900582e-02 -1.06088216e-04 9.99783858e-01 -6.35400164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.75, Y:-26.34, Z:-6.35 [[ 9.83932235e-01 1.77360061e-01 2.05125708e-02 2.12754191e+02] [-1.77324448e-01 9.84146020e-01 -3.55676179e-03 -2.63432669e+01] [-2.08181924e-02 -1.37767719e-04 9.99783268e-01 -6.35427440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16587156000003 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:212.78, Y:-26.34, Z:-6.36 [[ 9.83473019e-01 1.79870514e-01 2.06741007e-02 2.12782781e+02] [-1.79834911e-01 9.83690277e-01 -3.58383011e-03 -2.63418025e+01] [-2.09815372e-02 -1.93324845e-04 9.99779845e-01 -6.35534556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19587156000003 meters Centerline goodness [0,1] 0.9999574132827971 Centerline is valid? [True, True] Translation: X:212.81, Y:-26.34, Z:-6.36 [[ 9.83317478e-01 1.80661487e-01 2.11698825e-02 2.12810148e+02] [-1.80624367e-01 9.83545312e-01 -3.66849113e-03 -2.63438934e+01] [-2.14842938e-02 -2.16505179e-04 9.99769162e-01 -6.35575153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.84, Y:-26.35, Z:-6.36 [[ 9.83264568e-01 1.80941923e-01 2.12322676e-02 2.12838316e+02] [-1.80904686e-01 9.83493757e-01 -3.67757623e-03 -2.63479548e+01] [-2.15472304e-02 -2.24986310e-04 9.99767806e-01 -6.35564244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.87, Y:-26.35, Z:-6.36 [[ 9.83354994e-01 1.80450595e-01 2.12259142e-02 2.12865591e+02] [-1.80413287e-01 9.83584026e-01 -3.67552582e-03 -2.63505933e+01] [-2.15407210e-02 -2.15090280e-04 9.99767949e-01 -6.35680713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.89, Y:-26.36, Z:-6.36 [[ 9.83434555e-01 1.79987238e-01 2.14725564e-02 2.12893697e+02] [-1.79948978e-01 9.83668923e-01 -3.71678832e-03 -2.63555725e+01] [-2.17908609e-02 -2.08746512e-04 9.99762529e-01 -6.35719966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.92, Y:-26.36, Z:-6.36 [[ 9.83550428e-01 1.79342193e-01 2.15623111e-02 2.12920909e+02] [-1.79303479e-01 9.83786735e-01 -3.73138783e-03 -2.63596751e+01] [-2.18819109e-02 -1.96189289e-04 9.99760543e-01 -6.35744435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.95, Y:-26.36, Z:-6.36 [[ 9.83727940e-01 1.78237191e-01 2.26018516e-02 2.12949137e+02] [-1.78194401e-01 9.83987536e-01 -3.90954281e-03 -2.63640012e+01] [-2.29367661e-02 -1.81596910e-04 9.99736901e-01 -6.35686621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.98, Y:-26.37, Z:-6.36 [[ 9.83782379e-01 1.77945408e-01 2.25313521e-02 2.12976953e+02] [-1.77902831e-01 9.84040345e-01 -3.89633315e-03 -2.63676579e+01] [-2.28650941e-02 -1.75247433e-04 9.99738544e-01 -6.35736695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40587156000004 meters Centerline goodness [0,1] 0.9998719754192805 Centerline is valid? [True, True] Translation: X:213.01, Y:-26.37, Z:-6.36 [[ 9.83877968e-01 1.77401817e-01 2.26437460e-02 2.13005198e+02] [-1.77358705e-01 9.84138490e-01 -3.91428921e-03 -2.63718071e+01] [-2.29789840e-02 -1.64882563e-04 9.99735935e-01 -6.35637082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.03, Y:-26.37, Z:-6.36 [[ 9.83962152e-01 1.76869827e-01 2.31418840e-02 2.13032609e+02] [-1.76824676e-01 9.84234240e-01 -3.99931976e-03 -2.63747671e+01] [-2.34843936e-02 -1.56876850e-04 9.99724191e-01 -6.35835403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.06, Y:-26.38, Z:-6.36 [[ 9.83999107e-01 1.76697514e-01 2.28855190e-02 2.13061225e+02] [-1.76653344e-01 9.84265191e-01 -3.95357037e-03 -2.63786030e+01] [-2.32240057e-02 -1.52493740e-04 9.99730275e-01 -6.36008972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49587156000004 meters Centerline goodness [0,1] 0.9999572155906388 Centerline is valid? [True, True] Translation: X:213.09, Y:-26.38, Z:-6.36 [[ 9.84101940e-01 1.76176041e-01 2.24805450e-02 2.13088626e+02] [-1.76133307e-01 9.84358666e-01 -3.88262994e-03 -2.63823638e+01] [-2.28129457e-02 -1.38669081e-04 9.99739741e-01 -6.36054723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.12, Y:-26.39, Z:-6.36 [[ 9.84378300e-01 1.74639569e-01 2.23692718e-02 2.13116196e+02] [-1.74596890e-01 9.84632424e-01 -3.86209573e-03 -2.63877329e+01] [-2.26999851e-02 -1.03842058e-04 9.99742317e-01 -6.36388217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.14, Y:-26.39, Z:-6.36 [[ 9.84616448e-01 1.73292500e-01 2.23642495e-02 2.13144190e+02] [-1.73249528e-01 9.84870400e-01 -3.85968238e-03 -2.63945066e+01] [-2.26947414e-02 -7.42889222e-05 9.99742438e-01 -6.36402809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.17, Y:-26.40, Z:-6.36 [[ 9.85128395e-01 1.70320252e-01 2.26507746e-02 2.13171024e+02] [-1.70275409e-01 9.85388762e-01 -3.90809375e-03 -2.64021776e+01] [-2.29854463e-02 -6.89579242e-06 9.99735800e-01 -6.36476195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.20, Y:-26.41, Z:-6.37 [[ 9.85384550e-01 1.68842966e-01 2.25685904e-02 2.13198260e+02] [-1.68798092e-01 9.85642964e-01 -3.89255415e-03 -2.64084802e+01] [-2.29018028e-02 2.61277143e-05 9.99737719e-01 -6.36625206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.23, Y:-26.41, Z:-6.37 [[ 9.85592814e-01 1.67592656e-01 2.27927053e-02 2.13226294e+02] [-1.67546585e-01 9.85856328e-01 -3.92975970e-03 -2.64139903e+01] [-2.31289316e-02 5.43029848e-05 9.99732489e-01 -6.36519180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:-26.42, Z:-6.37 [[ 9.85762851e-01 1.66606350e-01 2.26699250e-02 2.13253432e+02] [-1.66560537e-01 9.86023488e-01 -3.90754154e-03 -2.64195193e+01] [-2.30040997e-02 7.59944067e-05 9.99735368e-01 -6.36774298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.28, Y:-26.42, Z:-6.37 [[ 9.85834853e-01 1.66153703e-01 2.28602126e-02 2.13281483e+02] [-1.66107033e-01 9.86099863e-01 -3.93878247e-03 -2.64242473e+01] [-2.31968958e-02 8.57469511e-05 9.99730912e-01 -6.36740653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.31, Y:-26.43, Z:-6.37 [[ 9.85768515e-01 1.66552015e-01 2.28224035e-02 2.13309362e+02] [-1.66505629e-01 9.86032667e-01 -3.93126444e-03 -2.64285310e+01] [-2.31583954e-02 7.52580589e-05 9.99731806e-01 -6.36864195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.34, Y:-26.43, Z:-6.37 [[ 9.85510636e-01 1.67960603e-01 2.36225128e-02 2.13338194e+02] [-1.67911349e-01 9.85793708e-01 -4.06754250e-03 -2.64295627e+01] [-2.39701114e-02 4.21184059e-05 9.99712675e-01 -6.36828260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.37, Y:-26.43, Z:-6.37 [[ 9.85370245e-01 1.68717435e-01 2.40812617e-02 2.13367061e+02] [-1.68666502e-01 9.85664459e-01 -4.14542153e-03 -2.64319624e+01] [-2.44354487e-02 2.30728517e-05 9.99701410e-01 -6.36760202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.40, Y:-26.44, Z:-6.37 [[ 9.85242927e-01 1.69382333e-01 2.46170482e-02 2.13396294e+02] [-1.69329346e-01 9.85550417e-01 -4.23646124e-03 -2.64350556e+01] [-2.49789239e-02 5.55480455e-06 9.99687978e-01 -6.36740535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.42, Y:-26.44, Z:-6.37 [[ 9.84927499e-01 1.71296252e-01 2.39878470e-02 2.13424309e+02] [-1.71246532e-01 9.85219566e-01 -4.12708938e-03 -2.64361527e+01] [-2.43402511e-02 -4.29517894e-05 9.99703731e-01 -6.36960792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:-26.44, Z:-6.37 [[ 9.84760082e-01 1.72309578e-01 2.36006612e-02 2.13451898e+02] [-1.72261776e-01 9.85042844e-01 -4.05904038e-03 -2.64384918e+01] [-2.39470740e-02 -6.83108908e-05 9.99713225e-01 -6.37157408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.48, Y:-26.44, Z:-6.37 [[ 9.84646365e-01 1.72963930e-01 2.35587359e-02 2.13480272e+02] [-1.72916520e-01 9.84928156e-01 -4.05035136e-03 -2.64407778e+01] [-2.39042270e-02 -8.55308805e-05 9.99714249e-01 -6.37246506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94587156000003 meters Centerline goodness [0,1] 0.9999786884896532 Centerline is valid? [True, True] Translation: X:213.51, Y:-26.44, Z:-6.38 [[ 9.84354356e-01 1.74749571e-01 2.25630203e-02 2.13508800e+02] [-1.74706576e-01 9.84612905e-01 -3.87819483e-03 -2.64396277e+01] [-2.28935538e-02 -1.24390027e-04 9.99737901e-01 -6.37583260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.54, Y:-26.44, Z:-6.38 [[ 9.84204978e-01 1.75634990e-01 2.22016223e-02 2.13537626e+02] [-1.75593619e-01 9.84455347e-01 -3.81464871e-03 -2.64423698e+01] [-2.25264916e-02 -1.44066962e-04 9.99746236e-01 -6.37742777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.57, Y:-26.44, Z:-6.38 [[ 9.83970253e-01 1.76996289e-01 2.17911704e-02 2.13565916e+02] [-1.76956788e-01 9.84211504e-01 -3.74317892e-03 -2.64417900e+01] [-2.21096494e-02 -1.72918822e-04 9.99755537e-01 -6.37935284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:-26.44, Z:-6.38 [[ 9.83926538e-01 1.77200054e-01 2.21067720e-02 2.13592524e+02] [-1.77159479e-01 9.84174836e-01 -3.79618640e-03 -2.64440452e+01] [-2.24296132e-02 -1.81255673e-04 9.99748408e-01 -6.38007402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.62, Y:-26.45, Z:-6.38 [[ 9.83929111e-01 1.77120436e-01 2.26242472e-02 2.13621073e+02] [-1.77077968e-01 9.84189167e-01 -3.88284632e-03 -2.64479305e+01] [-2.29542704e-02 -1.85810194e-04 9.99736499e-01 -6.37996745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.65, Y:-26.45, Z:-6.38 [[ 9.84128333e-01 1.75794244e-01 2.42447544e-02 2.13650117e+02] [-1.75745104e-01 9.84426917e-01 -4.15967978e-03 -2.64520532e+01] [-2.45984366e-02 -1.67238147e-04 9.99697399e-01 -6.37787888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.68, Y:-26.46, Z:-6.38 [[ 9.84313642e-01 1.74666161e-01 2.48673904e-02 2.13678700e+02] [-1.74614135e-01 9.84627702e-01 -4.26526232e-03 -2.64575453e+01] [-2.52301185e-02 -1.43841971e-04 9.99681660e-01 -6.37752764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.71, Y:-26.47, Z:-6.38 [[ 9.84827304e-01 1.71680822e-01 2.53155439e-02 2.13706028e+02] [-1.71625949e-01 9.85152623e-01 -4.34088872e-03 -2.64657553e+01] [-2.56849218e-02 -6.97785016e-05 9.99670086e-01 -6.37761433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.73, Y:-26.47, Z:-6.38 [[ 9.85135826e-01 1.69838593e-01 2.57343598e-02 2.13733774e+02] [-1.69781293e-01 9.85471893e-01 -4.41144946e-03 -2.64727579e+01] [-2.61097227e-02 -2.33359829e-05 9.99659083e-01 -6.37812713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:-26.48, Z:-6.38 [[ 9.85709127e-01 1.66507317e-01 2.55505455e-02 2.13760706e+02] [-1.66449743e-01 9.86040217e-01 -4.37875137e-03 -2.64817479e+01] [-2.59229596e-02 6.32934517e-05 9.99663942e-01 -6.37925477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:-26.49, Z:-6.38 [[ 9.86010516e-01 1.64742396e-01 2.53614830e-02 2.13788807e+02] [-1.64685128e-01 9.86336622e-01 -4.34477758e-03 -2.64888780e+01] [-2.57307286e-02 1.07337309e-04 9.99668904e-01 -6.38047487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27587156000004 meters Centerline goodness [0,1] 0.9998923457853375 Centerline is valid? [True, True] Translation: X:213.82, Y:-26.50, Z:-6.38 [[ 9.86363628e-01 1.62724974e-01 2.46450075e-02 2.13815153e+02] [-1.62670293e-01 9.86671454e-01 -4.22098433e-03 -2.64969285e+01] [-2.50033850e-02 1.54414817e-04 9.99687355e-01 -6.38126645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.84, Y:-26.51, Z:-6.39 [[ 9.86615357e-01 1.61245241e-01 2.42921785e-02 2.13842254e+02] [-1.61191711e-01 9.86914352e-01 -4.15872539e-03 -2.65051183e+01] [-2.46448743e-02 1.87364513e-04 9.99696251e-01 -6.38500308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.87, Y:-26.51, Z:-6.39 [[ 9.87131473e-01 1.58244685e-01 2.30233428e-02 2.13870765e+02] [-1.58195821e-01 9.87399898e-01 -3.93999182e-03 -2.65142668e+01] [-2.33567291e-02 2.47093316e-04 9.99727164e-01 -6.38755228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.90, Y:-26.52, Z:-6.39 [[ 9.87331861e-01 1.57012715e-01 2.28649012e-02 2.13897752e+02] [-1.56964198e-01 9.87596543e-01 -3.91257212e-03 -2.65218352e+01] [-2.31956209e-02 2.74036229e-04 9.99730908e-01 -6.38886852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39587156000002 meters Centerline goodness [0,1] 0.9999787446595957 Centerline is valid? [True, True] Translation: X:213.92, Y:-26.53, Z:-6.39 [[ 9.87545241e-01 1.55634327e-01 2.30727964e-02 2.13924462e+02] [-1.55584582e-01 9.87814690e-01 -3.94665449e-03 -2.65328913e+01] [-2.34058821e-02 3.07728466e-04 9.99725997e-01 -6.38927050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.95, Y:-26.54, Z:-6.39 [[ 9.87584941e-01 1.55286887e-01 2.37058563e-02 2.13952898e+02] [-1.55234303e-01 9.87869363e-01 -4.05375691e-03 -2.65376439e+01] [-2.40477844e-02 3.23467198e-04 9.99710758e-01 -6.38922467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.98, Y:-26.54, Z:-6.39 [[ 9.87545177e-01 1.55515977e-01 2.38600840e-02 2.13982449e+02] [-1.55462805e-01 9.87833326e-01 -4.07886007e-03 -2.65417891e+01] [-2.42041141e-02 3.18703015e-04 9.99706987e-01 -6.38958332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.01, Y:-26.55, Z:-6.39 [[ 9.87397604e-01 1.56442205e-01 2.39125093e-02 2.14010207e+02] [-1.56389083e-01 9.87687070e-01 -4.08730586e-03 -2.65496319e+01] [-2.42575034e-02 2.96140617e-04 9.99705700e-01 -6.39157519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.04, Y:-26.55, Z:-6.39 [[ 9.87296889e-01 1.57098438e-01 2.37683285e-02 2.14038443e+02] [-1.57046164e-01 9.87582910e-01 -4.06185721e-03 -2.65543031e+01] [-2.41113065e-02 2.77534158e-04 9.99709242e-01 -6.39247865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.07, Y:-26.56, Z:-6.39 [[ 9.87223664e-01 1.57591786e-01 2.35428641e-02 2.14068237e+02] [-1.57540668e-01 9.87504309e-01 -4.02212070e-03 -2.65581837e+01] [-2.38825329e-02 2.61774203e-04 9.99714737e-01 -6.39361231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.10, Y:-26.56, Z:-6.40 [[ 9.87078767e-01 1.58579652e-01 2.29783081e-02 2.14096509e+02] [-1.58531235e-01 9.87346160e-01 -3.92521879e-03 -2.65643754e+01] [-2.33100041e-02 2.31720558e-04 9.99728258e-01 -6.39648167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.13, Y:-26.57, Z:-6.40 [[ 9.86777671e-01 1.60494987e-01 2.26094570e-02 2.14125281e+02] [-1.60448631e-01 9.87036639e-01 -3.86149441e-03 -2.65682069e+01] [-2.29361129e-02 1.82780043e-04 9.99736916e-01 -6.39822725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.15, Y:-26.57, Z:-6.40 [[ 9.86617418e-01 1.61492818e-01 2.24975464e-02 2.14152350e+02] [-1.61447200e-01 9.86873875e-01 -3.84143944e-03 -2.65723071e+01] [-2.28226057e-02 1.57865178e-04 9.99739518e-01 -6.39904410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.18, Y:-26.58, Z:-6.40 [[ 9.86242882e-01 1.63760309e-01 2.25286191e-02 2.14181241e+02] [-1.63715188e-01 9.86500152e-01 -3.84537950e-03 -2.65756278e+01] [-2.28542067e-02 1.04201054e-04 9.99738803e-01 -6.39977268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.21, Y:-26.58, Z:-6.40 [[ 9.85984608e-01 1.65279120e-01 2.27412523e-02 2.14208896e+02] [-1.65233569e-01 9.86246829e-01 -3.88069742e-03 -2.65786676e+01] [-2.30698862e-02 6.86896369e-05 9.99733852e-01 -6.40055056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72587156000003 meters Centerline goodness [0,1] 0.9998927199776858 Centerline is valid? [True, True] Translation: X:214.24, Y:-26.58, Z:-6.40 [[ 9.85725016e-01 1.66806561e-01 2.28421580e-02 2.14237559e+02] [-1.66761049e-01 9.85989640e-01 -3.89646066e-03 -2.65812280e+01] [-2.31720863e-02 3.16565131e-05 9.99731491e-01 -6.39747259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.27, Y:-26.58, Z:-6.40 [[ 9.85075354e-01 1.70506612e-01 2.35380853e-02 2.14266869e+02] [-1.70459359e-01 9.85356530e-01 -4.01435916e-03 -2.65826508e+01] [-2.38778809e-02 -5.78406532e-05 9.99714881e-01 -6.39898153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.29, Y:-26.58, Z:-6.40 [[ 9.84752233e-01 1.72383825e-01 2.33849728e-02 2.14294395e+02] [-1.72337739e-01 9.85029850e-01 -3.98717379e-03 -2.65846876e+01] [-2.37222206e-02 -1.03735054e-04 9.99718583e-01 -6.40069657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.32, Y:-26.59, Z:-6.40 [[ 9.84433440e-01 1.74176299e-01 2.35248608e-02 2.14323464e+02] [-1.74130208e-01 9.84714474e-01 -4.00947697e-03 -2.65881014e+01] [-2.38636268e-02 -1.49325710e-04 9.99715212e-01 -6.40037776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.35, Y:-26.59, Z:-6.40 [[ 9.83843380e-01 1.77496140e-01 2.33949505e-02 2.14351903e+02] [-1.77451520e-01 9.84121470e-01 -3.98627946e-03 -2.65887862e+01] [-2.37310223e-02 -2.29594878e-04 9.99718353e-01 -6.40210758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87587156000004 meters Centerline goodness [0,1] 0.9998070863610057 Centerline is valid? [True, True] Translation: X:214.38, Y:-26.59, Z:-6.40 [[ 9.83636646e-01 1.78675277e-01 2.31104678e-02 2.14379607e+02] [-1.78632093e-01 9.83908065e-01 -3.93642115e-03 -2.65918357e+01] [-2.34419168e-02 -2.56263152e-04 9.99725168e-01 -6.40163124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90587156000004 meters Centerline goodness [0,1] 0.9998070863610057 Centerline is valid? [True, True] Translation: X:214.41, Y:-26.60, Z:-6.40 [[ 9.83649196e-01 1.78606147e-01 2.31106840e-02 2.14406721e+02] [-1.78562974e-01 9.83920616e-01 -3.93515153e-03 -2.65963133e+01] [-2.34419207e-02 -2.55903830e-04 9.99725168e-01 -6.40246057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93587156000004 meters Centerline goodness [0,1] 0.9998928372412019 Centerline is valid? [True, True] Translation: X:214.44, Y:-26.60, Z:-6.40 [[ 9.83270371e-01 1.80729662e-01 2.27192860e-02 2.14435667e+02] [-1.80688547e-01 9.83532764e-01 -3.86673147e-03 -2.65994864e+01] [-2.30439952e-02 -3.03072293e-04 9.99734406e-01 -6.40478967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.46, Y:-26.60, Z:-6.41 [[ 9.83074669e-01 1.81783594e-01 2.27798191e-02 2.14463965e+02] [-1.81742566e-01 9.83338505e-01 -3.87601206e-03 -2.66008276e+01] [-2.31048687e-02 -3.29653501e-04 9.99732993e-01 -6.40848929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99587156000004 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:214.49, Y:-26.61, Z:-6.41 [[ 9.82967866e-01 1.82384975e-01 2.25808566e-02 2.14491659e+02] [-1.82344851e-01 9.83227138e-01 -3.84074052e-03 -2.66079964e+01] [-2.29026044e-02 -3.42178428e-04 9.99737642e-01 -6.40827899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02587156000004 meters Centerline goodness [0,1] 0.999978707094796 Centerline is valid? [True, True] Translation: X:214.52, Y:-26.61, Z:-6.41 [[ 9.82704147e-01 1.83819796e-01 2.24241357e-02 2.14519826e+02] [-1.83780620e-01 9.82959889e-01 -3.81325941e-03 -2.66090321e+01] [-2.27429785e-02 -3.73815724e-04 9.99741275e-01 -6.41001062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.55, Y:-26.61, Z:-6.41 [[ 9.82585332e-01 1.84457569e-01 2.23935281e-02 2.14548403e+02] [-1.84418713e-01 9.82840401e-01 -3.80594459e-03 -2.66134571e+01] [-2.27112994e-02 -3.90120287e-04 9.99741989e-01 -6.41000659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08587156000004 meters Centerline goodness [0,1] 0.9999786356741514 Centerline is valid? [True, True] Translation: X:214.58, Y:-26.62, Z:-6.41 [[ 9.82485103e-01 1.84992012e-01 2.23825550e-02 2.14576194e+02] [-1.84953355e-01 9.82739942e-01 -3.80306639e-03 -2.66157366e+01] [-2.26997677e-02 -4.03272570e-04 9.99742246e-01 -6.41147994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11587156000002 meters Centerline goodness [0,1] 0.9999786730363198 Centerline is valid? [True, True] Translation: X:214.60, Y:-26.62, Z:-6.41 [[ 9.82406317e-01 1.85417093e-01 2.23233098e-02 2.14604849e+02] [-1.85378784e-01 9.82659824e-01 -3.79154470e-03 -2.66188735e+01] [-2.26392369e-02 -4.13430562e-04 9.99743614e-01 -6.41259857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14587156000002 meters Centerline goodness [0,1] 0.9998082699559021 Centerline is valid? [True, True] Translation: X:214.63, Y:-26.62, Z:-6.41 [[ 9.82539726e-01 1.84655913e-01 2.27569910e-02 2.14632341e+02] [-1.84615921e-01 9.82803149e-01 -3.86415756e-03 -2.66242314e+01] [-2.30791820e-02 -4.04614526e-04 9.99733558e-01 -6.41145943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17587156000002 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:214.66, Y:-26.63, Z:-6.41 [[ 9.82826966e-01 1.83010318e-01 2.36300312e-02 2.14660156e+02] [-1.82966761e-01 9.83110918e-01 -4.01082514e-03 -2.66314751e+01] [-2.39649641e-02 -3.81563165e-04 9.99712726e-01 -6.41268727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.69, Y:-26.64, Z:-6.41 [[ 9.83110816e-01 1.81495905e-01 2.35023620e-02 2.14687949e+02] [-1.81452410e-01 9.83391640e-01 -3.98803466e-03 -2.66384118e+01] [-2.38358382e-02 -3.43880217e-04 9.99715827e-01 -6.41392307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23587156000002 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:214.72, Y:-26.65, Z:-6.42 [[ 9.83435932e-01 1.79761863e-01 2.32258311e-02 2.14716342e+02] [-1.79718929e-01 9.83710111e-01 -3.94001110e-03 -2.66455232e+01] [-2.35557487e-02 -2.99373006e-04 9.99722480e-01 -6.41539718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.74, Y:-26.66, Z:-6.42 [[ 9.84164061e-01 1.75792991e-01 2.27579906e-02 2.14742831e+02] [-1.75750730e-01 9.84427135e-01 -3.85967085e-03 -2.66553419e+01] [-2.30820865e-02 -2.01184118e-04 9.99733553e-01 -6.41682476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29587156000002 meters Centerline goodness [0,1] 0.9999784862957704 Centerline is valid? [True, True] Translation: X:214.77, Y:-26.66, Z:-6.42 [[ 9.84571425e-01 1.73509453e-01 2.26622715e-02 2.14771093e+02] [-1.73466974e-01 9.84832193e-01 -3.84201073e-03 -2.66627644e+01] [-2.29851598e-02 -1.48421692e-04 9.99735795e-01 -6.41765320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32587156000002 meters Centerline goodness [0,1] 0.9998917069155964 Centerline is valid? [True, True] Translation: X:214.80, Y:-26.67, Z:-6.42 [[ 9.84978883e-01 1.71261232e-01 2.20497444e-02 2.14799071e+02] [-1.71220478e-01 9.85225650e-01 -3.73716403e-03 -2.66708123e+01] [-2.23640050e-02 -9.43401250e-05 9.99749890e-01 -6.41747344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.83, Y:-26.68, Z:-6.42 [[ 9.85618311e-01 1.67435816e-01 2.28427750e-02 2.14826402e+02] [-1.67391075e-01 9.85882979e-01 -3.87045245e-03 -2.66835752e+01] [-2.31683554e-02 -8.88786835e-06 9.99731578e-01 -6.41885934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.85, Y:-26.69, Z:-6.42 [[ 9.85898195e-01 1.65722403e-01 2.32558645e-02 2.14853574e+02] [-1.65675578e-01 9.86172441e-01 -3.93937509e-03 -2.66918836e+01] [-2.35871354e-02 3.08940104e-05 9.99721784e-01 -6.41966579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.88, Y:-26.70, Z:-6.42 [[ 9.86153372e-01 1.64160230e-01 2.35148054e-02 2.14881932e+02] [-1.64111948e-01 9.86433685e-01 -3.98173335e-03 -2.66995743e+01] [-2.38494384e-02 6.75392590e-05 9.99715559e-01 -6.41873378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:-26.71, Z:-6.42 [[ 9.86465348e-01 1.62165597e-01 2.42576904e-02 2.14909905e+02] [-1.62113645e-01 9.86763551e-01 -4.10618670e-03 -2.67082229e+01] [-2.46024870e-02 1.18108283e-04 9.99697306e-01 -6.41864611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.94, Y:-26.71, Z:-6.42 [[ 9.86615680e-01 1.61202852e-01 2.45589312e-02 2.14938838e+02] [-1.61149319e-01 9.86921284e-01 -4.15656315e-03 -2.67142474e+01] [-2.49077818e-02 1.43275332e-04 9.99689743e-01 -6.41827614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.97, Y:-26.72, Z:-6.42 [[ 9.86730487e-01 1.60517284e-01 2.44365846e-02 2.14966897e+02] [-1.60464086e-01 9.87033017e-01 -4.13533900e-03 -2.67215047e+01] [-2.47835092e-02 1.59270866e-04 9.99692829e-01 -6.42024217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.00, Y:-26.73, Z:-6.42 [[ 9.86990647e-01 1.58976227e-01 2.40004531e-02 2.14995404e+02] [-1.58924477e-01 9.87282392e-01 -4.06062311e-03 -2.67309596e+01] [-2.43407673e-02 1.93537568e-04 9.99703701e-01 -6.42308537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.02, Y:-26.74, Z:-6.43 [[ 9.87108540e-01 1.58340425e-01 2.33460724e-02 2.15023448e+02] [-1.58291302e-01 9.87384560e-01 -3.94903807e-03 -2.67388468e+01] [-2.36768438e-02 2.02648993e-04 9.99719644e-01 -6.42557794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.05, Y:-26.75, Z:-6.43 [[ 9.87240566e-01 1.57583790e-01 2.28782291e-02 2.15052180e+02] [-1.57536387e-01 9.87505596e-01 -3.87103993e-03 -2.67461871e+01] [-2.32023924e-02 2.17494098e-04 9.99730765e-01 -6.42757951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62587156000004 meters Centerline goodness [0,1] 0.9999136535348084 Centerline is valid? [True, True] Translation: X:215.08, Y:-26.75, Z:-6.43 [[ 9.87299384e-01 1.57393780e-01 2.16130688e-02 2.15082328e+02] [-1.57351444e-01 9.87535900e-01 -3.65633756e-03 -2.67513440e+01] [-2.19191662e-02 2.09052242e-04 9.99759724e-01 -6.42680691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.11, Y:-26.76, Z:-6.43 [[ 9.87240665e-01 1.57713144e-01 2.19643707e-02 2.15111255e+02] [-1.57669497e-01 9.87484948e-01 -3.71586148e-03 -2.67575874e+01] [-2.22755257e-02 2.05338271e-04 9.99751849e-01 -6.43097711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.14, Y:-26.76, Z:-6.43 [[ 9.87180633e-01 1.58091003e-01 2.19461184e-02 2.15139252e+02] [-1.58047524e-01 9.87424527e-01 -3.71267518e-03 -2.67619736e+01] [-2.22570761e-02 1.96551368e-04 9.99752261e-01 -6.43129281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.17, Y:-26.76, Z:-6.43 [[ 9.87001851e-01 1.59048759e-01 2.30399293e-02 2.15168826e+02] [-1.59001118e-01 9.87270712e-01 -3.89684661e-03 -2.67646288e+01] [-2.33664360e-02 1.82820291e-04 9.99726951e-01 -6.42763802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.20, Y:-26.77, Z:-6.43 [[ 9.86862101e-01 1.59828934e-01 2.36200141e-02 2.15198088e+02] [-1.59779104e-01 9.87144713e-01 -3.99429031e-03 -2.67691497e+01] [-2.39547752e-02 1.67829042e-04 9.99713029e-01 -6.42764018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.23, Y:-26.77, Z:-6.43 [[ 9.86570034e-01 1.61599193e-01 2.37753811e-02 2.15226483e+02] [-1.61549222e-01 9.86856466e-01 -4.02041349e-03 -2.67737101e+01] [-2.41125841e-02 1.25525157e-04 9.99709241e-01 -6.42908711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.25, Y:-26.78, Z:-6.43 [[ 9.86409227e-01 1.62549005e-01 2.39720277e-02 2.15254628e+02] [-1.62498505e-01 9.86700467e-01 -4.05278890e-03 -2.67777055e+01] [-2.43119877e-02 1.02289700e-04 9.99704415e-01 -6.42998561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.28, Y:-26.78, Z:-6.43 [[ 9.86283855e-01 1.63306804e-01 2.39801070e-02 2.15284638e+02] [-1.63256516e-01 9.86575330e-01 -4.05328786e-03 -2.67804090e+01] [-2.43201114e-02 8.27836530e-05 9.99704219e-01 -6.42903181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.31, Y:-26.78, Z:-6.43 [[ 9.86149877e-01 1.64130637e-01 2.38653460e-02 2.15313079e+02] [-1.64081083e-01 9.86438609e-01 -4.03337669e-03 -2.67843667e+01] [-2.42036994e-02 6.16621041e-05 9.99707046e-01 -6.43185730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.34, Y:-26.79, Z:-6.43 [[ 9.86093099e-01 1.64589473e-01 2.30370360e-02 2.15341732e+02] [-1.64543442e-01 9.86362156e-01 -3.89263151e-03 -2.67898173e+01] [-2.33635467e-02 4.79038592e-05 9.99727034e-01 -6.43476698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.37, Y:-26.80, Z:-6.44 [[ 9.86144166e-01 1.64295105e-01 2.29521538e-02 2.15368440e+02] [-1.64249355e-01 9.86411230e-01 -3.87733746e-03 -2.67963776e+01] [-2.32772899e-02 5.37372535e-05 9.99729046e-01 -6.43632162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.40, Y:-26.81, Z:-6.44 [[ 9.86270699e-01 1.63601364e-01 2.24655834e-02 2.15395698e+02] [-1.63557387e-01 9.86526527e-01 -3.79367965e-03 -2.68055812e+01] [-2.27835451e-02 6.71829552e-05 9.99740419e-01 -6.43821981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.42, Y:-26.81, Z:-6.44 [[ 9.86341694e-01 1.63185909e-01 2.23700973e-02 2.15423491e+02] [-1.63142206e-01 9.86595334e-01 -3.77719332e-03 -2.68119180e+01] [-2.26866183e-02 7.60962368e-05 9.99742623e-01 -6.43928716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.45, Y:-26.82, Z:-6.44 [[ 9.86416458e-01 1.62699846e-01 2.26126379e-02 2.15453392e+02] [-1.62655093e-01 9.86675607e-01 -3.81682182e-03 -2.68195018e+01] [-2.29323346e-02 8.69151406e-05 9.99737016e-01 -6.43794606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04587156000002 meters Centerline goodness [0,1] 0.9999356264618158 Centerline is valid? [True, True] Translation: X:215.48, Y:-26.83, Z:-6.44 [[ 9.86432897e-01 1.62585508e-01 2.27176562e-02 2.15483517e+02] [-1.62540308e-01 9.86694454e-01 -3.83454801e-03 -2.68262173e+01] [-2.30388273e-02 8.99894793e-05 9.99734567e-01 -6.43812659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.51, Y:-26.83, Z:-6.44 [[ 9.86454392e-01 1.62462264e-01 2.26659377e-02 2.15512067e+02] [-1.62417235e-01 9.86714753e-01 -3.82590226e-03 -2.68337480e+01] [-2.29863798e-02 9.27391566e-05 9.99735774e-01 -6.44200529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.54, Y:-26.84, Z:-6.44 [[ 9.86536919e-01 1.61952998e-01 2.27185690e-02 2.15542081e+02] [-1.61907635e-01 9.86798467e-01 -3.83434929e-03 -2.68400233e+01] [-2.30396334e-02 1.04417352e-04 9.99734547e-01 -6.44137877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.57, Y:-26.85, Z:-6.44 [[ 9.86519273e-01 1.61994359e-01 2.31851698e-02 2.15572058e+02] [-1.61947120e-01 9.86791678e-01 -3.91329676e-03 -2.68487237e+01] [-2.35128646e-02 1.05771201e-04 9.99723529e-01 -6.44089260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.60, Y:-26.86, Z:-6.44 [[ 9.86473405e-01 1.62299621e-01 2.30011802e-02 2.15601725e+02] [-1.62253197e-01 9.86741518e-01 -3.88289665e-03 -2.68555275e+01] [-2.33264121e-02 9.83592681e-05 9.99727897e-01 -6.44213602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.63, Y:-26.86, Z:-6.44 [[ 9.86316459e-01 1.63281248e-01 2.27832751e-02 2.15631887e+02] [-1.63235962e-01 9.86579560e-01 -3.84608491e-03 -2.68619547e+01] [-2.31055071e-02 7.44070129e-05 9.99733029e-01 -6.44330264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22587156000003 meters Centerline goodness [0,1] 0.999872288797599 Centerline is valid? [True, True] Translation: X:215.66, Y:-26.87, Z:-6.44 [[ 9.86206757e-01 1.63967327e-01 2.26041784e-02 2.15661920e+02] [-1.63922892e-01 9.86465768e-01 -3.81751410e-03 -2.68672574e+01] [-2.29241958e-02 5.95159040e-05 9.99737204e-01 -6.44306342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.69, Y:-26.87, Z:-6.45 [[ 9.86055119e-01 1.64895145e-01 2.24698249e-02 2.15692793e+02] [-1.64851482e-01 9.86311102e-01 -3.79464164e-03 -2.68730009e+01] [-2.27879557e-02 3.75418864e-05 9.99740320e-01 -6.44531348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28587156000003 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:215.72, Y:-26.88, Z:-6.45 [[ 9.85740647e-01 1.66829434e-01 2.19844897e-02 2.15722539e+02] [-1.66788103e-01 9.85985771e-01 -3.71331167e-03 -2.68786135e+01] [-2.22958837e-02 -6.38907362e-06 9.99751416e-01 -6.44619294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31587156000003 meters Centerline goodness [0,1] 0.999870939987094 Centerline is valid? [True, True] Translation: X:215.75, Y:-26.88, Z:-6.45 [[ 9.85565480e-01 1.67900999e-01 2.16780882e-02 2.15752248e+02] [-1.67861064e-01 9.85803862e-01 -3.66192460e-03 -2.68830023e+01] [-2.19851838e-02 -2.98404619e-05 9.99758296e-01 -6.44693174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.78, Y:-26.89, Z:-6.45 [[ 9.85371172e-01 1.69026266e-01 2.17663623e-02 2.15781512e+02] [-1.68986277e-01 9.85611545e-01 -3.67693467e-03 -2.68868920e+01] [-2.20746765e-02 -5.50710950e-05 9.99756323e-01 -6.45015257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37587156000004 meters Centerline goodness [0,1] 0.9999572018574394 Centerline is valid? [True, True] Translation: X:215.81, Y:-26.89, Z:-6.45 [[ 9.85187354e-01 1.70098871e-01 2.17313354e-02 2.15810762e+02] [-1.70059277e-01 9.85426998e-01 -3.67074841e-03 -2.68924441e+01] [-2.20390348e-02 -7.92402707e-05 9.99757108e-01 -6.45017145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.84, Y:-26.90, Z:-6.45 [[ 9.85185621e-01 1.70028714e-01 2.23501430e-02 2.15840205e+02] [-1.69986823e-01 9.85439105e-01 -3.77490105e-03 -2.69007681e+01] [-2.26665465e-02 -8.02515718e-05 9.99743078e-01 -6.45161052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.87, Y:-26.91, Z:-6.45 [[ 9.85224300e-01 1.69780647e-01 2.25302366e-02 2.15869447e+02] [-1.69738016e-01 9.85481875e-01 -3.80522738e-03 -2.69070278e+01] [-2.28491938e-02 -7.52351767e-05 9.99738920e-01 -6.45373384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.90, Y:-26.91, Z:-6.45 [[ 9.85251156e-01 1.69653224e-01 2.23146489e-02 2.15899007e+02] [-1.69611364e-01 9.85503820e-01 -3.76918833e-03 -2.69142239e+01] [-2.26306266e-02 -7.12208617e-05 9.99743892e-01 -6.45349197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49587156000004 meters Centerline goodness [0,1] 0.9997824242292378 Centerline is valid? [True, True] Translation: X:215.93, Y:-26.92, Z:-6.45 [[ 9.85234669e-01 1.69766077e-01 2.21839002e-02 2.15929361e+02] [-1.69724739e-01 9.85484385e-01 -3.74691535e-03 -2.69208256e+01] [-2.24979864e-02 -7.35657500e-05 9.99746886e-01 -6.45198587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.96, Y:-26.93, Z:-6.45 [[ 9.84997315e-01 1.71110499e-01 2.23939132e-02 2.15959564e+02] [-1.71068704e-01 9.85251839e-01 -3.78313444e-03 -2.69259718e+01] [-2.27109782e-02 -1.04520445e-04 9.99742067e-01 -6.45468923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.99, Y:-26.93, Z:-6.46 [[ 9.84615902e-01 1.73357951e-01 2.18757005e-02 2.15989575e+02] [-1.73318623e-01 9.84858872e-01 -3.69558976e-03 -2.69300308e+01] [-2.21851376e-02 -1.52729862e-04 9.99753868e-01 -6.45625663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.02, Y:-26.93, Z:-6.46 [[ 9.84418745e-01 1.74513134e-01 2.15615396e-02 2.16020210e+02] [-1.74475204e-01 9.84654830e-01 -3.64251671e-03 -2.69337453e+01] [-2.18663411e-02 -1.76192294e-04 9.99760887e-01 -6.45737344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.05, Y:-26.94, Z:-6.46 [[ 9.84206498e-01 1.75726160e-01 2.13982763e-02 2.16049324e+02] [-1.75689088e-01 9.84439067e-01 -3.61503941e-03 -2.69372034e+01] [-2.17005561e-02 -2.01498361e-04 9.99764495e-01 -6.45894983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.08, Y:-26.94, Z:-6.46 [[ 9.84030685e-01 1.76704799e-01 2.14248600e-02 2.16079238e+02] [-1.76667874e-01 9.84263869e-01 -3.61916021e-03 -2.69415602e+01] [-2.17272386e-02 -2.23719772e-04 9.99763911e-01 -6.45979499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67587156000002 meters Centerline goodness [0,1] 0.9999564032697548 Centerline is valid? [True, True] Translation: X:216.11, Y:-26.94, Z:-6.46 [[ 9.83769082e-01 1.78093156e-01 2.19367298e-02 2.16108624e+02] [-1.78054786e-01 9.84013597e-01 -3.70582526e-03 -2.69447261e+01] [-2.22460225e-02 -2.60263414e-04 9.99752493e-01 -6.45819136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70587156000002 meters Centerline goodness [0,1] 0.9999567548866978 Centerline is valid? [True, True] Translation: X:216.14, Y:-26.95, Z:-6.46 [[ 9.83645501e-01 1.78744724e-01 2.21777554e-02 2.16137110e+02] [-1.78705683e-01 9.83895445e-01 -3.74606582e-03 -2.69463828e+01] [-2.24901820e-02 -2.78490128e-04 9.99747025e-01 -6.46052102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73587156000002 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:216.17, Y:-26.95, Z:-6.46 [[ 9.83510834e-01 1.79400933e-01 2.28417428e-02 2.16166745e+02] [-1.79359718e-01 9.83775998e-01 -3.85722644e-03 -2.69505797e+01] [-2.31631483e-02 -3.03264555e-04 9.99731652e-01 -6.46030081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.20, Y:-26.96, Z:-6.46 [[ 9.83437033e-01 1.79815934e-01 2.27559199e-02 2.16197081e+02] [-1.79775157e-01 9.83700225e-01 -3.84200161e-03 -2.69560974e+01] [-2.30758566e-02 -3.12582395e-04 9.99733668e-01 -6.46081817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79587156000002 meters Centerline goodness [0,1] 0.999978391927224 Centerline is valid? [True, True] Translation: X:216.23, Y:-26.96, Z:-6.46 [[ 9.83404461e-01 1.80059093e-01 2.22348451e-02 2.16226692e+02] [-1.80020225e-01 9.83655746e-01 -3.75394426e-03 -2.69607637e+01] [-2.25473649e-02 -3.11076296e-04 9.99745727e-01 -6.46255875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82587156000002 meters Centerline goodness [0,1] 0.999978391927224 Centerline is valid? [True, True] Translation: X:216.26, Y:-26.97, Z:-6.46 [[ 9.83408839e-01 1.80035192e-01 2.22347612e-02 2.16255448e+02] [-1.79996307e-01 9.83660121e-01 -3.75444110e-03 -2.69655744e+01] [-2.25473794e-02 -3.10024353e-04 9.99745727e-01 -6.46343853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.28, Y:-26.97, Z:-6.47 [[ 9.83375309e-01 1.80336131e-01 2.12575091e-02 2.16284290e+02] [-1.80300669e-01 9.83604996e-01 -3.58903286e-03 -2.69676135e+01] [-2.15562245e-02 -3.03376812e-04 9.99767592e-01 -6.46673039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.31, Y:-26.97, Z:-6.47 [[ 9.83378630e-01 1.80279548e-01 2.15813641e-02 2.16313444e+02] [-1.80243003e-01 9.83615367e-01 -3.64278523e-03 -2.69707756e+01] [-2.18844811e-02 -3.07652733e-04 9.99760459e-01 -6.46612491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91587156000003 meters Centerline goodness [0,1] 0.9999569596281311 Centerline is valid? [True, True] Translation: X:216.34, Y:-26.97, Z:-6.47 [[ 9.83404525e-01 1.80100998e-01 2.18899552e-02 2.16341802e+02] [-1.80063369e-01 9.83648075e-01 -3.69431605e-03 -2.69727298e+01] [-2.21973623e-02 -3.08571963e-04 9.99753561e-01 -6.46607264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.37, Y:-26.98, Z:-6.47 [[ 9.83380590e-01 1.80209806e-01 2.20690120e-02 2.16370967e+02] [-1.80171598e-01 9.83628145e-01 -3.72401452e-03 -2.69775850e+01] [-2.23788052e-02 -3.14085544e-04 9.99749514e-01 -6.46668646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.40, Y:-26.98, Z:-6.47 [[ 9.83386667e-01 1.80145117e-01 2.23248899e-02 2.16399555e+02] [-1.80106014e-01 9.83639993e-01 -3.76661414e-03 -2.69794685e+01] [-2.26381917e-02 -3.16808810e-04 9.99743673e-01 -6.46802002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00587156000003 meters Centerline goodness [0,1] 0.9999360081909515 Centerline is valid? [True, True] Translation: X:216.43, Y:-26.98, Z:-6.47 [[ 9.83360763e-01 1.80147085e-01 2.34230197e-02 2.16427316e+02] [-1.80104050e-01 9.83639628e-01 -3.95148797e-03 -2.69805048e+01] [-2.37516594e-02 -3.32842474e-04 9.99717834e-01 -6.46546108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.46, Y:-26.98, Z:-6.47 [[ 9.83407075e-01 1.79805659e-01 2.40925373e-02 2.16455803e+02] [-1.79760063e-01 9.83702095e-01 -4.06287312e-03 -2.69840930e+01] [-2.44304070e-02 -3.35417862e-04 9.99701477e-01 -6.46567516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.48, Y:-26.99, Z:-6.47 [[ 9.83454032e-01 1.79426328e-01 2.49871749e-02 2.16483954e+02] [-1.79377192e-01 9.83771354e-01 -4.21253051e-03 -2.69872775e+01] [-2.53375058e-02 -3.39299150e-04 9.99678896e-01 -6.46546996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.51, Y:-26.99, Z:-6.46 [[ 9.83644606e-01 1.78333561e-01 2.53067145e-02 2.16513358e+02] [-1.78282842e-01 9.83970040e-01 -4.26469406e-03 -2.69922057e+01] [-2.56615870e-02 -3.16809682e-04 9.99670637e-01 -6.46480425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.54, Y:-27.00, Z:-6.47 [[ 9.83820010e-01 1.77410917e-01 2.49710848e-02 2.16542376e+02] [-1.77361253e-01 9.84136821e-01 -4.20752511e-03 -2.69971504e+01] [-2.53214249e-02 -2.89455500e-04 9.99679319e-01 -6.46602798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15587156000004 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:216.57, Y:-27.00, Z:-6.47 [[ 9.84108347e-01 1.75930106e-01 2.40698750e-02 2.16571246e+02] [-1.75883532e-01 9.84402630e-01 -4.05515722e-03 -2.69985256e+01] [-2.44078725e-02 -2.42780555e-04 9.99702054e-01 -6.46798965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18587156000004 meters Centerline goodness [0,1] 0.9999353155522974 Centerline is valid? [True, True] Translation: X:216.60, Y:-27.00, Z:-6.47 [[ 9.84251012e-01 1.75164859e-01 2.38163203e-02 2.16600816e+02] [-1.75119060e-01 9.84539092e-01 -4.01146643e-03 -2.70036880e+01] [-2.41507663e-02 -2.22401740e-04 9.99708303e-01 -6.46911331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21587156000004 meters Centerline goodness [0,1] 0.9997395550732502 Centerline is valid? [True, True] Translation: X:216.63, Y:-27.01, Z:-6.47 [[ 9.84362738e-01 1.74593251e-01 2.33922347e-02 2.16630219e+02] [-1.74548922e-01 9.84640622e-01 -3.93946385e-03 -2.70078412e+01] [-2.37207483e-02 -2.05227920e-04 9.99718602e-01 -6.46983261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.66, Y:-27.01, Z:-6.48 [[ 9.84537753e-01 1.73656836e-01 2.29938267e-02 2.16659591e+02] [-1.73613760e-01 9.84806210e-01 -3.87189001e-03 -2.70075842e+01] [-2.33168435e-02 -1.80022819e-04 9.99728109e-01 -6.47549875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27587156000004 meters Centerline goodness [0,1] 0.9999353768606078 Centerline is valid? [True, True] Translation: X:216.69, Y:-27.01, Z:-6.47 [[ 9.84594472e-01 1.73404194e-01 2.24657548e-02 2.16688225e+02] [-1.73363025e-01 9.84850728e-01 -3.78224024e-03 -2.70115464e+01] [-2.27812713e-02 -1.70758382e-04 9.99740459e-01 -6.47464204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.72, Y:-27.01, Z:-6.48 [[ 9.84628181e-01 1.73233618e-01 2.23037772e-02 2.16717255e+02] [-1.73193021e-01 9.84880747e-01 -3.75389244e-03 -2.70145389e+01] [-2.26168611e-02 -1.66670264e-04 9.99744192e-01 -6.47746664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33587156000004 meters Centerline goodness [0,1] 0.9999136199710627 Centerline is valid? [True, True] Translation: X:216.75, Y:-27.01, Z:-6.48 [[ 9.84700539e-01 1.72888145e-01 2.17838869e-02 2.16745663e+02] [-1.72849355e-01 9.84941453e-01 -3.66546201e-03 -2.70137916e+01] [-2.20895681e-02 -1.55948375e-04 9.99755984e-01 -6.47748820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.77, Y:-27.02, Z:-6.48 [[ 9.84722516e-01 1.72729313e-01 2.20488303e-02 2.16774941e+02] [-1.72689565e-01 9.84969319e-01 -3.70859952e-03 -2.70159828e+01] [-2.23580052e-02 -1.55661470e-04 9.99750016e-01 -6.47943446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.80, Y:-27.01, Z:-6.48 [[ 9.84687204e-01 1.72867748e-01 2.25355802e-02 2.16803610e+02] [-1.72826285e-01 9.84945032e-01 -3.78945777e-03 -2.70142993e+01] [-2.28513828e-02 -1.63310030e-04 9.99738860e-01 -6.47995998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.83, Y:-27.02, Z:-6.48 [[ 9.84670367e-01 1.72934652e-01 2.27568509e-02 2.16832977e+02] [-1.72892426e-01 9.84933286e-01 -3.82505731e-03 -2.70156596e+01] [-2.30754649e-02 -1.68066589e-04 9.99733712e-01 -6.47994079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45587156000002 meters Centerline goodness [0,1] 0.9999356816671312 Centerline is valid? [True, True] Translation: X:216.86, Y:-27.02, Z:-6.48 [[ 9.84627387e-01 1.73174057e-01 2.27959244e-02 2.16861358e+02] [-1.73131774e-01 9.84891220e-01 -3.83060093e-03 -2.70164552e+01] [-2.31148665e-02 -1.74984236e-04 9.99732800e-01 -6.47931186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.89, Y:-27.01, Z:-6.48 [[ 9.84550597e-01 1.73634715e-01 2.26076775e-02 2.16890999e+02] [-1.73593282e-01 9.84810109e-01 -3.79753387e-03 -2.70142563e+01] [-2.29236531e-02 -1.85676703e-04 9.99737201e-01 -6.48214070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.92, Y:-27.02, Z:-6.48 [[ 9.84578646e-01 1.73545106e-01 2.20677608e-02 2.16920024e+02] [-1.73505629e-01 9.84825905e-01 -3.70582123e-03 -2.70162014e+01] [-2.23760296e-02 -1.80208256e-04 9.99749609e-01 -6.48382291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.95, Y:-27.01, Z:-6.49 [[ 9.84614882e-01 1.73456409e-01 2.11283867e-02 2.16949790e+02] [-1.73420221e-01 9.84841533e-01 -3.54712107e-03 -2.70140810e+01] [-2.14233837e-02 -1.71541309e-04 9.99770478e-01 -6.48663431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.98, Y:-27.01, Z:-6.49 [[ 9.84651419e-01 1.73252448e-01 2.10990879e-02 2.16977911e+02] [-1.73216331e-01 9.84877435e-01 -3.54140212e-03 -2.70149988e+01] [-2.13935722e-02 -1.67659973e-04 9.99771117e-01 -6.48855730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.01, Y:-27.01, Z:-6.49 [[ 9.84854412e-01 1.72003666e-01 2.18294813e-02 2.17007483e+02] [-1.71964738e-01 9.85096298e-01 -3.66218499e-03 -2.70133708e+01] [-2.21340505e-02 -1.47182006e-04 9.99755001e-01 -6.48782177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63587156000003 meters Centerline goodness [0,1] 0.9998063266623628 Centerline is valid? [True, True] Translation: X:217.04, Y:-27.02, Z:-6.49 [[ 9.85048754e-01 1.70871074e-01 2.19551386e-02 2.17036295e+02] [-1.70831439e-01 9.85293388e-01 -3.68223532e-03 -2.70164304e+01] [-2.22614404e-02 -1.23446590e-04 9.99752176e-01 -6.48538599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.06, Y:-27.02, Z:-6.49 [[ 9.85297468e-01 1.69375529e-01 2.23792042e-02 2.17064092e+02] [-1.69333985e-01 9.85551582e-01 -3.75232102e-03 -2.70192721e+01] [-2.26914114e-02 -9.24074212e-05 9.99742513e-01 -6.48775315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69587156000003 meters Centerline goodness [0,1] 0.9999359097609434 Centerline is valid? [True, True] Translation: X:217.09, Y:-27.02, Z:-6.49 [[ 9.85667947e-01 1.67192457e-01 2.24806534e-02 2.17091515e+02] [-1.67149997e-01 9.85924277e-01 -3.76803843e-03 -2.70234268e+01] [-2.27942096e-02 -4.36064404e-05 9.99740177e-01 -6.48747073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72587156000003 meters Centerline goodness [0,1] 0.9998293042012504 Centerline is valid? [True, True] Translation: X:217.12, Y:-27.03, Z:-6.49 [[ 9.86519761e-01 1.62054120e-01 2.27425626e-02 2.17118445e+02] [-1.62009337e-01 9.86781869e-01 -3.81026914e-03 -2.70296074e+01] [-2.30594183e-02 7.43983032e-05 9.99734093e-01 -6.48673062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.15, Y:-27.04, Z:-6.49 [[ 9.86945403e-01 1.59384106e-01 2.31403932e-02 2.17145443e+02] [-1.59337049e-01 9.87216637e-01 -3.87517484e-03 -2.70358557e+01] [-2.34622224e-02 1.37464017e-04 9.99724715e-01 -6.48953951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78587156000003 meters Centerline goodness [0,1] 0.9998724679575743 Centerline is valid? [True, True] Translation: X:217.17, Y:-27.04, Z:-6.49 [[ 9.87771051e-01 1.54150532e-01 2.33658837e-02 2.17172099e+02] [-1.54101127e-01 9.88047339e-01 -3.91127595e-03 -2.70440796e+01] [-2.36895245e-02 2.62736139e-04 9.99719329e-01 -6.48833798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.20, Y:-27.05, Z:-6.49 [[ 9.88111439e-01 1.51877198e-01 2.38558346e-02 2.17201178e+02] [-1.51825072e-01 9.88399319e-01 -3.99180685e-03 -2.70465045e+01] [-2.41853551e-02 3.22436191e-04 9.99707440e-01 -6.48860237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84587156000003 meters Centerline goodness [0,1] 0.9999785200300719 Centerline is valid? [True, True] Translation: X:217.23, Y:-27.05, Z:-6.49 [[ 9.88477555e-01 1.49528307e-01 2.35246423e-02 2.17228113e+02] [-1.49476978e-01 9.88757375e-01 -3.93539024e-03 -2.70517453e+01] [-2.38486158e-02 3.73652485e-04 9.99715511e-01 -6.48884851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.26, Y:-27.06, Z:-6.49 [[ 9.89057974e-01 1.45625206e-01 2.36140482e-02 2.17255598e+02] [-1.45572423e-01 9.89339720e-01 -3.94826607e-03 -2.70590342e+01] [-2.39372829e-02 4.67509823e-04 9.99713353e-01 -6.49050319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.28, Y:-27.07, Z:-6.49 [[ 9.89358657e-01 1.43521472e-01 2.38963562e-02 2.17282933e+02] [-1.43466815e-01 9.89647065e-01 -3.99507597e-03 -2.70663435e+01] [-2.42223379e-02 5.24228875e-04 9.99706459e-01 -6.49160689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93587156000004 meters Centerline goodness [0,1] 0.9996785461714849 Centerline is valid? [True, True] Translation: X:217.31, Y:-27.07, Z:-6.49 [[ 9.90098836e-01 1.38365338e-01 2.36501013e-02 2.17312836e+02] [-1.38310365e-01 9.90381048e-01 -3.95250257e-03 -2.70738004e+01] [-2.39695014e-02 6.42314056e-04 9.99712484e-01 -6.49086121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96587156000004 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:217.34, Y:-27.09, Z:-6.49 [[ 9.90504561e-01 1.35416508e-01 2.37293927e-02 2.17340173e+02] [-1.35360322e-01 9.90788503e-01 -3.96563620e-03 -2.70850650e+01] [-2.40478221e-02 7.15962493e-04 9.99710553e-01 -6.49444338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99587156000004 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:217.37, Y:-27.09, Z:-6.50 [[ 9.90893861e-01 1.32616374e-01 2.32863305e-02 2.17368090e+02] [-1.32561478e-01 9.91167143e-01 -3.89231815e-03 -2.70941762e+01] [-2.35968308e-02 7.70003772e-04 9.99721259e-01 -6.49619490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02587156000004 meters Centerline goodness [0,1] 0.9998921995601742 Centerline is valid? [True, True] Translation: X:217.40, Y:-27.10, Z:-6.50 [[ 9.91233263e-01 1.30208750e-01 2.24120585e-02 2.17397821e+02] [-1.30157300e-01 9.91486283e-01 -3.74549916e-03 -2.70999324e+01] [-2.27089453e-02 7.95570334e-04 9.99741802e-01 -6.49733907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05587156000004 meters Centerline goodness [0,1] 0.9997001884529724 Centerline is valid? [True, True] Translation: X:217.43, Y:-27.11, Z:-6.50 [[ 9.91788123e-01 1.26115452e-01 2.12417549e-02 2.17425347e+02] [-1.26068296e-01 9.92015213e-01 -3.54999770e-03 -2.71139876e+01] [-2.15198536e-02 8.42933716e-04 9.99768066e-01 -6.50148407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08587156000004 meters Centerline goodness [0,1] 0.9998500203543805 Centerline is valid? [True, True] Translation: X:217.46, Y:-27.12, Z:-6.50 [[ 9.91925980e-01 1.25027853e-01 2.12340803e-02 2.17456280e+02] [-1.24980504e-01 9.92152855e-01 -3.54769901e-03 -2.71205283e+01] [-2.15110146e-02 8.65208750e-04 9.99768237e-01 -6.50248267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11587156000004 meters Centerline goodness [0,1] 0.9996165644171779 Centerline is valid? [True, True] Translation: X:217.49, Y:-27.13, Z:-6.50 [[ 9.92002098e-01 1.24488271e-01 2.08448622e-02 2.17485431e+02] [-1.24442499e-01 9.92220705e-01 -3.48382679e-03 -2.71335896e+01] [-2.11163994e-02 8.61976749e-04 9.99776652e-01 -6.50198072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14587156000002 meters Centerline goodness [0,1] 0.9995925457313805 Centerline is valid? [True, True] Translation: X:217.52, Y:-27.14, Z:-6.50 [[ 9.91934818e-01 1.24977558e-01 2.11170016e-02 2.17516860e+02] [-1.24930598e-01 9.92159190e-01 -3.53376326e-03 -2.71378945e+01] [-2.13930683e-02 8.67103166e-04 9.99770766e-01 -6.50233626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17587156000002 meters Centerline goodness [0,1] 0.999742306783774 Centerline is valid? [True, True] Translation: X:217.55, Y:-27.14, Z:-6.50 [[ 9.91793283e-01 1.26048486e-01 2.13977325e-02 2.17547326e+02] [-1.26000507e-01 9.92023713e-01 -3.58125445e-03 -2.71438822e+01] [-2.16784698e-02 8.55738967e-04 9.99764628e-01 -6.50272810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20587156000002 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:217.58, Y:-27.15, Z:-6.50 [[ 9.91409201e-01 1.28880582e-01 2.23067804e-02 2.17576631e+02] [-1.28829138e-01 9.91659775e-01 -3.73412652e-03 -2.71503214e+01] [-2.26019933e-02 8.28284099e-04 9.99744199e-01 -6.50265527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23587156000002 meters Centerline goodness [0,1] 0.9999137484905986 Centerline is valid? [True, True] Translation: X:217.61, Y:-27.15, Z:-6.50 [[ 9.91149431e-01 1.30869167e-01 2.22725748e-02 2.17608477e+02] [-1.30818386e-01 9.91399339e-01 -3.72821684e-03 -2.71501892e+01] [-2.25689246e-02 7.81557711e-04 9.99744984e-01 -6.50280512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26587156000002 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:217.64, Y:-27.15, Z:-6.51 [[ 9.90467485e-01 1.36051672e-01 2.15430623e-02 2.17638182e+02] [-1.36005371e-01 9.90701534e-01 -3.60682641e-03 -2.71549008e+01] [-2.18334597e-02 6.42472088e-04 9.99761415e-01 -6.50575056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.67, Y:-27.16, Z:-6.51 [[ 9.90068455e-01 1.38992469e-01 2.11079941e-02 2.17667661e+02] [-1.38948695e-01 9.90293277e-01 -3.53360779e-03 -2.71578953e+01] [-2.13942495e-02 5.65585370e-04 9.99770957e-01 -6.50771588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32587156000002 meters Centerline goodness [0,1] 0.9999782391086739 Centerline is valid? [True, True] Translation: X:217.70, Y:-27.16, Z:-6.51 [[ 9.89617041e-01 1.42115907e-01 2.14751409e-02 2.17698294e+02] [-1.42071303e-01 9.89849893e-01 -3.59640415e-03 -2.71550998e+01] [-2.17682722e-02 5.08061581e-04 9.99762914e-01 -6.50599857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.73, Y:-27.16, Z:-6.51 [[ 9.88819013e-01 1.47521133e-01 2.17824365e-02 2.17727372e+02] [-1.47476563e-01 9.89058825e-01 -3.64740864e-03 -2.71557387e+01] [-2.20821809e-02 3.94228150e-04 9.99756081e-01 -6.50673036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.76, Y:-27.16, Z:-6.51 [[ 9.88472552e-01 1.49843042e-01 2.16581944e-02 2.17756402e+02] [-1.49799551e-01 9.88709739e-01 -3.62589246e-03 -2.71583157e+01] [-2.19569825e-02 3.39707370e-04 9.99758859e-01 -6.50826077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41587156000003 meters Centerline goodness [0,1] 0.9997843619269419 Centerline is valid? [True, True] Translation: X:217.78, Y:-27.16, Z:-6.51 [[ 9.87845670e-01 1.54032746e-01 2.08529326e-02 2.17784764e+02] [-1.53993383e-01 9.88065715e-01 -3.49009634e-03 -2.71610214e+01] [-2.11416568e-02 2.36462936e-04 9.99776462e-01 -6.50907872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.81, Y:-27.17, Z:-6.51 [[ 9.87626827e-01 1.55450884e-01 2.06947714e-02 2.17811814e+02] [-1.55412446e-01 9.87843602e-01 -3.46272319e-03 -2.71653571e+01] [-2.09814809e-02 2.03653261e-04 9.99779844e-01 -6.51225652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.84, Y:-27.17, Z:-6.51 [[ 9.87403336e-01 1.56880072e-01 2.05741315e-02 2.17839663e+02] [-1.56842417e-01 9.87617646e-01 -3.44128337e-03 -2.71693438e+01] [-2.08592441e-02 1.71038173e-04 9.99782408e-01 -6.51340341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:-27.17, Z:-6.51 [[ 9.87205204e-01 1.58081343e-01 2.08847684e-02 2.17868706e+02] [-1.58042841e-01 9.87426082e-01 -3.49185961e-03 -2.71732033e+01] [-2.11741629e-02 1.46493850e-04 9.99775792e-01 -6.51329945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.90, Y:-27.18, Z:-6.51 [[ 9.86813606e-01 1.60516050e-01 2.08207951e-02 2.17895905e+02] [-1.60478346e-01 9.87033226e-01 -3.48012894e-03 -2.71776129e+01] [-2.11094331e-02 9.29518187e-05 9.99777167e-01 -6.51460651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.92, Y:-27.18, Z:-6.52 [[ 9.86604583e-01 1.61836447e-01 2.05027017e-02 2.17923458e+02] [-1.61800189e-01 9.86817592e-01 -3.42610483e-03 -2.71817094e+01] [-2.07868954e-02 6.28697063e-05 9.99783927e-01 -6.51627374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.95, Y:-27.19, Z:-6.52 [[ 9.86441156e-01 1.62838899e-01 2.04288967e-02 2.17951497e+02] [-1.62803147e-01 9.86652670e-01 -3.41230383e-03 -2.71857874e+01] [-2.07118813e-02 4.01482533e-05 9.99785485e-01 -6.51714231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62587156000004 meters Centerline goodness [0,1] 0.9999570658824034 Centerline is valid? [True, True] Translation: X:217.98, Y:-27.19, Z:-6.52 [[ 9.86066149e-01 1.65039800e-01 2.08665739e-02 2.17979818e+02] [-1.65003014e-01 9.86286908e-01 -3.48438278e-03 -2.71886917e+01] [-2.11554905e-02 -7.21567714e-06 9.99776198e-01 -6.51530850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.01, Y:-27.19, Z:-6.52 [[ 9.86002915e-01 1.65405070e-01 2.09622298e-02 2.18008550e+02] [-1.65368050e-01 9.86225716e-01 -3.49933471e-03 -2.71937050e+01] [-2.12522978e-02 -1.61288461e-05 9.99774144e-01 -6.51701367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68587156000004 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:218.04, Y:-27.20, Z:-6.52 [[ 9.85961557e-01 1.65652954e-01 2.09501095e-02 2.18036031e+02] [-1.65616053e-01 9.86184110e-01 -3.49637115e-03 -2.71995387e+01] [-2.12398493e-02 -2.23869118e-05 9.99774409e-01 -6.51822113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71587156000004 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:218.06, Y:-27.20, Z:-6.52 [[ 9.85969292e-01 1.65606879e-01 2.09503415e-02 2.18063975e+02] [-1.65569997e-01 9.86191848e-01 -3.49498036e-03 -2.72041089e+01] [-2.12398488e-02 -2.28046711e-05 9.99774409e-01 -6.51907564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.09, Y:-27.21, Z:-6.52 [[ 9.85960751e-01 1.65694207e-01 2.06598014e-02 2.18092426e+02] [-1.65658381e-01 9.86177179e-01 -3.44555376e-03 -2.72095475e+01] [-2.09451329e-02 -2.52884686e-05 9.99780626e-01 -6.52009810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:-27.21, Z:-6.52 [[ 9.85914319e-01 1.66019013e-01 2.02643231e-02 2.18119573e+02] [-1.65984629e-01 9.86122551e-01 -3.37881836e-03 -2.72141685e+01] [-2.05440541e-02 -3.23407646e-05 9.99788948e-01 -6.52206081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80587156000004 meters Centerline goodness [0,1] 0.9998060971668642 Centerline is valid? [True, True] Translation: X:218.15, Y:-27.22, Z:-6.52 [[ 9.85720200e-01 1.67169609e-01 2.02486899e-02 2.18148488e+02] [-1.67135555e-01 9.85928151e-01 -3.37458748e-03 -2.72185573e+01] [-2.05278819e-02 -5.78769850e-05 9.99789279e-01 -6.52092648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83587156000004 meters Centerline goodness [0,1] 0.9999570068144199 Centerline is valid? [True, True] Translation: X:218.18, Y:-27.22, Z:-6.52 [[ 9.85573447e-01 1.68036846e-01 2.02138338e-02 2.18177266e+02] [-1.68003111e-01 9.85780712e-01 -3.36779746e-03 -2.72224914e+01] [-2.04923216e-02 -7.67752264e-05 9.99790007e-01 -6.52218474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.20, Y:-27.23, Z:-6.52 [[ 9.85429192e-01 1.68880920e-01 2.02124386e-02 2.18204981e+02] [-1.68847385e-01 9.85636457e-01 -3.36668399e-03 -2.72258133e+01] [-2.04906851e-02 -9.51887398e-05 9.99790039e-01 -6.52473592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.23, Y:-27.23, Z:-6.53 [[ 9.85214845e-01 1.70120852e-01 2.02634078e-02 2.18234145e+02] [-1.70087438e-01 9.85423199e-01 -3.37381684e-03 -2.72287456e+01] [-2.05419887e-02 -1.22616687e-04 9.99788984e-01 -6.52517260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.26, Y:-27.23, Z:-6.53 [[ 9.84783207e-01 1.72627252e-01 2.00466148e-02 2.18262069e+02] [-1.72595084e-01 9.84987209e-01 -3.33699104e-03 -2.72274648e+01] [-2.03217147e-02 -1.73734412e-04 9.99793478e-01 -6.52675819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.29, Y:-27.23, Z:-6.53 [[ 9.84552864e-01 1.73919560e-01 2.01902339e-02 2.18291205e+02] [-1.73887236e-01 9.84759841e-01 -3.35915496e-03 -2.72290235e+01] [-2.04667543e-02 -2.03558336e-04 9.99790513e-01 -6.52688500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98587156000002 meters Centerline goodness [0,1] 0.9999786411499605 Centerline is valid? [True, True] Translation: X:218.32, Y:-27.23, Z:-6.53 [[ 9.84020197e-01 1.76875357e-01 2.04782737e-02 2.18320682e+02] [-1.76842764e-01 9.84233222e-01 -3.40606928e-03 -2.72273631e+01] [-2.07578471e-02 -2.69793568e-04 9.99784496e-01 -6.52742596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.35, Y:-27.23, Z:-6.53 [[ 9.83834399e-01 1.77897098e-01 2.05547461e-02 2.18349865e+02] [-1.77864505e-01 9.84049052e-01 -3.41780084e-03 -2.72297016e+01] [-2.08348952e-02 -2.93409695e-04 9.99782887e-01 -6.52838904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.38, Y:-27.23, Z:-6.53 [[ 9.83699899e-01 1.78660048e-01 2.03739213e-02 2.18378423e+02] [-1.78628210e-01 9.83910815e-01 -3.38676365e-03 -2.72318625e+01] [-2.06512008e-02 -3.07798014e-04 9.99786694e-01 -6.52898500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.41, Y:-27.23, Z:-6.53 [[ 9.83511540e-01 1.79662532e-01 2.06500500e-02 2.18407426e+02] [-1.79630066e-01 9.83728247e-01 -3.43166329e-03 -2.72336998e+01] [-2.09305788e-02 -3.34289399e-04 9.99780876e-01 -6.52886935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:-27.23, Z:-6.53 [[ 9.83520271e-01 1.79620274e-01 2.06018039e-02 2.18434460e+02] [-1.79587958e-01 9.83735964e-01 -3.42332506e-03 -2.72343630e+01] [-2.08816340e-02 -3.32926297e-04 9.99781899e-01 -6.53120112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13587156000003 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:218.46, Y:-27.23, Z:-6.53 [[ 9.83571258e-01 1.79408925e-01 2.00004397e-02 2.18462572e+02] [-1.79378485e-01 9.83774534e-01 -3.32036937e-03 -2.72342780e+01] [-2.02716272e-02 -3.21828701e-04 9.99794458e-01 -6.53299998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16587156000003 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:218.49, Y:-27.24, Z:-6.53 [[ 9.83637624e-01 1.79072449e-01 1.97505303e-02 2.18490521e+02] [-1.79042719e-01 9.83835840e-01 -3.27784683e-03 -2.72378598e+01] [-2.00182516e-02 -3.11975177e-04 9.99799566e-01 -6.53457293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19587156000003 meters Centerline goodness [0,1] 0.9999785518188058 Centerline is valid? [True, True] Translation: X:218.52, Y:-27.24, Z:-6.54 [[ 9.83800799e-01 1.78215959e-01 1.93664462e-02 2.18517535e+02] [-1.78187236e-01 9.83991356e-01 -3.21265889e-03 -2.72422968e+01] [-1.96289627e-02 -2.90237126e-04 9.99807291e-01 -6.53551075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22587156000003 meters Centerline goodness [0,1] 0.9999570944351482 Centerline is valid? [True, True] Translation: X:218.55, Y:-27.25, Z:-6.54 [[ 9.84151049e-01 1.76349686e-01 1.86413885e-02 2.18545969e+02] [-1.76322760e-01 9.84327551e-01 -3.09121893e-03 -2.72473860e+01] [-1.88943678e-02 -2.44674727e-04 9.99821456e-01 -6.53851692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.57, Y:-27.26, Z:-6.54 [[ 9.84403118e-01 1.74944281e-01 1.85741701e-02 2.18573498e+02] [-1.74917315e-01 9.84578311e-01 -3.07925742e-03 -2.72553661e+01] [-1.88264235e-02 -2.17713351e-04 9.99822743e-01 -6.53704918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28587156000003 meters Centerline goodness [0,1] 0.9999144568006844 Centerline is valid? [True, True] Translation: X:218.60, Y:-27.26, Z:-6.54 [[ 9.84666134e-01 1.73455258e-01 1.85978073e-02 2.18602034e+02] [-1.73427975e-01 9.84841732e-01 -3.08224623e-03 -2.72609570e+01] [-1.88505286e-02 -1.90396589e-04 9.99822295e-01 -6.53643132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.63, Y:-27.27, Z:-6.54 [[ 9.85252045e-01 1.70075872e-01 1.87777856e-02 2.18628929e+02] [-1.70047454e-01 9.85430962e-01 -3.11153926e-03 -2.72669786e+01] [-1.90334091e-02 -1.27464217e-04 9.99818840e-01 -6.54027168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34587156000003 meters Centerline goodness [0,1] 0.9998923040472139 Centerline is valid? [True, True] Translation: X:218.66, Y:-27.27, Z:-6.54 [[ 9.85537553e-01 1.68326335e-01 1.95442236e-02 2.18657010e+02] [-1.68295251e-01 9.85731320e-01 -3.23630461e-03 -2.72742151e+01] [-1.98101086e-02 -9.97002729e-05 9.99803756e-01 -6.53852019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.68, Y:-27.29, Z:-6.54 [[ 9.86252952e-01 1.64006300e-01 2.01754541e-02 2.18683664e+02] [-1.63972289e-01 9.86459291e-01 -3.33989403e-03 -2.72878336e+01] [-2.04500278e-02 -1.42350416e-05 9.99790876e-01 -6.53865065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:-27.30, Z:-6.54 [[ 9.86580534e-01 1.62001266e-01 2.03578078e-02 2.18710495e+02] [-1.61966227e-01 9.86790550e-01 -3.36931175e-03 -2.72960584e+01] [-2.06347251e-02 2.68200681e-05 9.99787081e-01 -6.53863509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.74, Y:-27.30, Z:-6.54 [[ 9.86862503e-01 1.60279325e-01 2.03208974e-02 2.18737926e+02] [-1.60244081e-01 9.87071697e-01 -3.36161602e-03 -2.73035139e+01] [-2.05969803e-02 6.11492685e-05 9.99787858e-01 -6.54007947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.77, Y:-27.31, Z:-6.54 [[ 9.87320631e-01 1.57498930e-01 1.98004496e-02 2.18765246e+02] [-1.57464934e-01 9.87519151e-01 -3.27425987e-03 -2.73128968e+01] [-2.00690156e-02 1.14867848e-04 9.99798590e-01 -6.54163971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.79, Y:-27.32, Z:-6.54 [[ 9.87518136e-01 1.56301959e-01 1.94326602e-02 2.18793340e+02] [-1.56269000e-01 9.87709309e-01 -3.21253755e-03 -2.73206308e+01] [-1.96959453e-02 1.35716720e-04 9.99806007e-01 -6.54293005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:-27.33, Z:-6.54 [[ 9.87771119e-01 1.54705325e-01 1.93514749e-02 2.18821359e+02] [-1.54672355e-01 9.87960644e-01 -3.19809179e-03 -2.73291298e+01] [-1.96132575e-02 1.65844512e-04 9.99807628e-01 -6.54267309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.85, Y:-27.34, Z:-6.54 [[ 9.87891606e-01 1.53933139e-01 1.93588191e-02 2.18848893e+02] [-1.53900004e-01 9.88081250e-01 -3.19885128e-03 -2.73357236e+01] [-1.96204954e-02 1.80795993e-04 9.99807483e-01 -6.54346190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58587156000004 meters Centerline goodness [0,1] 0.9999354324946732 Centerline is valid? [True, True] Translation: X:218.88, Y:-27.34, Z:-6.54 [[ 9.87923479e-01 1.53692968e-01 1.96385271e-02 2.18877243e+02] [-1.53658848e-01 9.88118635e-01 -3.24373147e-03 -2.73415282e+01] [-1.99037333e-02 1.86925026e-04 9.99801884e-01 -6.54169141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.90, Y:-27.35, Z:-6.54 [[ 9.87860696e-01 1.54133104e-01 1.93450533e-02 2.18903905e+02] [-1.54100096e-01 9.88050078e-01 -3.19445062e-03 -2.73503114e+01] [-1.96062520e-02 1.74597639e-04 9.99807764e-01 -6.54475804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.93, Y:-27.35, Z:-6.55 [[ 9.87736533e-01 1.54941919e-01 1.92234980e-02 2.18932106e+02] [-1.54909506e-01 9.87923569e-01 -3.17294117e-03 -2.73547272e+01] [-1.94829684e-02 1.56127324e-04 9.99810177e-01 -6.54555838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67587156000002 meters Centerline goodness [0,1] 0.9998716714789863 Centerline is valid? [True, True] Translation: X:218.96, Y:-27.36, Z:-6.54 [[ 9.87510857e-01 1.56355900e-01 1.93685282e-02 2.18959875e+02] [-1.56323277e-01 9.87700772e-01 -3.19641410e-03 -2.73585709e+01] [-1.96300885e-02 1.28741815e-04 9.99807303e-01 -6.54463101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:-27.36, Z:-6.55 [[ 9.86988834e-01 1.59589152e-01 1.96046723e-02 2.18987925e+02] [-1.59556391e-01 9.87183518e-01 -3.23416525e-03 -2.73591278e+01] [-1.98695471e-02 6.40342345e-05 9.99802579e-01 -6.54697979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73587156000002 meters Centerline goodness [0,1] 0.9998709122203098 Centerline is valid? [True, True] Translation: X:219.02, Y:-27.36, Z:-6.54 [[ 9.86692612e-01 1.61436157e-01 1.93922020e-02 2.19017250e+02] [-1.61404483e-01 9.86883158e-01 -3.19782098e-03 -2.73611997e+01] [-1.96540814e-02 2.52779993e-05 9.99806840e-01 -6.54481534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:-27.36, Z:-6.55 [[ 9.86220392e-01 1.64337204e-01 1.90426477e-02 2.19045150e+02] [-1.64307218e-01 9.86404219e-01 -3.13938303e-03 -2.73633780e+01] [-1.92996655e-02 -3.27209171e-05 9.99813744e-01 -6.54938589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.07, Y:-27.37, Z:-6.55 [[ 9.86044505e-01 1.65356813e-01 1.93224714e-02 2.19072477e+02] [-1.65326157e-01 9.86233807e-01 -3.18440036e-03 -2.73679606e+01] [-1.95830368e-02 -5.45494512e-05 9.99808232e-01 -6.54974738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.10, Y:-27.37, Z:-6.55 [[ 9.85964657e-01 1.65794658e-01 1.96424455e-02 2.19100736e+02] [-1.65763099e-01 9.86160295e-01 -3.23543104e-03 -2.73732721e+01] [-1.99070171e-02 -6.59719810e-05 9.99801834e-01 -6.54905580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.13, Y:-27.38, Z:-6.55 [[ 9.85921567e-01 1.65959325e-01 2.04001506e-02 2.19128446e+02] [-1.65925339e-01 9.86132596e-01 -3.35926484e-03 -2.73771412e+01] [-2.06747548e-02 -7.29302516e-05 9.99786252e-01 -6.55004930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.16, Y:-27.38, Z:-6.55 [[ 9.85985911e-01 1.65597898e-01 2.02266856e-02 2.19156863e+02] [-1.65564440e-01 9.86193354e-01 -3.32930587e-03 -2.73822793e+01] [-2.04987490e-02 -6.61711953e-05 9.99789876e-01 -6.55093554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.19, Y:-27.39, Z:-6.55 [[ 9.86067063e-01 1.65139283e-01 2.00191179e-02 2.19185455e+02] [-1.65106433e-01 9.86270254e-01 -3.29419674e-03 -2.73882182e+01] [-2.02882618e-02 -5.69862388e-05 9.99794170e-01 -6.55251482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:-27.40, Z:-6.55 [[ 9.86286352e-01 1.63920574e-01 1.92165782e-02 2.19213030e+02] [-1.63890091e-01 9.86473540e-01 -3.16126404e-03 -2.73961364e+01] [-1.94748421e-02 -3.14951704e-05 9.99810347e-01 -6.55493173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:-27.40, Z:-6.56 [[ 9.86388492e-01 1.63296093e-01 1.92906319e-02 2.19240752e+02] [-1.63265274e-01 9.86577106e-01 -3.17250589e-03 -2.74023774e+01] [-1.95497537e-02 -2.01670093e-05 9.99808885e-01 -6.55617992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.27, Y:-27.41, Z:-6.56 [[ 9.86499297e-01 1.62620808e-01 1.93289866e-02 2.19268740e+02] [-1.62589754e-01 9.86688640e-01 -3.17789277e-03 -2.74088690e+01] [-1.95884830e-02 -7.70619388e-06 9.99808127e-01 -6.55642261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.30, Y:-27.42, Z:-6.56 [[ 9.86599889e-01 1.62013817e-01 1.92920479e-02 2.19295650e+02] [-1.61982781e-01 9.86788490e-01 -3.17105320e-03 -2.74159172e+01] [-1.95509253e-02 3.58116564e-06 9.99808862e-01 -6.55740141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06587156000003 meters Centerline goodness [0,1] 0.9998719617592454 Centerline is valid? [True, True] Translation: X:219.32, Y:-27.42, Z:-6.56 [[ 9.86593968e-01 1.62068110e-01 1.91382036e-02 2.19324549e+02] [-1.62037605e-01 9.86779574e-01 -3.14435077e-03 -2.74212246e+01] [-1.93947874e-02 1.08882233e-06 9.99811903e-01 -6.55605273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.35, Y:-27.43, Z:-6.56 [[ 9.86625847e-01 1.61893669e-01 1.89704551e-02 2.19352314e+02] [-1.61863682e-01 9.86808208e-01 -3.11589362e-03 -2.74268511e+01] [-1.92246442e-02 3.59348174e-06 9.99815189e-01 -6.55868492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.38, Y:-27.43, Z:-6.56 [[ 9.86524774e-01 1.62465898e-01 1.93313589e-02 2.19379989e+02] [-1.62434884e-01 9.86714159e-01 -3.17432590e-03 -2.74310289e+01] [-1.95902452e-02 -8.53590437e-06 9.99808093e-01 -6.55846994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.41, Y:-27.43, Z:-6.56 [[ 9.86417907e-01 1.63071564e-01 1.96819299e-02 2.19408224e+02] [-1.63039563e-01 9.86614243e-01 -3.23053967e-03 -2.74347737e+01] [-1.99452815e-02 -2.22710793e-05 9.99801073e-01 -6.55824659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.44, Y:-27.44, Z:-6.56 [[ 9.86310379e-01 1.63679376e-01 2.00224245e-02 2.19435944e+02] [-1.63646400e-01 9.86513589e-01 -3.28558390e-03 -2.74386081e+01] [-2.02901761e-02 -3.59921852e-05 9.99794133e-01 -6.55953239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.46, Y:-27.44, Z:-6.56 [[ 9.86000743e-01 1.65420346e-01 2.09438295e-02 2.19464755e+02] [-1.65384692e-01 9.86223151e-01 -3.43517313e-03 -2.74427650e+01] [-2.12235370e-02 -7.67055218e-05 9.99774752e-01 -6.55784082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.49, Y:-27.45, Z:-6.56 [[ 9.85781529e-01 1.66671508e-01 2.13397450e-02 2.19492584e+02] [-1.66634807e-01 9.86012473e-01 -3.49915162e-03 -2.74450123e+01] [-2.16244636e-02 -1.06545249e-04 9.99766158e-01 -6.55925291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.52, Y:-27.45, Z:-6.56 [[ 9.85335005e-01 1.69279621e-01 2.14321857e-02 2.19521493e+02] [-1.69243247e-01 9.85568051e-01 -3.51293219e-03 -2.74460731e+01] [-2.17175453e-02 -1.65837646e-04 9.99764133e-01 -6.55775842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.55, Y:-27.45, Z:-6.56 [[ 9.85154889e-01 1.70322837e-01 2.14470472e-02 2.19549390e+02] [-1.70286681e-01 9.85388297e-01 -3.51441380e-03 -2.74480172e+01] [-2.17322542e-02 -1.89904535e-04 9.99763809e-01 -6.55961307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.58, Y:-27.45, Z:-6.56 [[ 9.84904772e-01 1.71837882e-01 2.08406368e-02 2.19577967e+02] [-1.71804109e-01 9.85125218e-01 -3.41370418e-03 -2.74496440e+01] [-2.11172406e-02 -2.18333497e-04 9.99776982e-01 -6.56147697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.61, Y:-27.45, Z:-6.56 [[ 9.84815204e-01 1.72355883e-01 2.07957599e-02 2.19606663e+02] [-1.72322392e-01 9.85034719e-01 -3.40535664e-03 -2.74527523e+01] [-2.10714788e-02 -2.29928089e-04 9.99777945e-01 -6.56208959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.63, Y:-27.46, Z:-6.56 [[ 9.84724735e-01 1.72871191e-01 2.08025675e-02 2.19634105e+02] [-1.72837812e-01 9.84944411e-01 -3.40557969e-03 -2.74553525e+01] [-2.10780992e-02 -2.41911675e-04 9.99777803e-01 -6.56308511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.66, Y:-27.46, Z:-6.56 [[ 9.84619860e-01 1.73533883e-01 2.02416112e-02 2.19662583e+02] [-1.73502446e-01 9.84827867e-01 -3.31249024e-03 -2.74607414e+01] [-2.05093321e-02 -2.50425387e-04 9.99789630e-01 -6.56426915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.69, Y:-27.46, Z:-6.57 [[ 9.84541381e-01 1.73995058e-01 2.00994863e-02 2.19690159e+02] [-1.73964175e-01 9.84746492e-01 -3.28837572e-03 -2.74639970e+01] [-2.03650598e-02 -2.59048579e-04 9.99792577e-01 -6.56595199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.72, Y:-27.47, Z:-6.57 [[ 9.84336486e-01 1.75175955e-01 1.98763079e-02 2.19718934e+02] [-1.75146020e-01 9.84537102e-01 -3.25056052e-03 -2.74663066e+01] [-2.01383826e-02 -2.81610886e-04 9.99797163e-01 -6.56517224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51587156000002 meters Centerline goodness [0,1] 0.9999787433041408 Centerline is valid? [True, True] Translation: X:219.75, Y:-27.47, Z:-6.57 [[ 9.84246871e-01 1.75635635e-01 2.02539047e-02 2.19747041e+02] [-1.75604668e-01 9.84455197e-01 -3.31139674e-03 -2.74671056e+01] [-2.05206610e-02 -2.97448315e-04 9.99789385e-01 -6.56695460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.78, Y:-27.47, Z:-6.57 [[ 9.84142558e-01 1.76216487e-01 2.02774549e-02 2.19775603e+02] [-1.76185599e-01 9.84351387e-01 -3.31388128e-03 -2.74713548e+01] [-2.05441014e-02 -3.11263929e-04 9.99788899e-01 -6.56570298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.80, Y:-27.47, Z:-6.57 [[ 9.84043252e-01 1.76728470e-01 2.06379768e-02 2.19803848e+02] [-1.76696601e-01 9.84259590e-01 -3.37211803e-03 -2.74711479e+01] [-2.09090758e-02 -3.28350356e-04 9.99781327e-01 -6.56700093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.83, Y:-27.48, Z:-6.57 [[ 9.84024386e-01 1.76834153e-01 2.06322706e-02 2.19832861e+02] [-1.76802371e-01 9.84240607e-01 -3.36896527e-03 -2.74754849e+01] [-2.09028667e-02 -3.32690387e-04 9.99781456e-01 -6.56697737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.86, Y:-27.48, Z:-6.57 [[ 9.84037098e-01 1.76763383e-01 2.06323975e-02 2.19860005e+02] [-1.76731602e-01 9.84253319e-01 -3.36818792e-03 -2.74797799e+01] [-2.09028780e-02 -3.31974807e-04 9.99781456e-01 -6.56780674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.89, Y:-27.48, Z:-6.57 [[ 9.84037058e-01 1.76737445e-01 2.08553386e-02 2.19887230e+02] [-1.76704998e-01 9.84257976e-01 -3.40312456e-03 -2.74791788e+01] [-2.11284929e-02 -3.36441887e-04 9.99776712e-01 -6.56841948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.91, Y:-27.48, Z:-6.57 [[ 9.84112305e-01 1.76305465e-01 2.09607976e-02 2.19914596e+02] [-1.76272634e-01 9.84335448e-01 -3.41829971e-03 -2.74813193e+01] [-2.12351211e-02 -3.30824211e-04 9.99774455e-01 -6.56959711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72587156000003 meters Centerline goodness [0,1] 0.9999573497110443 Centerline is valid? [True, True] Translation: X:219.94, Y:-27.48, Z:-6.57 [[ 9.84218737e-01 1.75699761e-01 2.10492703e-02 2.19943186e+02] [-1.75666544e-01 9.84443747e-01 -3.43134355e-03 -2.74849878e+01] [-2.13247088e-02 -3.20459953e-04 9.99772551e-01 -6.57028911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.97, Y:-27.49, Z:-6.57 [[ 9.84418260e-01 1.74612655e-01 2.07631888e-02 2.19971806e+02] [-1.74580114e-01 9.84637159e-01 -3.38373912e-03 -2.74897886e+01] [-2.10350509e-02 -2.93825284e-04 9.99778696e-01 -6.57124973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.00, Y:-27.50, Z:-6.57 [[ 9.84918221e-01 1.71841310e-01 2.01658764e-02 2.19999800e+02] [-1.71810052e-01 9.85124617e-01 -3.28546541e-03 -2.74957506e+01] [-2.04304799e-02 -2.28785532e-04 9.99791250e-01 -6.57293972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.03, Y:-27.50, Z:-6.57 [[ 9.85195513e-01 1.70284590e-01 1.98232306e-02 2.20027270e+02] [-1.70254086e-01 9.85394906e-01 -3.22882489e-03 -2.75011025e+01] [-2.00835296e-02 -1.93962222e-04 9.99798287e-01 -6.57466310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.06, Y:-27.51, Z:-6.57 [[ 9.85827814e-01 1.66585613e-01 1.98180617e-02 2.20055517e+02] [-1.66554403e-01 9.86026987e-01 -3.22669491e-03 -2.75081752e+01] [-2.00786646e-02 -1.19819848e-04 9.99798396e-01 -6.57399551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.08, Y:-27.51, Z:-6.58 [[ 9.86157861e-01 1.64601191e-01 1.99780302e-02 2.20083221e+02] [-1.64569086e-01 9.86360199e-01 -3.25185767e-03 -2.75133999e+01] [-2.02407935e-02 -8.09211718e-05 9.99795131e-01 -6.57585463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90587156000004 meters Centerline goodness [0,1] 0.9998717400598547 Centerline is valid? [True, True] Translation: X:220.11, Y:-27.52, Z:-6.57 [[ 9.86464524e-01 1.62762175e-01 1.99052245e-02 2.20111616e+02] [-1.62729957e-01 9.86665329e-01 -3.23864872e-03 -2.75194734e+01] [-2.01669244e-02 -4.43642549e-05 9.99796626e-01 -6.57425679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.14, Y:-27.53, Z:-6.57 [[ 9.87223214e-01 1.57931741e-01 2.11634377e-02 2.20139000e+02] [-1.57894233e-01 9.87450030e-01 -3.44228153e-03 -2.75284719e+01] [-2.14414827e-02 5.67154859e-05 9.99770103e-01 -6.57487737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96587156000004 meters Centerline goodness [0,1] 0.999871789392709 Centerline is valid? [True, True] Translation: X:220.17, Y:-27.54, Z:-6.57 [[ 9.87551276e-01 1.55867817e-01 2.11589303e-02 2.20167434e+02] [-1.55829873e-01 9.87777917e-01 -3.44052488e-03 -2.75357709e+01] [-2.14365912e-02 1.00501311e-04 9.99770205e-01 -6.57386576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99587156000004 meters Centerline goodness [0,1] 0.9999356306055014 Centerline is valid? [True, True] Translation: X:220.19, Y:-27.55, Z:-6.58 [[ 9.88203221e-01 1.51787121e-01 2.03731255e-02 2.20193787e+02] [-1.51751093e-01 9.88413191e-01 -3.31192645e-03 -2.75454215e+01] [-2.06397738e-02 1.81212336e-04 9.99786961e-01 -6.57634355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02587156000004 meters Centerline goodness [0,1] 0.9999356098817368 Centerline is valid? [True, True] Translation: X:220.22, Y:-27.55, Z:-6.58 [[ 9.88421448e-01 1.50417067e-01 1.99435788e-02 2.20221926e+02] [-1.50382288e-01 9.88622610e-01 -3.24082014e-03 -2.75515705e+01] [-2.02041476e-02 2.04135123e-04 9.99795855e-01 -6.57748827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.25, Y:-27.56, Z:-6.58 [[ 9.88601872e-01 1.49210853e-01 2.00614213e-02 2.20250075e+02] [-1.49175434e-01 9.88805375e-01 -3.25899936e-03 -2.75566270e+01] [-2.03231193e-02 2.29181651e-04 9.99793438e-01 -6.57970000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.28, Y:-27.56, Z:-6.58 [[ 9.88673659e-01 1.48658036e-01 2.06200236e-02 2.20277723e+02] [-1.48620515e-01 9.88888633e-01 -3.34887295e-03 -2.75628993e+01] [-2.08887439e-02 2.46383943e-04 9.99781776e-01 -6.58021031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.31, Y:-27.57, Z:-6.58 [[ 9.88655027e-01 1.48740485e-01 2.09166576e-02 2.20306261e+02] [-1.48701927e-01 9.88876235e-01 -3.39552075e-03 -2.75673508e+01] [-2.11890370e-02 2.46651361e-04 9.99775457e-01 -6.58017157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.34, Y:-27.57, Z:-6.58 [[ 9.88624183e-01 1.48924064e-01 2.10677005e-02 2.20335420e+02] [-1.48885009e-01 9.88848605e-01 -3.41910235e-03 -2.75702192e+01] [-2.13419529e-02 2.43542482e-04 9.99772205e-01 -6.57940900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.37, Y:-27.57, Z:-6.58 [[ 9.88271865e-01 1.51160986e-01 2.16581743e-02 2.20365048e+02] [-1.51120274e-01 9.88509138e-01 -3.51369835e-03 -2.75705974e+01] [-2.19404373e-02 1.99499986e-04 9.99759260e-01 -6.57801751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.39, Y:-27.57, Z:-6.58 [[ 9.88075194e-01 1.52412153e-01 2.18619992e-02 2.20393498e+02] [-1.52370985e-01 9.88317007e-01 -3.54642956e-03 -2.75730857e+01] [-2.21471045e-02 1.73004735e-04 9.99754708e-01 -6.57798199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.42, Y:-27.57, Z:-6.58 [[ 9.87625655e-01 1.55339365e-01 2.15695846e-02 2.20421827e+02] [-1.55300012e-01 9.87861160e-01 -3.49793390e-03 -2.75746773e+01] [-2.18511217e-02 1.04892514e-04 9.99761230e-01 -6.58098400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.45, Y:-27.58, Z:-6.58 [[ 9.87432887e-01 1.56610985e-01 2.11965604e-02 2.20450002e+02] [-1.56573295e-01 9.87660364e-01 -3.43648105e-03 -2.75769816e+01] [-2.14731932e-02 7.44791149e-05 9.99769422e-01 -6.58284225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.48, Y:-27.58, Z:-6.59 [[ 9.87238400e-01 1.57864770e-01 2.09536440e-02 2.20478037e+02] [-1.57828246e-01 9.87460740e-01 -3.39595267e-03 -2.75792400e+01] [-2.12270021e-02 4.55380008e-05 9.99774681e-01 -6.58540377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.51, Y:-27.58, Z:-6.59 [[ 9.86867015e-01 1.60228531e-01 2.05015124e-02 2.20506376e+02] [-1.60194103e-01 9.87079945e-01 -3.32137009e-03 -2.75791369e+01] [-2.07688100e-02 -6.47080969e-06 9.99784305e-01 -6.58742000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35587156000003 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:220.54, Y:-27.58, Z:-6.59 [[ 9.86662454e-01 1.61504362e-01 2.03357737e-02 2.20535163e+02] [-1.61470783e-01 9.86871998e-01 -3.29336032e-03 -2.75816464e+01] [-2.06006976e-02 -3.41983260e-05 9.99787783e-01 -6.58519909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38587156000003 meters Centerline goodness [0,1] 0.9999136535348084 Centerline is valid? [True, True] Translation: X:220.56, Y:-27.58, Z:-6.59 [[ 9.86429530e-01 1.62964663e-01 1.99825233e-02 2.20563927e+02] [-1.62932559e-01 9.86631904e-01 -3.23523938e-03 -2.75838490e+01] [-2.02426247e-02 -6.44679991e-05 9.99795095e-01 -6.58510063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41587156000003 meters Centerline goodness [0,1] 0.99989350145903 Centerline is valid? [True, True] Translation: X:220.59, Y:-27.58, Z:-6.59 [[ 9.85962259e-01 1.65793437e-01 1.97726839e-02 2.20592199e+02] [-1.65762584e-01 9.86160495e-01 -3.20067380e-03 -2.75826104e+01] [-2.00296905e-02 -1.21827620e-04 9.99799378e-01 -6.58842576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44587156000003 meters Centerline goodness [0,1] 0.9998725573491929 Centerline is valid? [True, True] Translation: X:220.62, Y:-27.58, Z:-6.59 [[ 9.85734970e-01 1.67178091e-01 1.94436335e-02 2.20619836e+02] [-1.67148563e-01 9.85926703e-01 -3.14556065e-03 -2.75835431e+01] [-1.96958663e-02 -1.49286254e-04 9.99806006e-01 -6.59153895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.65, Y:-27.59, Z:-6.59 [[ 9.85325604e-01 1.69540695e-01 1.97333887e-02 2.20648376e+02] [-1.69510777e-01 9.85523167e-01 -3.19122210e-03 -2.75857631e+01] [-1.99887538e-02 -2.00629213e-04 9.99800185e-01 -6.58969513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.68, Y:-27.59, Z:-6.59 [[ 9.85120271e-01 1.70711668e-01 1.98891340e-02 2.20677767e+02] [-1.70681535e-01 9.85321001e-01 -3.21542763e-03 -2.75867665e+01] [-2.01460925e-02 -2.27124977e-04 9.99797021e-01 -6.59058355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53587156000003 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:220.71, Y:-27.59, Z:-6.59 [[ 9.84928223e-01 1.71802957e-01 2.00034903e-02 2.20705757e+02] [-1.71772718e-01 9.85131301e-01 -3.23305138e-03 -2.75854919e+01] [-2.02615122e-02 -2.51730350e-04 9.99794683e-01 -6.59286998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56587156000003 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:220.73, Y:-27.58, Z:-6.60 [[ 9.84814942e-01 1.72401671e-01 2.04253338e-02 2.20734202e+02] [-1.72370300e-01 9.85026695e-01 -3.29992445e-03 -2.75841438e+01] [-2.06884115e-02 -2.70906006e-04 9.99785935e-01 -6.59574762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59587156000003 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:220.76, Y:-27.59, Z:-6.59 [[ 9.84851680e-01 1.72170448e-01 2.06035169e-02 2.20761531e+02] [-1.72138502e-01 9.85067137e-01 -3.32744780e-03 -2.75941328e+01] [-2.08687356e-02 -2.69615972e-04 9.99782188e-01 -6.59249274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.79, Y:-27.60, Z:-6.59 [[ 9.84942473e-01 1.71667506e-01 2.04595320e-02 2.20790273e+02] [-1.71635917e-01 9.85154912e-01 -3.30321740e-03 -2.75991194e+01] [-2.07228635e-02 -2.58111414e-04 9.99785225e-01 -6.59336702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.82, Y:-27.61, Z:-6.59 [[ 9.85280885e-01 1.69705612e-01 2.05324766e-02 2.20818838e+02] [-1.69673392e-01 9.85494778e-01 -3.31400490e-03 -2.76052983e+01] [-2.07970537e-02 -2.18589261e-04 9.99783694e-01 -6.59289295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.85, Y:-27.61, Z:-6.59 [[ 9.85405668e-01 1.68927648e-01 2.09551709e-02 2.20846073e+02] [-1.68893932e-01 9.85628432e-01 -3.38127577e-03 -2.76093069e+01] [-2.12252032e-02 -2.07272893e-04 9.99774699e-01 -6.59353091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.87, Y:-27.61, Z:-6.59 [[ 9.85636909e-01 1.67581733e-01 2.08865021e-02 2.20874187e+02] [-1.67547964e-01 9.85858170e-01 -3.36881644e-03 -2.76135320e+01] [-2.11556808e-02 -1.79061091e-04 9.99776178e-01 -6.59410743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.90, Y:-27.62, Z:-6.60 [[ 9.85814728e-01 1.66529987e-01 2.09065921e-02 2.20901377e+02] [-1.66495931e-01 9.86036378e-01 -3.37139437e-03 -2.76178645e+01] [-2.11760986e-02 -1.57292307e-04 9.99775749e-01 -6.59561429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.93, Y:-27.62, Z:-6.60 [[ 9.86054713e-01 1.65141893e-01 2.05975475e-02 2.20929457e+02] [-1.65108578e-01 9.86269810e-01 -3.31945565e-03 -2.76244081e+01] [-2.08629204e-02 -1.27666879e-04 9.99782337e-01 -6.59621859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.96, Y:-27.63, Z:-6.60 [[ 9.86354986e-01 1.63377649e-01 2.02875830e-02 2.20956170e+02] [-1.63344973e-01 9.86563599e-01 -3.26863125e-03 -2.76307591e+01] [-2.05490122e-02 -8.98439692e-05 9.99788843e-01 -6.59822256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83587156000004 meters Centerline goodness [0,1] 0.9999142035948694 Centerline is valid? [True, True] Translation: X:220.98, Y:-27.64, Z:-6.60 [[ 9.86921548e-01 1.59962627e-01 1.99453485e-02 2.20982633e+02] [-1.59930371e-01 9.87123071e-01 -3.21227605e-03 -2.76393967e+01] [-2.02023577e-02 -1.96025374e-05 9.99795911e-01 -6.59763414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.01, Y:-27.65, Z:-6.60 [[ 9.87509986e-01 1.56211680e-01 2.05411284e-02 2.21008793e+02] [-1.56176679e-01 9.87723599e-01 -3.30713653e-03 -2.76489542e+01] [-2.08055707e-02 5.77851274e-05 9.99783539e-01 -6.59999409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.04, Y:-27.66, Z:-6.60 [[ 9.87827054e-01 1.54188334e-01 2.05832207e-02 2.21036851e+02] [-1.54152793e-01 9.88041471e-01 -3.31187144e-03 -2.76558607e+01] [-2.08477276e-02 9.85952437e-05 9.99782658e-01 -6.59981284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.06, Y:-27.66, Z:-6.60 [[ 9.88074809e-01 1.52595220e-01 2.05638217e-02 2.21063455e+02] [-1.52559419e-01 9.88288764e-01 -3.30784630e-03 -2.76627875e+01] [-2.08277555e-02 1.31194899e-04 9.99783070e-01 -6.60090542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95587156000002 meters Centerline goodness [0,1] 0.9999352317623438 Centerline is valid? [True, True] Translation: X:221.09, Y:-27.67, Z:-6.60 [[ 9.88462921e-01 1.50142848e-01 1.99544410e-02 2.21091031e+02] [-1.50108664e-01 9.88664298e-01 -3.20853604e-03 -2.76724464e+01] [-2.02099821e-02 1.76184431e-04 9.99795742e-01 -6.60091530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.12, Y:-27.68, Z:-6.60 [[ 9.88612197e-01 1.49197286e-01 1.96492639e-02 2.21118007e+02] [-1.49163970e-01 9.88807430e-01 -3.15864504e-03 -2.76800744e+01] [-1.99005994e-02 1.91712801e-04 9.99801945e-01 -6.60498584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.15, Y:-27.69, Z:-6.61 [[ 9.88691203e-01 1.48722240e-01 1.92717498e-02 2.21146698e+02] [-1.48690126e-01 9.88878990e-01 -3.09669266e-03 -2.76857842e+01] [-1.95179755e-02 1.96153888e-04 9.99809487e-01 -6.60528683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.17, Y:-27.69, Z:-6.61 [[ 9.88579355e-01 1.49411923e-01 1.96707092e-02 2.21173663e+02] [-1.49378619e-01 9.88775021e-01 -3.15992651e-03 -2.76912213e+01] [-1.99220366e-02 1.85454729e-04 9.99801519e-01 -6.60675359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.20, Y:-27.69, Z:-6.61 [[ 9.88479718e-01 1.50061564e-01 1.97325896e-02 2.21202574e+02] [-1.50028206e-01 9.88676640e-01 -3.16855033e-03 -2.76930872e+01] [-1.99846280e-02 1.71602719e-04 9.99800273e-01 -6.60556466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.23, Y:-27.70, Z:-6.61 [[ 9.88143263e-01 1.52270436e-01 1.96623030e-02 2.21229966e+02] [-1.52237770e-01 9.88338858e-01 -3.15641074e-03 -2.76970258e+01] [-1.99136462e-02 1.25640845e-04 9.99801696e-01 -6.60856915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.26, Y:-27.70, Z:-6.61 [[ 9.87972556e-01 1.53414211e-01 1.93470654e-02 2.21257069e+02] [-1.53382827e-01 9.88161965e-01 -3.10459550e-03 -2.77008044e+01] [-1.95943233e-02 9.97475594e-05 9.99808008e-01 -6.61175543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16587156000003 meters Centerline goodness [0,1] 0.9998292240367168 Centerline is valid? [True, True] Translation: X:221.28, Y:-27.70, Z:-6.61 [[ 9.87788462e-01 1.54662696e-01 1.87990850e-02 2.21284605e+02] [-1.54633309e-01 9.87967330e-01 -3.01571168e-03 -2.77034719e+01] [-1.90392999e-02 7.19204802e-05 9.99818734e-01 -6.61123594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19587156000003 meters Centerline goodness [0,1] 0.999935497742421 Centerline is valid? [True, True] Translation: X:221.31, Y:-27.70, Z:-6.61 [[ 9.87458387e-01 1.56807422e-01 1.83675257e-02 2.21312933e+02] [-1.56779762e-01 9.87629197e-01 -2.94529559e-03 -2.77046686e+01] [-1.86021488e-02 2.87005344e-05 9.99826965e-01 -6.61288068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.34, Y:-27.71, Z:-6.61 [[ 9.87341301e-01 1.57519298e-01 1.85694971e-02 2.21341355e+02] [-1.57491182e-01 9.87515909e-01 -2.97606568e-03 -2.77073974e+01] [-1.88064616e-02 1.38605208e-05 9.99823143e-01 -6.61477407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.37, Y:-27.71, Z:-6.62 [[ 9.87122777e-01 1.58896541e-01 1.84529545e-02 2.21368438e+02] [-1.58869026e-01 9.87295239e-01 -2.95691210e-03 -2.77099464e+01] [-1.86883573e-02 -1.27676374e-05 9.99825357e-01 -6.61617434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28587156000003 meters Centerline goodness [0,1] 0.9999142017545741 Centerline is valid? [True, True] Translation: X:221.40, Y:-27.71, Z:-6.61 [[ 9.87000761e-01 1.59659457e-01 1.83944638e-02 2.21396487e+02] [-1.59632280e-01 9.87172152e-01 -2.94589473e-03 -2.77135892e+01] [-1.86288424e-02 -2.87498513e-05 9.99826468e-01 -6.61444549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.42, Y:-27.72, Z:-6.62 [[ 9.86890924e-01 1.60278491e-01 1.88973118e-02 2.21423972e+02] [-1.60249954e-01 9.87071833e-01 -3.02472261e-03 -2.77168493e+01] [-1.91378021e-02 -4.32220512e-05 9.99816855e-01 -6.61685713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.45, Y:-27.72, Z:-6.62 [[ 9.86720549e-01 1.61326853e-01 1.88733666e-02 2.21452606e+02] [-1.61298596e-01 9.86901030e-01 -3.02000044e-03 -2.77206907e+01] [-1.91133521e-02 -6.43510458e-05 9.99817321e-01 -6.61685263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.48, Y:-27.72, Z:-6.62 [[ 9.86641549e-01 1.61796497e-01 1.89828018e-02 2.21478960e+02] [-1.61768005e-01 9.86824142e-01 -3.03722225e-03 -2.77235028e+01] [-1.92240990e-02 -7.41603014e-05 9.99815197e-01 -6.62039647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.51, Y:-27.73, Z:-6.62 [[ 9.86507562e-01 1.62567119e-01 1.93587516e-02 2.21506934e+02] [-1.62537686e-01 9.86697483e-01 -3.09473271e-03 -2.77264909e+01] [-1.96043333e-02 -9.35494717e-05 9.99807812e-01 -6.61854603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.54, Y:-27.73, Z:-6.62 [[ 9.86489773e-01 1.62675639e-01 1.93536544e-02 2.21535089e+02] [-1.62646270e-01 9.86679597e-01 -3.09252121e-03 -2.77304490e+01] [-1.95989338e-02 -9.70591523e-05 9.99807918e-01 -6.61904650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46587156000004 meters Centerline goodness [0,1] 0.9997216631696142 Centerline is valid? [True, True] Translation: X:221.56, Y:-27.74, Z:-6.62 [[ 9.86499376e-01 1.62633567e-01 1.92172640e-02 2.21562902e+02] [-1.62604630e-01 9.86686533e-01 -3.06931373e-03 -2.77356199e+01] [-1.94605890e-02 -9.69400256e-05 9.99810620e-01 -6.61780926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.59, Y:-27.74, Z:-6.62 [[ 9.86582171e-01 1.62033827e-01 2.00164622e-02 2.21590948e+02] [-1.62002346e-01 9.86785200e-01 -3.19516554e-03 -2.77420330e+01] [-2.02696736e-02 -9.04204836e-05 9.99794545e-01 -6.62042251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.62, Y:-27.75, Z:-6.62 [[ 9.86593735e-01 1.61963386e-01 2.00165769e-02 2.21618104e+02] [-1.61931905e-01 9.86796764e-01 -3.19444696e-03 -2.77462304e+01] [-2.02696768e-02 -8.97010697e-05 9.99794545e-01 -6.62125177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.65, Y:-27.75, Z:-6.62 [[ 9.86760290e-01 1.60866612e-01 2.06413025e-02 2.21645637e+02] [-1.60832933e-01 9.86976154e-01 -3.29234486e-03 -2.77539205e+01] [-2.09021017e-02 -7.10460564e-05 9.99781525e-01 -6.62083877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.67, Y:-27.76, Z:-6.62 [[ 9.86866975e-01 1.60253793e-01 2.03050839e-02 2.21672102e+02] [-1.60221085e-01 9.87075842e-01 -3.23809061e-03 -2.77594302e+01] [-2.05615741e-02 -5.77378835e-05 9.99788587e-01 -6.62225407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.70, Y:-27.77, Z:-6.62 [[ 9.87007660e-01 1.59399973e-01 2.01872967e-02 2.21699009e+02] [-1.59367502e-01 9.87214084e-01 -3.21750043e-03 -2.77669399e+01] [-2.04420531e-02 -4.15014773e-05 9.99791039e-01 -6.62310232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64587156000002 meters Centerline goodness [0,1] 0.9999138172494775 Centerline is valid? [True, True] Translation: X:221.73, Y:-27.77, Z:-6.62 [[ 9.87025980e-01 1.59321868e-01 1.99062273e-02 2.21727577e+02] [-1.59290313e-01 9.87226692e-01 -3.17102580e-03 -2.77726895e+01] [-2.01571727e-02 -4.09843268e-05 9.99796823e-01 -6.62179196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67587156000002 meters Centerline goodness [0,1] 0.9998713743649109 Centerline is valid? [True, True] Translation: X:221.75, Y:-27.78, Z:-6.62 [[ 9.86915290e-01 1.59950670e-01 2.03468214e-02 2.21753756e+02] [-1.59917851e-01 9.87125007e-01 -3.24050987e-03 -2.77768888e+01] [-2.06031780e-02 -5.57112187e-05 9.99787730e-01 -6.62251489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.78, Y:-27.78, Z:-6.62 [[ 9.86838588e-01 1.60411005e-01 2.04428451e-02 2.21781107e+02] [-1.60378014e-01 9.87050305e-01 -3.25389311e-03 -2.77806547e+01] [-2.07000767e-02 -6.75156112e-05 9.99785728e-01 -6.62491370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73587156000002 meters Centerline goodness [0,1] 0.9997860276024393 Centerline is valid? [True, True] Translation: X:221.81, Y:-27.78, Z:-6.62 [[ 9.86705610e-01 1.61261660e-01 2.01671981e-02 2.21808822e+02] [-1.61229762e-01 9.86911683e-01 -3.20844188e-03 -2.77836756e+01] [-2.04206421e-02 -8.57649636e-05 9.99791473e-01 -6.62410091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.84, Y:-27.79, Z:-6.63 [[ 9.86264573e-01 1.63860496e-01 2.07829114e-02 2.21838045e+02] [-1.63827227e-01 9.86483511e-01 -3.30497255e-03 -2.77853949e+01] [-2.10435539e-02 -1.45229420e-04 9.99778549e-01 -6.62603335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79587156000002 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:221.87, Y:-27.79, Z:-6.63 [[ 9.85961055e-01 1.65679695e-01 2.07614244e-02 2.21866304e+02] [-1.65646917e-01 9.86179601e-01 -3.30064876e-03 -2.77864931e+01] [-2.10213437e-02 -1.84754800e-04 9.99779010e-01 -6.62530135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.89, Y:-27.78, Z:-6.63 [[ 9.85386636e-01 1.69102975e-01 2.04294322e-02 2.21894562e+02] [-1.69071992e-01 9.85598356e-01 -3.24690291e-03 -2.77832321e+01] [-2.06842757e-02 -2.54590055e-04 9.99786025e-01 -6.62950519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.92, Y:-27.78, Z:-6.63 [[ 9.85122718e-01 1.70707669e-01 1.98020566e-02 2.21923424e+02] [-1.70678925e-01 9.85321680e-01 -3.14512261e-03 -2.77845481e+01] [-2.00482922e-02 -2.81462000e-04 9.99798973e-01 -6.63139690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.95, Y:-27.79, Z:-6.63 [[ 9.84914695e-01 1.71931509e-01 1.95601688e-02 2.21950832e+02] [-1.71903719e-01 9.85108859e-01 -3.10602299e-03 -2.77860033e+01] [-1.98029188e-02 -3.03298084e-04 9.99803857e-01 -6.63311574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.98, Y:-27.79, Z:-6.63 [[ 9.84763952e-01 1.72803916e-01 1.94618744e-02 2.21979252e+02] [-1.72776606e-01 9.84956194e-01 -3.08879880e-03 -2.77902536e+01] [-1.97028503e-02 -3.20818893e-04 9.99805829e-01 -6.63288376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94587156000003 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:222.01, Y:-27.79, Z:-6.63 [[ 9.84659525e-01 1.73394399e-01 1.94936425e-02 2.22007395e+02] [-1.73367126e-01 9.84852411e-01 -3.09330460e-03 -2.77903357e+01] [-1.97347225e-02 -3.33704955e-04 9.99805196e-01 -6.63452393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.03, Y:-27.79, Z:-6.63 [[ 9.84733858e-01 1.72822153e-01 2.07781603e-02 2.22034520e+02] [-1.72791090e-01 9.84952986e-01 -3.29472439e-03 -2.77943050e+01] [-2.10349124e-02 -3.45854306e-04 9.99778682e-01 -6.63377122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.06, Y:-27.80, Z:-6.63 [[ 9.84897905e-01 1.71808678e-01 2.13984907e-02 2.22061800e+02] [-1.71775523e-01 9.85130279e-01 -3.39173996e-03 -2.77987170e+01] [-2.16630315e-02 -3.35219357e-04 9.99765273e-01 -6.63378594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.09, Y:-27.80, Z:-6.63 [[ 9.85063806e-01 1.70829086e-01 2.16037529e-02 2.22090217e+02] [-1.70795087e-01 9.85300625e-01 -3.42286600e-03 -2.78040903e+01] [-2.18709163e-02 -3.18073446e-04 9.99760752e-01 -6.63383641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.12, Y:-27.81, Z:-6.63 [[ 9.85245974e-01 1.69812662e-01 2.13079952e-02 2.22118259e+02] [-1.69779371e-01 9.85476319e-01 -3.37502697e-03 -2.78111583e+01] [-2.15716470e-02 -2.92426287e-04 9.99767262e-01 -6.63394904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.15, Y:-27.82, Z:-6.64 [[ 9.85636870e-01 1.67590563e-01 2.08174116e-02 2.22146037e+02] [-1.67558313e-01 9.85856656e-01 -3.29630607e-03 -2.78175390e+01] [-2.10754135e-02 -2.39169575e-04 9.99777860e-01 -6.63662964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12587156000004 meters Centerline goodness [0,1] 0.9999136442141624 Centerline is valid? [True, True] Translation: X:222.17, Y:-27.82, Z:-6.64 [[ 9.85863055e-01 1.66374734e-01 1.98364598e-02 2.22172728e+02] [-1.66345212e-01 9.86062577e-01 -3.14066826e-03 -2.78230151e+01] [-2.00825185e-02 -2.03431316e-04 9.99798305e-01 -6.63679866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15587156000004 meters Centerline goodness [0,1] 0.9999565755476909 Centerline is valid? [True, True] Translation: X:222.20, Y:-27.83, Z:-6.64 [[ 9.86434219e-01 1.63033342e-01 1.91744961e-02 2.22200174e+02] [-1.63005179e-01 9.86620551e-01 -3.03317137e-03 -2.78316931e+01] [-1.94124600e-02 -1.33518143e-04 9.99811552e-01 -6.63942408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18587156000004 meters Centerline goodness [0,1] 0.9999141170155663 Centerline is valid? [True, True] Translation: X:222.23, Y:-27.84, Z:-6.64 [[ 9.86657907e-01 1.61690850e-01 1.90326889e-02 2.22227386e+02] [-1.61662868e-01 9.86841455e-01 -3.00993406e-03 -2.78373267e+01] [-1.92689252e-02 -1.07103820e-04 9.99814331e-01 -6.64095419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.26, Y:-27.85, Z:-6.64 [[ 9.87027940e-01 1.59325836e-01 1.97768367e-02 2.22255705e+02] [-1.59295177e-01 9.87226050e-01 -3.12618048e-03 -2.78454204e+01] [-2.00222897e-02 -6.47272239e-05 9.99799532e-01 -6.64220176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.28, Y:-27.85, Z:-6.64 [[ 9.87152070e-01 1.58491307e-01 2.02804344e-02 2.22284041e+02] [-1.58458910e-01 9.87360371e-01 -3.20477614e-03 -2.78506994e+01] [-2.05320264e-02 -5.00141329e-05 9.99789194e-01 -6.64202385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.31, Y:-27.86, Z:-6.64 [[ 9.87275351e-01 1.57602286e-01 2.11872896e-02 2.22311361e+02] [-1.57566744e-01 9.87502667e-01 -3.34709668e-03 -2.78571009e+01] [-2.14500151e-02 -3.39061788e-05 9.99769921e-01 -6.64335589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.34, Y:-27.86, Z:-6.64 [[ 9.87330419e-01 1.57277284e-01 2.10356647e-02 2.22339574e+02] [-1.57242203e-01 9.87554482e-01 -3.32180940e-03 -2.78629400e+01] [-2.12963101e-02 -2.79707878e-05 9.99773207e-01 -6.64264138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.37, Y:-27.87, Z:-6.64 [[ 9.87363704e-01 1.57081866e-01 2.09333137e-02 2.22366530e+02] [-1.57047102e-01 9.87585584e-01 -3.30472781e-03 -2.78673102e+01] [-2.11925516e-02 -2.45479505e-05 9.99775412e-01 -6.64405239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36587156000004 meters Centerline goodness [0,1] 0.9998918240626555 Centerline is valid? [True, True] Translation: X:222.39, Y:-27.87, Z:-6.64 [[ 9.87363876e-01 1.57156120e-01 2.03600028e-02 2.22394997e+02] [-1.57123277e-01 9.87573771e-01 -3.21290677e-03 -2.78714930e+01] [-2.06119327e-02 -2.67222751e-05 9.99787551e-01 -6.64334683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39587156000002 meters Centerline goodness [0,1] 0.9999138877526856 Centerline is valid? [True, True] Translation: X:222.42, Y:-27.88, Z:-6.64 [[ 9.87366740e-01 1.57166801e-01 2.01374484e-02 2.22423244e+02] [-1.57134694e-01 9.87572071e-01 -3.17681585e-03 -2.78762447e+01] [-2.03864716e-02 -2.76094858e-05 9.99792174e-01 -6.64483219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.45, Y:-27.88, Z:-6.65 [[ 9.87433679e-01 1.56751783e-01 2.00899978e-02 2.22451026e+02] [-1.56719756e-01 9.87638030e-01 -3.16858615e-03 -2.78811883e+01] [-2.03383274e-02 -1.97308641e-05 9.99793155e-01 -6.64749823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.48, Y:-27.89, Z:-6.65 [[ 9.87480041e-01 1.56486441e-01 1.98786847e-02 2.22477790e+02] [-1.56455057e-01 9.87680107e-01 -3.13392773e-03 -2.78852084e+01] [-2.01241986e-02 -1.54296683e-05 9.99797488e-01 -6.65121411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.51, Y:-27.89, Z:-6.65 [[ 9.87532727e-01 1.56164698e-01 1.97913981e-02 2.22505329e+02] [-1.56133562e-01 9.87731030e-01 -3.11832931e-03 -2.78898075e+01] [-2.00355510e-02 -1.06492244e-05 9.99799268e-01 -6.65046364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.53, Y:-27.89, Z:-6.65 [[ 9.87490673e-01 1.56293228e-01 2.08469891e-02 2.22533826e+02] [-1.56258748e-01 9.87710700e-01 -3.28284579e-03 -2.78948184e+01] [-2.11038808e-02 -1.57448191e-05 9.99777288e-01 -6.64913666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54587156000002 meters Centerline goodness [0,1] 0.9998486551932889 Centerline is valid? [True, True] Translation: X:222.56, Y:-27.90, Z:-6.65 [[ 9.87435494e-01 1.56593143e-01 2.12068849e-02 2.22562489e+02] [-1.56557554e-01 9.87663195e-01 -3.33848464e-03 -2.78987531e+01] [-2.14680435e-02 -2.35597937e-05 9.99769535e-01 -6.64674146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57587156000002 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:222.59, Y:-27.90, Z:-6.65 [[ 9.87194848e-01 1.57984190e-01 2.20755180e-02 2.22590264e+02] [-1.57945996e-01 9.87441640e-01 -3.47416541e-03 -2.79003693e+01] [-2.23471489e-02 -5.70614862e-05 9.99750270e-01 -6.64681920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60587156000003 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:222.62, Y:-27.90, Z:-6.65 [[ 9.87060920e-01 1.58720152e-01 2.27739547e-02 2.22618431e+02] [-1.58679735e-01 9.87323608e-01 -3.58250999e-03 -2.79037363e+01] [-2.30538797e-02 -7.76094929e-05 9.99734221e-01 -6.64753567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63587156000003 meters Centerline goodness [0,1] 0.9998490240483123 Centerline is valid? [True, True] Translation: X:222.65, Y:-27.90, Z:-6.65 [[ 9.86790590e-01 1.60395346e-01 2.27522252e-02 2.22647464e+02] [-1.60355476e-01 9.87052845e-01 -3.57800598e-03 -2.79049378e+01] [-2.30315441e-02 -1.17701279e-04 9.99734732e-01 -6.64558335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66587156000003 meters Centerline goodness [0,1] 0.9998063974874696 Centerline is valid? [True, True] Translation: X:222.68, Y:-27.91, Z:-6.65 [[ 9.86637350e-01 1.61366001e-01 2.25333974e-02 2.22675837e+02] [-1.61327168e-01 9.86894622e-01 -3.54269896e-03 -2.79061815e+01] [-2.28097599e-02 -1.39890086e-04 9.99739814e-01 -6.64751778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69587156000003 meters Centerline goodness [0,1] 0.9998282340311326 Centerline is valid? [True, True] Translation: X:222.70, Y:-27.91, Z:-6.65 [[ 9.86460038e-01 1.62462398e-01 2.24178899e-02 2.22703473e+02] [-1.62424284e-01 9.86714722e-01 -3.52281175e-03 -2.79066389e+01] [-2.26923864e-02 -1.66096699e-04 9.99742481e-01 -6.64968324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72587156000003 meters Centerline goodness [0,1] 0.9999356858037131 Centerline is valid? [True, True] Translation: X:222.73, Y:-27.91, Z:-6.65 [[ 9.86173582e-01 1.64250091e-01 2.19903021e-02 2.22732231e+02] [-1.64213902e-01 9.86418707e-01 -3.45382813e-03 -2.79086280e+01] [-2.22589370e-02 -2.05039251e-04 9.99752218e-01 -6.65171253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75587156000003 meters Centerline goodness [0,1] 0.9999354463882254 Centerline is valid? [True, True] Translation: X:222.76, Y:-27.91, Z:-6.65 [[ 9.86107738e-01 1.64679301e-01 2.17314817e-02 2.22759603e+02] [-1.64644080e-01 9.86347141e-01 -3.41240564e-03 -2.79102636e+01] [-2.19967374e-02 -2.12960203e-04 9.99758020e-01 -6.65438086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78587156000003 meters Centerline goodness [0,1] 0.9998057456130884 Centerline is valid? [True, True] Translation: X:222.79, Y:-27.91, Z:-6.66 [[ 9.86014352e-01 1.65324308e-01 2.10611403e-02 2.22788248e+02] [-1.65291418e-01 9.86239232e-01 -3.30508915e-03 -2.79118585e+01] [-2.13177344e-02 -2.22360397e-04 9.99772727e-01 -6.65515004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.82, Y:-27.92, Z:-6.66 [[ 9.85997570e-01 1.65419622e-01 2.10983620e-02 2.22815455e+02] [-1.65386653e-01 9.86223250e-01 -3.31014450e-03 -2.79164924e+01] [-2.13552580e-02 -2.25593060e-04 9.99771925e-01 -6.65691701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.84, Y:-27.92, Z:-6.66 [[ 9.86044241e-01 1.65101915e-01 2.14035751e-02 2.22844473e+02] [-1.65067950e-01 9.86276486e-01 -3.35621696e-03 -2.79204984e+01] [-2.16639607e-02 -2.23665861e-04 9.99765284e-01 -6.65725121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87587156000004 meters Centerline goodness [0,1] 0.9998078072947809 Centerline is valid? [True, True] Translation: X:222.87, Y:-27.92, Z:-6.65 [[ 9.86212151e-01 1.63951686e-01 2.24819351e-02 2.22872782e+02] [-1.63913940e-01 9.86468348e-01 -3.52414193e-03 -2.79240877e+01] [-2.27555064e-02 -2.09550963e-04 9.99741038e-01 -6.65425241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.90, Y:-27.93, Z:-6.66 [[ 9.86317172e-01 1.63254295e-01 2.29449863e-02 2.22900387e+02] [-1.63214814e-01 9.86584003e-01 -3.59566282e-03 -2.79280197e+01] [-2.32241639e-02 -1.98497685e-04 9.99730263e-01 -6.65615343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.93, Y:-27.93, Z:-6.66 [[ 9.86527410e-01 1.62017145e-01 2.26740984e-02 2.22928316e+02] [-1.61978295e-01 9.86787929e-01 -3.55185027e-03 -2.79321573e+01] [-2.29499873e-02 -1.68714152e-04 9.99736600e-01 -6.65851722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.96, Y:-27.94, Z:-6.66 [[ 9.86637900e-01 1.61341532e-01 2.26840115e-02 2.22956960e+02] [-1.61302503e-01 9.86898620e-01 -3.55198443e-03 -2.79380678e+01] [-2.29599023e-02 -1.54465368e-04 9.99736375e-01 -6.65867359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99587156000004 meters Centerline goodness [0,1] 0.9999574413754947 Centerline is valid? [True, True] Translation: X:222.98, Y:-27.94, Z:-6.66 [[ 9.86698407e-01 1.60965147e-01 2.27260871e-02 2.22984074e+02] [-1.60925892e-01 9.86960080e-01 -3.55773948e-03 -2.79411866e+01] [-2.30024128e-02 -1.46799960e-04 9.99735399e-01 -6.66014575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.01, Y:-27.94, Z:-6.66 [[ 9.86725002e-01 1.60836689e-01 2.24795464e-02 2.23012410e+02] [-1.60798291e-01 9.86981022e-01 -3.51723282e-03 -2.79442015e+01] [-2.27525857e-02 -1.44131081e-04 9.99741116e-01 -6.66011335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05587156000004 meters Centerline goodness [0,1] 0.9999568798240697 Centerline is valid? [True, True] Translation: X:223.04, Y:-27.95, Z:-6.66 [[ 9.86720028e-01 1.60958289e-01 2.18177745e-02 2.23040742e+02] [-1.60922187e-01 9.86961199e-01 -3.41197546e-03 -2.79477168e+01] [-2.20824826e-02 -1.44299459e-04 9.99756142e-01 -6.66106504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.07, Y:-27.95, Z:-6.66 [[ 9.86721672e-01 1.61016488e-01 2.13080240e-02 2.23068624e+02] [-1.60982087e-01 9.86951706e-01 -3.33133483e-03 -2.79505509e+01] [-2.15663905e-02 -1.43109896e-04 9.99767408e-01 -6.66366813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.10, Y:-27.95, Z:-6.67 [[ 9.86731373e-01 1.61019390e-01 2.08315407e-02 2.23095996e+02] [-1.60986537e-01 9.86951233e-01 -3.25558803e-03 -2.79521245e+01] [-2.10839276e-02 -1.41206762e-04 9.99777699e-01 -6.66632970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.12, Y:-27.96, Z:-6.67 [[ 9.86789027e-01 1.60694366e-01 2.06091376e-02 2.23123083e+02] [-1.60662161e-01 9.87004206e-01 -3.21979691e-03 -2.79551500e+01] [-2.08587088e-02 -1.33848329e-04 9.99782425e-01 -6.66801653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17587156000002 meters Centerline goodness [0,1] 0.9999785591766723 Centerline is valid? [True, True] Translation: X:223.15, Y:-27.96, Z:-6.67 [[ 9.86891994e-01 1.59986970e-01 2.11745615e-02 2.23152092e+02] [-1.59952856e-01 9.87119118e-01 -3.30600492e-03 -2.79586398e+01] [-2.14307322e-02 -1.24261817e-04 9.99770328e-01 -6.66712317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.18, Y:-27.96, Z:-6.67 [[ 9.86955676e-01 1.59539806e-01 2.15764848e-02 2.23179582e+02] [-1.59504295e-01 9.87191489e-01 -3.36801154e-03 -2.79615188e+01] [-2.18374541e-02 -1.17463885e-04 9.99761527e-01 -6.66755221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.21, Y:-27.96, Z:-6.67 [[ 9.87024030e-01 1.59115930e-01 2.15797401e-02 2.23206839e+02] [-1.59080349e-01 9.87259899e-01 -3.36660075e-03 -2.79642790e+01] [-2.18404918e-02 -1.09996741e-04 9.99761462e-01 -6.66847429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26587156000002 meters Centerline goodness [0,1] 0.9998711644585686 Centerline is valid? [True, True] Translation: X:223.24, Y:-27.97, Z:-6.67 [[ 9.87059336e-01 1.58846724e-01 2.19450656e-02 2.23235379e+02] [-1.58809909e-01 9.87303250e-01 -3.42144386e-03 -2.79659286e+01] [-2.22099197e-02 -1.07925753e-04 9.99753323e-01 -6.66770398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.26, Y:-27.97, Z:-6.67 [[ 9.87020728e-01 1.59024125e-01 2.23921769e-02 2.23263022e+02] [-1.58985861e-01 9.87274690e-01 -3.49024097e-03 -2.79680047e+01] [-2.26622621e-02 -1.15099335e-04 9.99743171e-01 -6.66956677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32587156000002 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:223.29, Y:-27.97, Z:-6.67 [[ 9.86832671e-01 1.60252615e-01 2.19175568e-02 2.23291050e+02] [-1.60216289e-01 9.87076025e-01 -3.41487519e-03 -2.79662928e+01] [-2.21815375e-02 -1.41639207e-04 9.99753949e-01 -6.67148285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35587156000003 meters Centerline goodness [0,1] 0.999935522696011 Centerline is valid? [True, True] Translation: X:223.32, Y:-27.97, Z:-6.67 [[ 9.86690937e-01 1.61167202e-01 2.15899907e-02 2.23320110e+02] [-1.61132219e-01 9.86927103e-01 -3.36171869e-03 -2.79671955e+01] [-2.18495457e-02 -1.61865741e-04 9.99761257e-01 -6.67150404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.35, Y:-27.97, Z:-6.67 [[ 9.86532700e-01 1.62129082e-01 2.16192529e-02 2.23349380e+02] [-1.62094257e-01 9.86769541e-01 -3.36526953e-03 -2.79675192e+01] [-2.18788283e-02 -1.84408312e-04 9.99760613e-01 -6.67332284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41587156000003 meters Centerline goodness [0,1] 0.9996342434217603 Centerline is valid? [True, True] Translation: X:223.38, Y:-27.96, Z:-6.67 [[ 9.86221824e-01 1.64053874e-01 2.12800593e-02 2.23379330e+02] [-1.64020602e-01 9.86451355e-01 -3.31149649e-03 -2.79635193e+01] [-2.15350072e-02 -2.24498028e-04 9.99768070e-01 -6.67360975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44587156000003 meters Centerline goodness [0,1] 0.9996342434217603 Centerline is valid? [True, True] Translation: X:223.41, Y:-27.97, Z:-6.67 [[ 9.86232984e-01 1.63986751e-01 2.12801786e-02 2.23406500e+02] [-1.63953480e-01 9.86462516e-01 -3.31072981e-03 -2.79676067e+01] [-2.15350144e-02 -2.23808394e-04 9.99768070e-01 -6.67443901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.43, Y:-27.97, Z:-6.68 [[ 9.86211980e-01 1.64149128e-01 2.09998803e-02 2.23434014e+02] [-1.64116797e-01 9.86435509e-01 -3.26558021e-03 -2.79681349e+01] [-2.12510698e-02 -2.25878787e-04 9.99774145e-01 -6.67801685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50587156000003 meters Centerline goodness [0,1] 0.9999784385174325 Centerline is valid? [True, True] Translation: X:223.46, Y:-27.97, Z:-6.68 [[ 9.86232724e-01 1.64062481e-01 2.07006254e-02 2.23463071e+02] [-1.64031073e-01 9.86449924e-01 -3.21776657e-03 -2.79683305e+01] [-2.09480451e-02 -2.22079103e-04 9.99780541e-01 -6.67984137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53587156000003 meters Centerline goodness [0,1] 0.9999355296241377 Centerline is valid? [True, True] Translation: X:223.49, Y:-27.97, Z:-6.68 [[ 9.86313229e-01 1.63611107e-01 2.04357479e-02 2.23490236e+02] [-1.63580413e-01 9.86524891e-01 -3.17598638e-03 -2.79709000e+01] [-2.06800006e-02 -2.10370709e-04 9.99786124e-01 -6.68155838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56587156000003 meters Centerline goodness [0,1] 0.9999567576917255 Centerline is valid? [True, True] Translation: X:223.52, Y:-27.97, Z:-6.68 [[ 9.86429668e-01 1.62958374e-01 2.00269445e-02 2.23517748e+02] [-1.62928796e-01 9.86632926e-01 -3.11077736e-03 -2.79736623e+01] [-2.02661701e-02 -1.94402883e-04 9.99794601e-01 -6.68193484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59587156000003 meters Centerline goodness [0,1] 0.9999136758961521 Centerline is valid? [True, True] Translation: X:223.55, Y:-27.98, Z:-6.68 [[ 9.86588431e-01 1.61985988e-01 2.00949483e-02 2.23545023e+02] [-1.61956037e-01 9.86793042e-01 -3.11985053e-03 -2.79763070e+01] [-2.03349272e-02 -1.76489752e-04 9.99793208e-01 -6.68223584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.57, Y:-27.98, Z:-6.68 [[ 9.86874795e-01 1.60198698e-01 2.03596834e-02 2.23573777e+02] [-1.60167598e-01 9.87084777e-01 -3.15969337e-03 -2.79799222e+01] [-2.06029123e-02 -1.42739852e-04 9.99787727e-01 -6.68231443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.60, Y:-27.98, Z:-6.68 [[ 9.87052822e-01 1.59077159e-01 2.05227581e-02 2.23601517e+02] [-1.59045329e-01 9.87266146e-01 -3.18438775e-03 -2.79830335e+01] [-2.07679877e-02 -1.20889899e-04 9.99784315e-01 -6.68356891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.63, Y:-27.99, Z:-6.68 [[ 9.87446355e-01 1.56416968e-01 2.19869789e-02 2.23629953e+02] [-1.56379830e-01 9.87691109e-01 -3.40908970e-03 -2.79872065e+01] [-2.22495831e-02 -7.20268216e-05 9.99752445e-01 -6.68127233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71587156000004 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:223.66, Y:-27.99, Z:-6.68 [[ 9.87672781e-01 1.54914359e-01 2.24503802e-02 2.23657306e+02] [-1.54875274e-01 9.87927902e-01 -3.47991376e-03 -2.79907801e+01] [-2.27184456e-02 -3.99926877e-05 9.99741902e-01 -6.67996224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.69, Y:-28.00, Z:-6.68 [[ 9.87928928e-01 1.53265104e-01 2.24998046e-02 2.23685155e+02] [-1.53225448e-01 9.88185108e-01 -3.48631270e-03 -2.79950647e+01] [-2.27683019e-02 -3.31346745e-06 9.99740769e-01 -6.68152815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77587156000004 meters Centerline goodness [0,1] 0.9997845988152935 Centerline is valid? [True, True] Translation: X:223.71, Y:-28.00, Z:-6.68 [[ 9.88561735e-01 1.49140592e-01 2.24227478e-02 2.23713745e+02] [-1.49100185e-01 9.88815997e-01 -3.47257820e-03 -2.80002857e+01] [-2.26898741e-02 8.96220784e-05 9.99742548e-01 -6.68040663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80587156000004 meters Centerline goodness [0,1] 0.9997854537652864 Centerline is valid? [True, True] Translation: X:223.74, Y:-28.01, Z:-6.68 [[ 9.88930326e-01 1.46657470e-01 2.25476473e-02 2.23741157e+02] [-1.46615990e-01 9.89187326e-01 -3.49089488e-03 -2.80062965e+01] [-2.28158128e-02 1.46406174e-04 9.99739675e-01 -6.68180468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.77, Y:-28.02, Z:-6.68 [[ 9.89745020e-01 1.41095641e-01 2.22893519e-02 2.23768267e+02] [-1.41053726e-01 9.89995933e-01 -3.44956555e-03 -2.80160686e+01] [-2.25530864e-02 2.70194194e-04 9.99745610e-01 -6.68457970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.79, Y:-28.02, Z:-6.69 [[ 9.90163961e-01 1.38110470e-01 2.23792145e-02 2.23794987e+02] [-1.38067484e-01 9.90416773e-01 -3.46212250e-03 -2.80249700e+01] [-2.26429047e-02 3.38227089e-04 9.99743559e-01 -6.68623157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89587156000002 meters Centerline goodness [0,1] 0.9998297618794288 Centerline is valid? [True, True] Translation: X:223.82, Y:-28.03, Z:-6.69 [[ 9.90578800e-01 1.35144509e-01 2.21269563e-02 2.23822163e+02] [-1.35101773e-01 9.90825818e-01 -3.42193897e-03 -2.80327763e+01] [-2.23864158e-02 4.00309184e-04 9.99749313e-01 -6.68610614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92587156000002 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:223.85, Y:-28.04, Z:-6.69 [[ 9.91281135e-01 1.30000301e-01 2.14856573e-02 2.23850916e+02] [-1.29958846e-01 9.91513829e-01 -3.32053516e-03 -2.80449463e+01] [-2.17349969e-02 4.99332624e-04 9.99763642e-01 -6.69034499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95587156000002 meters Centerline goodness [0,1] 0.9999784501336092 Centerline is valid? [True, True] Translation: X:223.88, Y:-28.05, Z:-6.69 [[ 9.91580218e-01 1.27764150e-01 2.10948474e-02 2.23878015e+02] [-1.27723675e-01 9.91804432e-01 -3.26053376e-03 -2.80534735e+01] [-2.13385425e-02 5.38769335e-04 9.99772162e-01 -6.69201270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98587156000002 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:223.91, Y:-28.06, Z:-6.69 [[ 9.91799282e-01 1.26120015e-01 2.06863681e-02 2.23906879e+02] [-1.26080754e-01 9.92014831e-01 -3.19650851e-03 -2.80551940e+01] [-2.09243277e-02 5.62141952e-04 9.99780904e-01 -6.69174855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01587156000002 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:223.94, Y:-28.06, Z:-6.69 [[ 9.92039522e-01 1.24316474e-01 2.00748853e-02 2.23935567e+02] [-1.24279150e-01 9.92242448e-01 -3.10107337e-03 -2.80614312e+01] [-2.03046678e-02 5.81497665e-04 9.99793670e-01 -6.69310522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04587156000002 meters Centerline goodness [0,1] 0.9999140043857764 Centerline is valid? [True, True] Translation: X:223.96, Y:-28.07, Z:-6.69 [[ 9.92060028e-01 1.24169595e-01 1.99703126e-02 2.23962734e+02] [-1.24132646e-01 9.92260840e-01 -3.08411752e-03 -2.80666156e+01] [-2.01987128e-02 5.80661967e-04 9.99795817e-01 -6.69264184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.99, Y:-28.07, Z:-6.70 [[ 9.91976347e-01 1.24842899e-01 1.99293269e-02 2.23990112e+02] [-1.24806261e-01 9.92176361e-01 -3.07656922e-03 -2.80725724e+01] [-2.01574949e-02 5.64579112e-04 9.99796658e-01 -6.69581483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10587156000003 meters Centerline goodness [0,1] 0.9999146684870722 Centerline is valid? [True, True] Translation: X:224.02, Y:-28.08, Z:-6.70 [[ 9.91903172e-01 1.25488249e-01 1.95140396e-02 2.24017632e+02] [-1.25453269e-01 9.92094960e-01 -3.01133865e-03 -2.80782951e+01] [-1.97376679e-02 5.38856295e-04 9.99805048e-01 -6.69759285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13587156000003 meters Centerline goodness [0,1] 0.9999783713636855 Centerline is valid? [True, True] Translation: X:224.05, Y:-28.08, Z:-6.70 [[ 9.91793481e-01 1.26358519e-01 1.94734418e-02 2.24046382e+02] [-1.26323877e-01 9.91984503e-01 -3.00383944e-03 -2.80783054e+01] [-1.96969132e-02 5.19227709e-04 9.99805862e-01 -6.69731971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16587156000003 meters Centerline goodness [0,1] 0.9998502000898799 Centerline is valid? [True, True] Translation: X:224.07, Y:-28.08, Z:-6.70 [[ 9.91515699e-01 1.28407155e-01 2.02044623e-02 2.24074129e+02] [-1.28370306e-01 9.91721411e-01 -3.11569099e-03 -2.80816032e+01] [-2.04372749e-02 4.95603509e-04 9.99791014e-01 -6.69603620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.10, Y:-28.08, Z:-6.70 [[ 9.91384785e-01 1.29399220e-01 2.02990213e-02 2.24102834e+02] [-1.29362261e-01 9.91592464e-01 -3.12895472e-03 -2.80823824e+01] [-2.05332409e-02 4.76070809e-04 9.99789057e-01 -6.69614368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22587156000003 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:224.13, Y:-28.08, Z:-6.70 [[ 9.91198505e-01 1.30685184e-01 2.11401495e-02 2.24131740e+02] [-1.30645414e-01 9.91423807e-01 -3.25751526e-03 -2.80846574e+01] [-2.13845565e-02 4.66980684e-04 9.99771215e-01 -6.69529918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.16, Y:-28.09, Z:-6.70 [[ 9.90965473e-01 1.32381007e-01 2.15104828e-02 2.24160915e+02] [-1.32340256e-01 9.91198809e-01 -3.31338962e-03 -2.80873199e+01] [-2.17597948e-02 4.36751912e-04 9.99763132e-01 -6.69562335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28587156000003 meters Centerline goodness [0,1] 0.9997863658698114 Centerline is valid? [True, True] Translation: X:224.19, Y:-28.09, Z:-6.70 [[ 9.90472804e-01 1.36108883e-01 2.09283498e-02 2.24189038e+02] [-1.36071153e-01 9.90693824e-01 -3.22308122e-03 -2.80901223e+01] [-2.11722768e-02 3.44629622e-04 9.99775783e-01 -6.69726472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.22, Y:-28.09, Z:-6.70 [[ 9.90242694e-01 1.37824012e-01 2.05900018e-02 2.24217111e+02] [-1.37787881e-01 9.90456688e-01 -3.17006729e-03 -2.80927522e+01] [-2.08304164e-02 3.02083256e-04 9.99782978e-01 -6.70032027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.25, Y:-28.09, Z:-6.70 [[ 9.89717112e-01 1.41665421e-01 1.97723933e-02 2.24246453e+02] [-1.41632893e-01 9.89914574e-01 -3.04297811e-03 -2.80926233e+01] [-2.00040651e-02 2.11266238e-04 9.99799876e-01 -6.70274857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37587156000004 meters Centerline goodness [0,1] 0.9999138506601193 Centerline is valid? [True, True] Translation: X:224.28, Y:-28.09, Z:-6.70 [[ 9.89451191e-01 1.43565424e-01 1.93728941e-02 2.24275811e+02] [-1.43534579e-01 9.89640814e-01 -2.98062295e-03 -2.80939289e+01] [-1.96001211e-02 1.68500728e-04 9.99807885e-01 -6.70279924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40587156000004 meters Centerline goodness [0,1] 0.9998284623796556 Centerline is valid? [True, True] Translation: X:224.31, Y:-28.09, Z:-6.70 [[ 9.88892472e-01 1.47371423e-01 1.93220503e-02 2.24305534e+02] [-1.47341485e-01 9.89081218e-01 -2.97178834e-03 -2.80918446e+01] [-1.95490337e-02 9.18395317e-05 9.99808895e-01 -6.70286921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.33, Y:-28.09, Z:-6.70 [[ 9.88656797e-01 1.48932950e-01 1.94091387e-02 2.24334333e+02] [-1.48903053e-01 9.88847295e-01 -2.98462864e-03 -2.80934477e+01] [-1.96371838e-02 6.06933888e-05 9.99807170e-01 -6.70424477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.36, Y:-28.10, Z:-6.71 [[ 9.88473518e-01 1.50144324e-01 1.94109988e-02 2.24361505e+02] [-1.50114671e-01 9.88664089e-01 -2.98408957e-03 -2.80963997e+01] [-1.96390015e-02 3.58178199e-05 9.99807136e-01 -6.70620306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.39, Y:-28.10, Z:-6.71 [[ 9.88372335e-01 1.50826125e-01 1.92771084e-02 2.24389623e+02] [-1.50797029e-01 9.88560307e-01 -2.96248167e-03 -2.81001185e+01] [-1.95034038e-02 2.11042482e-05 9.99809790e-01 -6.70711348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.42, Y:-28.10, Z:-6.71 [[ 9.88212566e-01 1.51838322e-01 1.95204431e-02 2.24418221e+02] [-1.51808718e-01 9.88405344e-01 -2.99820422e-03 -2.81037569e+01] [-1.97493526e-02 -5.10367873e-07 9.99804963e-01 -6.70602537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.44, Y:-28.11, Z:-6.71 [[ 9.88185057e-01 1.51981575e-01 1.97963082e-02 2.24444885e+02] [-1.51951170e-01 9.88383327e-01 -3.03992576e-03 -2.81074776e+01] [-2.00283537e-02 -4.06298384e-06 9.99799412e-01 -6.70704205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.47, Y:-28.11, Z:-6.71 [[ 9.88171786e-01 1.51974074e-01 2.05036888e-02 2.24471980e+02] [-1.51941500e-01 9.88384480e-01 -3.14640617e-03 -2.81113415e+01] [-2.07437000e-02 -6.17141802e-06 9.99784826e-01 -6.70777092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.50, Y:-28.12, Z:-6.71 [[ 9.88193225e-01 1.51768197e-01 2.09896332e-02 2.24500421e+02] [-1.51734044e-01 9.88416114e-01 -3.21953586e-03 -2.81157285e+01] [-2.12351148e-02 -3.31840654e-06 9.99774510e-01 -6.70701916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.53, Y:-28.12, Z:-6.71 [[ 9.88215810e-01 1.51574017e-01 2.13267315e-02 2.24528489e+02] [-1.51538736e-01 9.88445910e-01 -3.27018329e-03 -2.81207904e+01] [-2.15759953e-02 -1.79097400e-07 9.99767211e-01 -6.70769556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.56, Y:-28.13, Z:-6.71 [[ 9.88283134e-01 1.51272996e-01 2.03206180e-02 2.24555804e+02] [-1.51240919e-01 9.88492024e-01 -3.11510738e-03 -2.81264456e+01] [-2.05580005e-02 5.29914498e-06 9.99788662e-01 -6.71131964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.58, Y:-28.13, Z:-6.71 [[ 9.88287884e-01 1.51293829e-01 1.99307680e-02 2.24584223e+02] [-1.51263001e-01 9.88488835e-01 -3.05405551e-03 -2.81306526e+01] [-2.01634014e-02 3.49828636e-06 9.99796698e-01 -6.71227050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.61, Y:-28.14, Z:-6.71 [[ 9.88356541e-01 1.50876921e-01 1.96850759e-02 2.24612766e+02] [-1.50846783e-01 9.88552555e-01 -3.01553596e-03 -2.81352129e+01] [-1.99147069e-02 1.09943215e-05 9.99801682e-01 -6.71201200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.64, Y:-28.14, Z:-6.72 [[ 9.88456773e-01 1.50249966e-01 1.94462200e-02 2.24640417e+02] [-1.50220450e-01 9.88648040e-01 -2.97811983e-03 -2.81406174e+01] [-1.96729296e-02 2.25227974e-05 9.99806469e-01 -6.71528840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.67, Y:-28.15, Z:-6.72 [[ 9.88590091e-01 1.49403159e-01 1.91918856e-02 2.24667558e+02] [-1.49374268e-01 9.88776362e-01 -2.93827873e-03 -2.81466898e+01] [-1.94154710e-02 3.79793756e-05 9.99811501e-01 -6.71716117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.70, Y:-28.15, Z:-6.72 [[ 9.88641919e-01 1.49102870e-01 1.88544432e-02 2.24695932e+02] [-1.49074970e-01 9.88821689e-01 -2.88458383e-03 -2.81512399e+01] [-1.90737821e-02 4.10949387e-05 9.99818078e-01 -6.71617349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.72, Y:-28.16, Z:-6.72 [[ 9.88688813e-01 1.48846268e-01 1.84179346e-02 2.24724692e+02] [-1.48819617e-01 9.88860347e-01 -2.81694898e-03 -2.81560677e+01] [-1.86320576e-02 4.41359660e-05 9.99826407e-01 -6.71708685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.75, Y:-28.16, Z:-6.72 [[ 9.88715837e-01 1.48650926e-01 1.85444164e-02 2.24751070e+02] [-1.48623882e-01 9.88889731e-01 -2.83578053e-03 -2.81609048e+01] [-1.87599244e-02 4.76379645e-05 9.99824016e-01 -6.71971117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.78, Y:-28.17, Z:-6.72 [[ 9.88712303e-01 1.48699851e-01 1.83394978e-02 2.24778554e+02] [-1.48673445e-01 9.88882375e-01 -2.80258086e-03 -2.81654527e+01] [-1.85523495e-02 4.43498693e-05 9.99827889e-01 -6.72152814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.81, Y:-28.17, Z:-6.72 [[ 9.88751555e-01 1.48462039e-01 1.81489921e-02 2.24806817e+02] [-1.48436160e-01 9.88918106e-01 -2.77227122e-03 -2.81703912e+01] [-1.83594439e-02 4.71207781e-05 9.99831450e-01 -6.72235658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.83, Y:-28.17, Z:-6.72 [[ 9.88769699e-01 1.48336484e-01 1.81870603e-02 2.24834273e+02] [-1.48310486e-01 9.88936947e-01 -2.77749653e-03 -2.81749807e+01] [-1.83978599e-02 4.89726575e-05 9.99830744e-01 -6.72280416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.86, Y:-28.18, Z:-6.72 [[ 9.88808203e-01 1.48034780e-01 1.85483475e-02 2.24862605e+02] [-1.48007716e-01 9.88982154e-01 -2.83105767e-03 -2.81797283e+01] [-1.87630797e-02 5.40744946e-05 9.99823956e-01 -6.72134724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.89, Y:-28.18, Z:-6.72 [[ 9.88785922e-01 1.48175260e-01 1.86143295e-02 2.24889819e+02] [-1.48148038e-01 9.88961116e-01 -2.84061102e-03 -2.81832777e+01] [-1.88297563e-02 5.10797982e-05 9.99822703e-01 -6.72223240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.92, Y:-28.19, Z:-6.72 [[ 9.88780837e-01 1.48217737e-01 1.85461414e-02 2.24917723e+02] [-1.48190755e-01 9.88954751e-01 -2.82846278e-03 -2.81866715e+01] [-1.87605230e-02 4.83631154e-05 9.99824005e-01 -6.72306847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.95, Y:-28.19, Z:-6.72 [[ 9.88777711e-01 1.48180192e-01 1.90070591e-02 2.24945005e+02] [-1.48151875e-01 9.88960378e-01 -2.89717383e-03 -2.81913666e+01] [-1.92265321e-02 4.87294641e-05 9.99815152e-01 -6.72380725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.97, Y:-28.20, Z:-6.72 [[ 9.88804780e-01 1.47953481e-01 1.93616912e-02 2.24973358e+02] [-1.47924081e-01 9.88994320e-01 -2.94989126e-03 -2.81964673e+01] [-1.95850493e-02 5.28062129e-05 9.99808193e-01 -6.72419957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.00, Y:-28.20, Z:-6.73 [[ 9.88932544e-01 1.47141238e-01 1.90231092e-02 2.25000233e+02] [-1.47112721e-01 9.89115490e-01 -2.89753586e-03 -2.82027725e+01] [-1.92423989e-02 6.69261680e-05 9.99814846e-01 -6.72602064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.03, Y:-28.21, Z:-6.73 [[ 9.88981134e-01 1.46792703e-01 1.91890311e-02 2.25028125e+02] [-1.46763641e-01 9.89167275e-01 -2.92175437e-03 -2.82074633e+01] [-1.94100538e-02 7.33078894e-05 9.99811604e-01 -6.72612197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.05, Y:-28.21, Z:-6.73 [[ 9.89024178e-01 1.46490955e-01 1.92762905e-02 2.25054949e+02] [-1.46461588e-01 9.89212007e-01 -2.93417835e-03 -2.82120119e+01] [-1.94981686e-02 7.87372119e-05 9.99809890e-01 -6.72728379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.08, Y:-28.22, Z:-6.73 [[ 9.89110749e-01 1.45919773e-01 1.91662834e-02 2.25083139e+02] [-1.45890695e-01 9.89296423e-01 -2.91423084e-03 -2.82171479e+01] [-1.93863795e-02 8.63146424e-05 9.99812063e-01 -6.72732218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.11, Y:-28.22, Z:-6.73 [[ 9.89167703e-01 1.45513927e-01 1.93119648e-02 2.25110030e+02] [-1.45484339e-01 9.89356199e-01 -2.93580246e-03 -2.82221311e+01] [-1.95336122e-02 9.44125399e-05 9.99809196e-01 -6.72815482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.14, Y:-28.23, Z:-6.73 [[ 9.89263557e-01 1.44833177e-01 1.95183360e-02 2.25137887e+02] [-1.44802857e-01 9.89456083e-01 -2.96535601e-03 -2.82279121e+01] [-1.97420182e-02 1.07207820e-04 9.99805102e-01 -6.72834423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.17, Y:-28.23, Z:-6.73 [[ 9.89273840e-01 1.44762892e-01 1.95185466e-02 2.25165070e+02] [-1.44732585e-01 9.89466368e-01 -2.96396880e-03 -2.82319082e+01] [-1.97420182e-02 1.07207079e-04 9.99805102e-01 -6.72917357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36587156000004 meters Centerline goodness [0,1] 0.9999135266013792 Centerline is valid? [True, True] Translation: X:225.19, Y:-28.24, Z:-6.73 [[ 9.89287600e-01 1.44685827e-01 1.93921710e-02 2.25192961e+02] [-1.44655924e-01 9.89477640e-01 -2.94338762e-03 -2.82356177e+01] [-1.96139860e-02 1.06664470e-04 9.99807622e-01 -6.72820722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.22, Y:-28.24, Z:-6.73 [[ 9.89292967e-01 1.44657989e-01 1.93259461e-02 2.25219750e+02] [-1.44628301e-01 9.89481710e-01 -2.93248444e-03 -2.82394504e+01] [-1.95468775e-02 1.06007478e-04 9.99808936e-01 -6.73073123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.25, Y:-28.24, Z:-6.73 [[ 9.89258602e-01 1.44904599e-01 1.92373543e-02 2.25246532e+02] [-1.44875286e-01 9.89445626e-01 -2.91618101e-03 -2.82432492e+01] [-1.94568841e-02 9.78399482e-05 9.99810692e-01 -6.73281710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.28, Y:-28.25, Z:-6.73 [[ 9.89191304e-01 1.45338938e-01 1.94205218e-02 2.25275171e+02] [-1.45309186e-01 9.89381921e-01 -2.94194516e-03 -2.82471489e+01] [-1.96418924e-02 8.81663471e-05 9.99807076e-01 -6.73287281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.30, Y:-28.25, Z:-6.73 [[ 9.89066358e-01 1.46109159e-01 1.99963240e-02 2.25303955e+02] [-1.46077795e-01 9.89268471e-01 -3.02818017e-03 -2.82497710e+01] [-2.02241778e-02 7.40522113e-05 9.99795468e-01 -6.73306964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.33, Y:-28.25, Z:-6.73 [[ 9.89000875e-01 1.46540028e-01 2.00820479e-02 2.25330774e+02] [-1.46508494e-01 9.89204739e-01 -3.04054991e-03 -2.82527463e+01] [-2.03108192e-02 6.49159121e-05 9.99793712e-01 -6.73406498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.36, Y:-28.26, Z:-6.73 [[ 9.88923517e-01 1.47040375e-01 2.02337746e-02 2.25359268e+02] [-1.47008509e-01 9.89130490e-01 -3.06151153e-03 -2.82554673e+01] [-2.04640092e-02 5.30637072e-05 9.99790589e-01 -6.73372581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.39, Y:-28.26, Z:-6.73 [[ 9.88877799e-01 1.47327989e-01 2.03755198e-02 2.25386643e+02] [-1.47295750e-01 9.89087691e-01 -3.08229825e-03 -2.82576803e+01] [-2.06072847e-02 4.67888303e-05 9.99787646e-01 -6.73378900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.41, Y:-28.26, Z:-6.73 [[ 9.88823255e-01 1.47658144e-01 2.06311043e-02 2.25414693e+02] [-1.47625205e-01 9.89038458e-01 -3.11895647e-03 -2.82591479e+01] [-2.08654949e-02 3.84256929e-05 9.99782291e-01 -6.73497407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.44, Y:-28.26, Z:-6.74 [[ 9.88933611e-01 1.46930739e-01 2.05346090e-02 2.25442927e+02] [-1.46897978e-01 9.89146781e-01 -3.10302860e-03 -2.82639186e+01] [-2.07676727e-02 5.21967480e-05 9.99784327e-01 -6.73580402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.47, Y:-28.27, Z:-6.74 [[ 9.89375522e-01 1.43868684e-01 2.09255445e-02 2.25471127e+02] [-1.43834000e-01 9.89596781e-01 -3.16107452e-03 -2.82725007e+01] [-2.11626311e-02 1.17684984e-04 9.99776040e-01 -6.73696913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.50, Y:-28.28, Z:-6.74 [[ 9.89716798e-01 1.41489955e-01 2.10060061e-02 2.25498528e+02] [-1.41454488e-01 9.89939677e-01 -3.17232744e-03 -2.82798229e+01] [-2.12435313e-02 1.68311926e-04 9.99774317e-01 -6.73779823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.53, Y:-28.29, Z:-6.74 [[ 9.90462242e-01 1.36203102e-01 2.08149357e-02 2.25525215e+02] [-1.36167139e-01 9.90680896e-01 -3.14203909e-03 -2.82932231e+01] [-2.10489147e-02 2.77760831e-04 9.99778408e-01 -6.73975412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.55, Y:-28.30, Z:-6.74 [[ 9.90828019e-01 1.33579398e-01 2.04054213e-02 2.25553324e+02] [-1.33544292e-01 9.91038061e-01 -3.07963605e-03 -2.83020434e+01] [-2.06339251e-02 3.26362148e-04 9.99787045e-01 -6.74145648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.58, Y:-28.31, Z:-6.74 [[ 9.91171557e-01 1.31079611e-01 1.99268709e-02 2.25579924e+02] [-1.31045643e-01 9.91371777e-01 -3.00661885e-03 -2.83112493e+01] [-2.01490438e-02 3.68745479e-04 9.99796919e-01 -6.74379777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81587156000003 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:225.61, Y:-28.32, Z:-6.74 [[ 9.91463181e-01 1.28912774e-01 1.95514090e-02 2.25607477e+02] [-1.28879678e-01 9.91655854e-01 -2.94874867e-03 -2.83197998e+01] [-1.97684006e-02 4.03796447e-04 9.99804505e-01 -6.74460874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84587156000003 meters Centerline goodness [0,1] 0.999978369024443 Centerline is valid? [True, True] Translation: X:225.64, Y:-28.33, Z:-6.75 [[ 9.91819960e-01 1.26166638e-01 1.93687048e-02 2.25635798e+02] [-1.26133656e-01 9.92008959e-01 -2.92007161e-03 -2.83307933e+01] [-1.95823442e-02 4.53139766e-04 9.99808145e-01 -6.74695775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87587156000004 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:225.66, Y:-28.34, Z:-6.75 [[ 9.91917953e-01 1.25404911e-01 1.92971960e-02 2.25662718e+02] [-1.25372029e-01 9.92105534e-01 -2.90921027e-03 -2.83373237e+01] [-1.95096842e-02 4.66369272e-04 9.99809559e-01 -6.74820372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.69, Y:-28.34, Z:-6.75 [[ 9.91971439e-01 1.24986789e-01 1.92604979e-02 2.25689786e+02] [-1.24953975e-01 9.92158293e-01 -2.90257323e-03 -2.83438023e+01] [-1.94722460e-02 4.72593987e-04 9.99810286e-01 -6.74966384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93587156000004 meters Centerline goodness [0,1] 0.9996754792090347 Centerline is valid? [True, True] Translation: X:225.72, Y:-28.35, Z:-6.75 [[ 9.91943535e-01 1.25181183e-01 1.94343505e-02 2.25717458e+02] [-1.25147836e-01 9.92133786e-01 -2.92753490e-03 -2.83508452e+01] [-1.96479480e-02 4.71782420e-04 9.99806849e-01 -6.74832569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96587156000004 meters Centerline goodness [0,1] 0.9999783207232207 Centerline is valid? [True, True] Translation: X:225.75, Y:-28.36, Z:-6.75 [[ 9.91920182e-01 1.25318628e-01 1.97381595e-02 2.25745919e+02] [-1.25284275e-01 9.92116432e-01 -2.97238500e-03 -2.83572324e+01] [-1.99550476e-02 4.75487669e-04 9.99800765e-01 -6.75074039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99587156000004 meters Centerline goodness [0,1] 0.9999784427006985 Centerline is valid? [True, True] Translation: X:225.77, Y:-28.36, Z:-6.75 [[ 9.91827577e-01 1.26126300e-01 1.92409497e-02 2.25773021e+02] [-1.26093821e-01 9.92014091e-01 -2.89681651e-03 -2.83633810e+01] [-1.94526580e-02 4.46977632e-04 9.99810679e-01 -6.75248610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.80, Y:-28.36, Z:-6.75 [[ 9.91744142e-01 1.26801593e-01 1.91026849e-02 2.25802131e+02] [-1.26769728e-01 9.91928007e-01 -2.87479180e-03 -2.83619647e+01] [-1.93130163e-02 4.29415752e-04 9.99813394e-01 -6.75020743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.83, Y:-28.37, Z:-6.75 [[ 9.91631105e-01 1.27643638e-01 1.93611477e-02 2.25828693e+02] [-1.27611081e-01 9.91820008e-01 -2.91284267e-03 -2.83703401e+01] [-1.95745795e-02 4.17768406e-04 9.99808312e-01 -6.75276279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.86, Y:-28.38, Z:-6.75 [[ 9.91322000e-01 1.30020186e-01 1.93763603e-02 2.25856869e+02] [-1.29988061e-01 9.91511278e-01 -2.91368164e-03 -2.83751958e+01] [-1.95907172e-02 3.69701208e-04 9.99808015e-01 -6.75291408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.89, Y:-28.38, Z:-6.75 [[ 9.91118989e-01 1.31583569e-01 1.92071605e-02 2.25885286e+02] [-1.31552306e-01 9.91305025e-01 -2.88771201e-03 -2.83776357e+01] [-1.94201302e-02 3.35319957e-04 9.99811355e-01 -6.75338215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.91, Y:-28.38, Z:-6.75 [[ 9.90847678e-01 1.33638759e-01 1.90147378e-02 2.25913764e+02] [-1.33608515e-01 9.91030069e-01 -2.85788038e-03 -2.83808236e+01] [-1.92261005e-02 2.91193265e-04 9.99815119e-01 -6.75416601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17587156000002 meters Centerline goodness [0,1] 0.9997839659530342 Centerline is valid? [True, True] Translation: X:225.94, Y:-28.38, Z:-6.75 [[ 9.90202649e-01 1.38376078e-01 1.87290078e-02 2.25943300e+02] [-1.38347602e-01 9.90379737e-01 -2.81392891e-03 -2.83806807e+01] [-1.89382102e-02 1.95246543e-04 9.99820637e-01 -6.75416489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.97, Y:-28.38, Z:-6.76 [[ 9.89851227e-01 1.40828262e-01 1.90249339e-02 2.25972043e+02] [-1.40799342e-01 9.90034029e-01 -2.85782170e-03 -2.83823550e+01] [-1.92377940e-02 1.50120142e-04 9.99814925e-01 -6.75619390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.00, Y:-28.38, Z:-6.76 [[ 9.89112275e-01 1.45893434e-01 1.92876565e-02 2.26001931e+02] [-1.45864693e-01 9.89300310e-01 -2.89620758e-03 -2.83799684e+01] [-1.95038222e-02 5.12863653e-05 9.99809781e-01 -6.75753159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.03, Y:-28.38, Z:-6.76 [[ 9.88822267e-01 1.47882369e-01 1.90086570e-02 2.26029160e+02] [-1.47854824e-01 9.89004957e-01 -2.85416346e-03 -2.83811633e+01] [-1.92217364e-02 1.17387588e-05 9.99815245e-01 -6.75950081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.06, Y:-28.38, Z:-6.76 [[ 9.88549329e-01 1.49736228e-01 1.86892030e-02 2.26057652e+02] [-1.49709969e-01 9.88725979e-01 -2.80426282e-03 -2.83826992e+01] [-1.88984003e-02 -2.58078818e-05 9.99821409e-01 -6.75982446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.09, Y:-28.38, Z:-6.76 [[ 9.88131594e-01 1.52539304e-01 1.81028483e-02 2.26085940e+02] [-1.52515149e-01 9.88297402e-01 -2.71558540e-03 -2.83822620e+01] [-1.83052314e-02 -7.76028807e-05 9.99832442e-01 -6.76280550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35587156000003 meters Centerline goodness [0,1] 0.9999355310095844 Centerline is valid? [True, True] Translation: X:226.11, Y:-28.39, Z:-6.76 [[ 9.88012907e-01 1.53368864e-01 1.75637836e-02 2.26114496e+02] [-1.53346278e-01 9.88169005e-01 -2.63356712e-03 -2.83859415e+01] [-1.77598938e-02 -9.13425383e-05 9.99842276e-01 -6.76263218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.14, Y:-28.39, Z:-6.77 [[ 9.88015327e-01 1.53383690e-01 1.72961458e-02 2.26141535e+02] [-1.53361795e-01 9.88166704e-01 -2.59312961e-03 -2.83900250e+01] [-1.74892192e-02 -9.05161739e-05 9.99847048e-01 -6.76682460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41587156000003 meters Centerline goodness [0,1] 0.9998262871039889 Centerline is valid? [True, True] Translation: X:226.17, Y:-28.40, Z:-6.76 [[ 9.88128070e-01 1.52688801e-01 1.70013955e-02 2.26168637e+02] [-1.52667573e-01 9.88274316e-01 -2.54723377e-03 -2.83955346e+01] [-1.71909766e-02 -7.85685933e-05 9.99852221e-01 -6.76496342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.20, Y:-28.40, Z:-6.77 [[ 9.88322046e-01 1.51368115e-01 1.75279230e-02 2.26195412e+02] [-1.51345364e-01 9.88477461e-01 -2.62495130e-03 -2.84020846e+01] [-1.77232907e-02 -5.84726469e-05 9.99842928e-01 -6.76897871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47587156000003 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:226.22, Y:-28.41, Z:-6.77 [[ 9.88536014e-01 1.49894395e-01 1.81168201e-02 2.26223602e+02] [-1.49869883e-01 9.88702012e-01 -2.71095135e-03 -2.84093041e+01] [-1.83184929e-02 -3.52926537e-05 9.99832202e-01 -6.76742324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.25, Y:-28.42, Z:-6.77 [[ 9.88919126e-01 1.47260103e-01 1.87995741e-02 2.26251204e+02] [-1.47233250e-01 9.89097802e-01 -2.81219555e-03 -2.84187434e+01] [-1.90087416e-02 1.31115901e-05 9.99819317e-01 -6.76703633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.28, Y:-28.43, Z:-6.77 [[ 9.89076590e-01 1.46122905e-01 1.93803066e-02 2.26279435e+02] [-1.46094167e-01 9.89266443e-01 -2.89810771e-03 -2.84251796e+01] [-1.95957669e-02 3.51007487e-05 9.99807984e-01 -6.76659303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56587156000003 meters Centerline goodness [0,1] 0.9998930755741842 Centerline is valid? [True, True] Translation: X:226.31, Y:-28.43, Z:-6.76 [[ 9.89346297e-01 1.44120529e-01 2.05712843e-02 2.26305944e+02] [-1.44087737e-01 9.89560138e-01 -3.07524144e-03 -2.84338229e+01] [-2.07997284e-02 7.84089216e-05 9.99783659e-01 -6.76392712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59587156000003 meters Centerline goodness [0,1] 0.9999354658291565 Centerline is valid? [True, True] Translation: X:226.33, Y:-28.44, Z:-6.76 [[ 9.89448170e-01 1.43427270e-01 2.05167795e-02 2.26333710e+02] [-1.43394527e-01 9.89660856e-01 -3.06588297e-03 -2.84397161e+01] [-2.07443848e-02 9.15384074e-05 9.99784808e-01 -6.76397653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.36, Y:-28.45, Z:-6.77 [[ 9.89563928e-01 1.42613157e-01 2.06087535e-02 2.26362235e+02] [-1.42579972e-01 9.89778498e-01 -3.07825554e-03 -2.84457717e+01] [-2.08371008e-02 1.07735141e-04 9.99782878e-01 -6.76599592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65587156000004 meters Centerline goodness [0,1] 0.9998716385341121 Centerline is valid? [True, True] Translation: X:226.39, Y:-28.45, Z:-6.77 [[ 9.89553721e-01 1.42696807e-01 2.05196341e-02 2.26389272e+02] [-1.42663945e-01 9.89766442e-01 -3.06405709e-03 -2.84503495e+01] [-2.07468764e-02 1.04637145e-04 9.99784755e-01 -6.76636988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.42, Y:-28.45, Z:-6.77 [[ 9.89533053e-01 1.42807514e-01 2.07448827e-02 2.26417633e+02] [-1.42773982e-01 9.89750475e-01 -3.09621228e-03 -2.84549393e+01] [-2.09744199e-02 1.01974873e-04 9.99780007e-01 -6.76781007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71587156000004 meters Centerline goodness [0,1] 0.9998288294071078 Centerline is valid? [True, True] Translation: X:226.45, Y:-28.46, Z:-6.77 [[ 9.89462733e-01 1.43369764e-01 2.02141459e-02 2.26445274e+02] [-1.43338059e-01 9.89669189e-01 -3.01622385e-03 -2.84597493e+01] [-2.04377527e-02 8.69846543e-05 9.99791124e-01 -6.76859437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.47, Y:-28.46, Z:-6.77 [[ 9.89435150e-01 1.43502916e-01 2.06154619e-02 2.26472264e+02] [-1.43469999e-01 9.89649891e-01 -3.07462573e-03 -2.84643074e+01] [-2.08433074e-02 8.44424735e-05 9.99782751e-01 -6.77094286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.50, Y:-28.47, Z:-6.77 [[ 9.89420300e-01 1.43762253e-01 1.94906068e-02 2.26500679e+02] [-1.43732904e-01 9.89612252e-01 -2.90568111e-03 -2.84695895e+01] [-1.97058705e-02 7.34983613e-05 9.99805818e-01 -6.77378630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.53, Y:-28.47, Z:-6.77 [[ 9.89450527e-01 1.43581203e-01 1.92896970e-02 2.26528881e+02] [-1.43552439e-01 9.89638536e-01 -2.87484030e-03 -2.84743966e+01] [-1.95026005e-02 7.54291911e-05 9.99809803e-01 -6.77499481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.56, Y:-28.48, Z:-6.78 [[ 9.89438978e-01 1.43672453e-01 1.92024962e-02 2.26556748e+02] [-1.43643979e-01 9.89625293e-01 -2.86119858e-03 -2.84778697e+01] [-1.94143513e-02 7.26584436e-05 9.99811521e-01 -6.77575073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.58, Y:-28.48, Z:-6.78 [[ 9.89476992e-01 1.43483799e-01 1.86462097e-02 2.26584464e+02] [-1.43456943e-01 9.89652663e-01 -2.77693795e-03 -2.84819280e+01] [-1.88517167e-02 7.27879695e-05 9.99822288e-01 -6.77818684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.61, Y:-28.49, Z:-6.78 [[ 9.89527179e-01 1.43153130e-01 1.85241517e-02 2.26612774e+02] [-1.43126588e-01 9.89700548e-01 -2.75758466e-03 -2.84871584e+01] [-1.87281199e-02 7.74063428e-05 9.99824610e-01 -6.77853844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.64, Y:-28.49, Z:-6.78 [[ 9.89597984e-01 1.42620666e-01 1.88460931e-02 2.26640948e+02] [-1.42593115e-01 9.89777418e-01 -2.80459458e-03 -2.84927684e+01] [-1.90534306e-02 8.80980302e-05 9.99818463e-01 -6.77818702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.67, Y:-28.50, Z:-6.78 [[ 9.89678331e-01 1.41898297e-01 2.00418356e-02 2.26668761e+02] [-1.41867009e-01 9.89881236e-01 -2.98159844e-03 -2.84976687e+01] [-2.02621207e-02 1.07548091e-04 9.99794696e-01 -6.77716937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.70, Y:-28.50, Z:-6.78 [[ 9.89774216e-01 1.41171395e-01 2.04362104e-02 2.26697161e+02] [-1.41138737e-01 9.89985162e-01 -3.03890230e-03 -2.85022278e+01] [-2.06605512e-02 1.23486201e-04 9.99786540e-01 -6.77616290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.72, Y:-28.51, Z:-6.78 [[ 9.89923912e-01 1.40038367e-01 2.09739080e-02 2.26723950e+02] [-1.40003734e-01 9.90146067e-01 -3.11791024e-03 -2.85085334e+01] [-2.12038596e-02 1.50068464e-04 9.99775162e-01 -6.77639562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.75, Y:-28.52, Z:-6.78 [[ 9.90244930e-01 1.37570824e-01 2.21189380e-02 2.26750654e+02] [-1.37531721e-01 9.90491910e-01 -3.28673623e-03 -2.85192141e+01] [-2.23607882e-02 2.12618276e-04 9.99749944e-01 -6.77628774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.78, Y:-28.53, Z:-6.78 [[ 9.90430893e-01 1.36199110e-01 2.22811128e-02 2.26778833e+02] [-1.36159120e-01 9.90681454e-01 -3.30922049e-03 -2.85258718e+01] [-2.25241981e-02 2.43777495e-04 9.99746268e-01 -6.77620244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.81, Y:-28.53, Z:-6.78 [[ 9.90572712e-01 1.35207025e-01 2.20173391e-02 2.26806623e+02] [-1.35167754e-01 9.90817335e-01 -3.26900723e-03 -2.85324633e+01] [-2.22571540e-02 2.62155067e-04 9.99752244e-01 -6.77761847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.83, Y:-28.54, Z:-6.78 [[ 9.90797518e-01 1.33709091e-01 2.10275267e-02 2.26834081e+02] [-1.33672958e-01 9.91020585e-01 -3.12100195e-03 -2.85414485e+01] [-2.12560182e-02 2.81469296e-04 9.99774026e-01 -6.78024897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16587156000003 meters Centerline goodness [0,1] 0.999978645710991 Centerline is valid? [True, True] Translation: X:226.86, Y:-28.55, Z:-6.78 [[ 9.90885748e-01 1.33135106e-01 2.05055693e-02 2.26862302e+02] [-1.33100637e-01 9.91097857e-01 -3.04281953e-03 -2.85483117e+01] [-2.07281318e-02 2.85782182e-04 9.99785108e-01 -6.78319944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.89, Y:-28.55, Z:-6.78 [[ 9.90943341e-01 1.32805526e-01 1.98491333e-02 2.26890627e+02] [-1.32773173e-01 9.91142075e-01 -2.94485917e-03 -2.85526067e+01] [-2.00644047e-02 2.82756188e-04 9.99798650e-01 -6.78415969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22587156000003 meters Centerline goodness [0,1] 0.9998057707663422 Centerline is valid? [True, True] Translation: X:226.92, Y:-28.56, Z:-6.78 [[ 9.90989086e-01 1.32524402e-01 1.94400019e-02 2.26918338e+02] [-1.32493332e-01 9.91179703e-01 -2.88328482e-03 -2.85607897e+01] [-1.96506409e-02 2.81633160e-04 9.99806868e-01 -6.78459634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25587156000003 meters Centerline goodness [0,1] 0.9998057707663422 Centerline is valid? [True, True] Translation: X:226.95, Y:-28.56, Z:-6.79 [[ 9.90995127e-01 1.32479207e-01 1.94401324e-02 2.26946363e+02] [-1.32448145e-01 9.91185745e-01 -2.88240465e-03 -2.85648541e+01] [-1.96506408e-02 2.81639482e-04 9.99806868e-01 -6.78545094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.97, Y:-28.57, Z:-6.79 [[ 9.91025692e-01 1.32222590e-01 1.96281436e-02 2.26974477e+02] [-1.32190893e-01 9.91220008e-01 -2.90935790e-03 -2.85710814e+01] [-1.98404915e-02 2.88586599e-04 9.99803116e-01 -6.78716045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31587156000003 meters Centerline goodness [0,1] 0.9999131114779738 Centerline is valid? [True, True] Translation: X:227.00, Y:-28.58, Z:-6.79 [[ 9.91009494e-01 1.32351821e-01 1.95749440e-02 2.27001989e+02] [-1.32320337e-01 9.91202762e-01 -2.90067287e-03 -2.85771329e+01] [-1.97866479e-02 2.84431165e-04 9.99804185e-01 -6.78713416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.03, Y:-28.58, Z:-6.79 [[ 9.90973573e-01 1.32617419e-01 1.95958847e-02 2.27029975e+02] [-1.32585944e-01 9.91167263e-01 -2.90250099e-03 -2.85838532e+01] [-1.98077216e-02 2.78162898e-04 9.99803769e-01 -6.78818927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37587156000004 meters Centerline goodness [0,1] 0.9999567773167358 Centerline is valid? [True, True] Translation: X:227.06, Y:-28.59, Z:-6.79 [[ 9.90930303e-01 1.32887997e-01 1.99478171e-02 2.27058648e+02] [-1.32855455e-01 9.91131022e-01 -2.95370658e-03 -2.85864072e+01] [-2.01634125e-02 2.76741027e-04 9.99796659e-01 -6.78545892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.09, Y:-28.59, Z:-6.79 [[ 9.90810713e-01 1.33507028e-01 2.16795732e-02 2.27086402e+02] [-1.33468767e-01 9.91047825e-01 -3.20884146e-03 -2.85940255e+01] [-2.19138968e-02 2.85808596e-04 9.99759821e-01 -6.78503597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.12, Y:-28.60, Z:-6.78 [[ 9.90723870e-01 1.34050533e-01 2.22860569e-02 2.27115591e+02] [-1.34010261e-01 9.90974458e-01 -3.29758034e-03 -2.86000287e+01] [-2.25269556e-02 2.80431240e-04 9.99746197e-01 -6.78487839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.14, Y:-28.61, Z:-6.79 [[ 9.90621940e-01 1.34768804e-01 2.24842429e-02 2.27144265e+02] [-1.34728007e-01 9.90877035e-01 -3.32644543e-03 -2.86073613e+01] [-2.27274211e-02 2.65992582e-04 9.99741663e-01 -6.78679269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.17, Y:-28.61, Z:-6.79 [[ 9.90470352e-01 1.35839140e-01 2.27202297e-02 2.27174395e+02] [-1.35797752e-01 9.90730876e-01 -3.36191976e-03 -2.86093563e+01] [-2.29663134e-02 2.44525742e-04 9.99736210e-01 -6.78559990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.20, Y:-28.62, Z:-6.79 [[ 9.90175611e-01 1.38072812e-01 2.20943067e-02 2.27202439e+02] [-1.38034240e-01 9.90422063e-01 -3.26878636e-03 -2.86156260e+01] [-2.23340193e-02 1.86901696e-04 9.99750547e-01 -6.78890639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.23, Y:-28.62, Z:-6.79 [[ 9.89981424e-01 1.39523267e-01 2.16803535e-02 2.27231704e+02] [-1.39486477e-01 9.90218781e-01 -3.20744391e-03 -2.86180489e+01] [-2.19158063e-02 1.51193763e-04 9.99759808e-01 -6.78929745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.26, Y:-28.62, Z:-6.79 [[ 9.89590721e-01 1.42407253e-01 2.07455808e-02 2.27259548e+02] [-1.42374234e-01 9.89808147e-01 -3.06757433e-03 -2.86211696e+01] [-2.09709897e-02 8.20069168e-05 9.99780081e-01 -6.79202337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.29, Y:-28.62, Z:-6.79 [[ 9.89365418e-01 1.44006830e-01 2.04475686e-02 2.27286942e+02] [-1.43975119e-01 9.89576693e-01 -3.02230263e-03 -2.86248073e+01] [-2.06696696e-02 4.62205755e-05 9.99786358e-01 -6.79340916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.32, Y:-28.63, Z:-6.79 [[ 9.89130129e-01 1.45586454e-01 2.06439401e-02 2.27315917e+02] [-1.45554503e-01 9.89345533e-01 -3.04999376e-03 -2.86281969e+01] [-2.08680277e-02 1.20222819e-05 9.99782239e-01 -6.79351933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.34, Y:-28.63, Z:-6.80 [[ 9.88528521e-01 1.49563372e-01 2.10276417e-02 2.27343692e+02] [-1.49531141e-01 9.88752139e-01 -3.10576419e-03 -2.86283368e+01] [-2.12556342e-02 -7.41507711e-05 9.99774071e-01 -6.79501816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70587156000002 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:227.37, Y:-28.63, Z:-6.80 [[ 9.88212515e-01 1.51647118e-01 2.09565419e-02 2.27371304e+02] [-1.51615600e-01 9.88434690e-01 -3.09399758e-03 -2.86296694e+01] [-2.11833688e-02 -1.19811542e-04 9.99775600e-01 -6.79613454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73587156000002 meters Centerline goodness [0,1] 0.9999141520367429 Centerline is valid? [True, True] Translation: X:227.40, Y:-28.63, Z:-6.79 [[ 9.87558518e-01 1.55824134e-01 2.11426619e-02 2.27400327e+02] [-1.55793036e-01 9.87784791e-01 -3.12021739e-03 -2.86306146e+01] [-2.13706050e-02 -2.12482218e-04 9.99771600e-01 -6.79327612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.43, Y:-28.63, Z:-6.80 [[ 9.87245961e-01 1.57747130e-01 2.14768758e-02 2.27428700e+02] [-1.57715516e-01 9.87479507e-01 -3.16860285e-03 -2.86303041e+01] [-2.17078127e-02 -2.59046180e-04 9.99764324e-01 -6.79661823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.46, Y:-28.63, Z:-6.80 [[ 9.86932640e-01 1.59683325e-01 2.15685040e-02 2.27457028e+02] [-1.59651933e-01 9.87168245e-01 -3.18075554e-03 -2.86347736e+01] [-2.17996558e-02 -3.04261884e-04 9.99762313e-01 -6.79575127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82587156000002 meters Centerline goodness [0,1] 0.9999784992474736 Centerline is valid? [True, True] Translation: X:227.48, Y:-28.64, Z:-6.80 [[ 9.86424343e-01 1.62820122e-01 2.13687614e-02 2.27484578e+02] [-1.62790062e-01 9.86655700e-01 -3.15050419e-03 -2.86352155e+01] [-2.15965757e-02 -3.70887951e-04 9.99766698e-01 -6.79702794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.51, Y:-28.64, Z:-6.80 [[ 9.86179703e-01 1.64287632e-01 2.14281776e-02 2.27512787e+02] [-1.64257786e-01 9.86412393e-01 -3.15760404e-03 -2.86411208e+01] [-2.16557752e-02 -4.05780009e-04 9.99765404e-01 -6.79613533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88587156000003 meters Centerline goodness [0,1] 0.9998499303247936 Centerline is valid? [True, True] Translation: X:227.54, Y:-28.64, Z:-6.80 [[ 9.85656075e-01 1.67495721e-01 2.06708572e-02 2.27542558e+02] [-1.67468673e-01 9.85872695e-01 -3.04504273e-03 -2.86359388e+01] [-2.08888653e-02 -4.60356155e-04 9.99781698e-01 -6.80022658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91587156000003 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:227.57, Y:-28.64, Z:-6.80 [[ 9.85487954e-01 1.68530160e-01 2.02750513e-02 2.27570950e+02] [-1.68504378e-01 9.85696384e-01 -2.98566729e-03 -2.86379033e+01] [-2.04882197e-02 -4.74095750e-04 9.99789982e-01 -6.80225400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94587156000003 meters Centerline goodness [0,1] 0.9998936396511381 Centerline is valid? [True, True] Translation: X:227.60, Y:-28.64, Z:-6.80 [[ 9.85306431e-01 1.69631890e-01 1.99062427e-02 2.27599091e+02] [-1.69607278e-01 9.85507373e-01 -2.93058004e-03 -2.86398599e+01] [-2.01148688e-02 -4.88724282e-04 9.99797556e-01 -6.80384846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97587156000003 meters Centerline goodness [0,1] 0.9998282561559434 Centerline is valid? [True, True] Translation: X:227.63, Y:-28.64, Z:-6.81 [[ 9.85044256e-01 1.71207117e-01 1.93890914e-02 2.27627669e+02] [-1.71184093e-01 9.85234929e-01 -2.85337430e-03 -2.86409459e+01] [-1.95913281e-02 -5.08404070e-04 9.99807942e-01 -6.80548277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00587156000003 meters Centerline goodness [0,1] 0.999763634019511 Centerline is valid? [True, True] Translation: X:227.66, Y:-28.64, Z:-6.81 [[ 9.84955907e-01 1.71697255e-01 1.95425954e-02 2.27655062e+02] [-1.71673981e-01 9.85149623e-01 -2.87495607e-03 -2.86424113e+01] [-1.97460026e-02 -5.23250203e-04 9.99804892e-01 -6.80581638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03587156000003 meters Centerline goodness [0,1] 0.9996157950907151 Centerline is valid? [True, True] Translation: X:227.68, Y:-28.64, Z:-6.81 [[ 9.84843828e-01 1.72246094e-01 2.03449482e-02 2.27683995e+02] [-1.72221014e-01 9.85053792e-01 -2.99167685e-03 -2.86387573e+01] [-2.05561730e-02 -5.57493127e-04 9.99788544e-01 -6.80709201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06587156000003 meters Centerline goodness [0,1] 0.9999357009666288 Centerline is valid? [True, True] Translation: X:227.71, Y:-28.65, Z:-6.80 [[ 9.84680312e-01 1.73103976e-01 2.09689404e-02 2.27711502e+02] [-1.73077573e-01 9.84903376e-01 -3.08128688e-03 -2.86498525e+01] [-2.11857632e-02 -5.95170785e-04 9.99775379e-01 -6.80247039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09587156000003 meters Centerline goodness [0,1] 0.9998922762038134 Centerline is valid? [True, True] Translation: X:227.74, Y:-28.65, Z:-6.80 [[ 9.84699126e-01 1.73003079e-01 2.09180911e-02 2.27739309e+02] [-1.72976798e-01 9.84921105e-01 -3.07303761e-03 -2.86535866e+01] [-2.11343143e-02 -5.92326973e-04 9.99776470e-01 -6.80347098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12587156000004 meters Centerline goodness [0,1] 0.9997440873515173 Centerline is valid? [True, True] Translation: X:227.77, Y:-28.65, Z:-6.81 [[ 9.84714824e-01 1.73021694e-01 2.00052075e-02 2.27767893e+02] [-1.72997685e-01 9.84917850e-01 -2.93770494e-03 -2.86494249e+01] [-2.02117726e-02 -5.68052982e-04 9.99795560e-01 -6.80732251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15587156000004 meters Centerline goodness [0,1] 0.9998068918165043 Centerline is valid? [True, True] Translation: X:227.80, Y:-28.66, Z:-6.81 [[ 9.84743568e-01 1.72895300e-01 1.96804708e-02 2.27795511e+02] [-1.72872077e-01 9.84940051e-01 -2.88816348e-03 -2.86554079e+01] [-1.98834338e-02 -5.58103443e-04 9.99802149e-01 -6.80779685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18587156000004 meters Centerline goodness [0,1] 0.99972341602485 Centerline is valid? [True, True] Translation: X:227.82, Y:-28.66, Z:-6.81 [[ 9.84846509e-01 1.72325104e-01 1.95297727e-02 2.27823207e+02] [-1.72302152e-01 9.85039980e-01 -2.86452869e-03 -2.86552379e+01] [-1.97312371e-02 -5.43900783e-04 9.99805172e-01 -6.80845308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21587156000004 meters Centerline goodness [0,1] 0.9998079303427376 Centerline is valid? [True, True] Translation: X:227.85, Y:-28.66, Z:-6.81 [[ 9.84985630e-01 1.71475898e-01 1.99831257e-02 2.27852238e+02] [-1.71451721e-01 9.85188167e-01 -2.92966113e-03 -2.86582583e+01] [-2.01895053e-02 -5.40467185e-04 9.99796025e-01 -6.80845242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24587156000004 meters Centerline goodness [0,1] 0.9999142789790626 Centerline is valid? [True, True] Translation: X:227.88, Y:-28.66, Z:-6.81 [[ 9.85155731e-01 1.70473182e-01 2.01762423e-02 2.27880091e+02] [-1.70448345e-01 9.85362176e-01 -2.95701228e-03 -2.86641895e+01] [-2.03849973e-02 -5.25889526e-04 9.99792066e-01 -6.80789699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27587156000004 meters Centerline goodness [0,1] 0.9997855963637143 Centerline is valid? [True, True] Translation: X:227.91, Y:-28.67, Z:-6.81 [[ 9.85591742e-01 1.67887849e-01 2.05569707e-02 2.27907805e+02] [-1.67861519e-01 9.85805984e-01 -3.01208607e-03 -2.86661582e+01] [-2.07708773e-02 -4.82037162e-04 9.99784146e-01 -6.80697006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30587156000004 meters Centerline goodness [0,1] 0.9999567202614096 Centerline is valid? [True, True] Translation: X:227.94, Y:-28.67, Z:-6.81 [[ 9.85927155e-01 1.65860287e-01 2.09286719e-02 2.27935133e+02] [-1.65832577e-01 9.86149159e-01 -3.06477981e-03 -2.86690308e+01] [-2.11471175e-02 -4.49005958e-04 9.99776274e-01 -6.80853241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33587156000004 meters Centerline goodness [0,1] 0.9999785508987173 Centerline is valid? [True, True] Translation: X:227.96, Y:-28.68, Z:-6.81 [[ 9.86731479e-01 1.60899011e-01 2.17369926e-02 2.27963761e+02] [-1.60867967e-01 9.86970810e-01 -3.18073781e-03 -2.86777255e+01] [-2.19655548e-02 -3.58251693e-04 9.99758664e-01 -6.80835380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36587156000004 meters Centerline goodness [0,1] 0.9999357615468619 Centerline is valid? [True, True] Translation: X:227.99, Y:-28.68, Z:-6.81 [[ 9.87134623e-01 1.58349692e-01 2.21497210e-02 2.27991950e+02] [-1.58316825e-01 9.87383046e-01 -3.24077141e-03 -2.86800545e+01] [-2.23834342e-02 -3.07595844e-04 9.99749412e-01 -6.81143226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39587156000002 meters Centerline goodness [0,1] 0.9999577765110731 Centerline is valid? [True, True] Translation: X:228.02, Y:-28.69, Z:-6.81 [[ 9.87491896e-01 1.56118095e-01 2.20657168e-02 2.28019800e+02] [-1.56084944e-01 9.87738363e-01 -3.22740132e-03 -2.86869371e+01] [-2.22990107e-02 -2.57093515e-04 9.99751313e-01 -6.81203805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.05, Y:-28.70, Z:-6.81 [[ 9.88030881e-01 1.52815262e-01 2.10350578e-02 2.28047445e+02] [-1.52784404e-01 9.88254757e-01 -3.07587540e-03 -2.86979093e+01] [-2.12580367e-02 -1.74768881e-04 9.99774007e-01 -6.81089993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45587156000002 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:228.07, Y:-28.70, Z:-6.82 [[ 9.88220577e-01 1.51693152e-01 2.02306654e-02 2.28074879e+02] [-1.51664385e-01 9.88427623e-01 -2.95766188e-03 -2.86983385e+01] [-2.04452055e-02 -1.45449091e-04 9.99790964e-01 -6.81803643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48587156000002 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:228.10, Y:-28.71, Z:-6.82 [[ 9.88304511e-01 1.51257481e-01 1.93744013e-02 2.28103420e+02] [-1.51231053e-01 9.88494389e-01 -2.83053666e-03 -2.87050262e+01] [-1.95796268e-02 -1.32578956e-04 9.99808292e-01 -6.81500002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.13, Y:-28.71, Z:-6.82 [[ 9.88403652e-01 1.50735564e-01 1.83578437e-02 2.28131829e+02] [-1.50711759e-01 9.88574113e-01 -2.68133618e-03 -2.87050999e+01] [-1.85522617e-02 -1.16500427e-04 9.99827885e-01 -6.81825153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54587156000002 meters Centerline goodness [0,1] 0.9998724760892668 Centerline is valid? [True, True] Translation: X:228.16, Y:-28.70, Z:-6.82 [[ 9.88447156e-01 1.50476651e-01 1.81382604e-02 2.28158638e+02] [-1.50453383e-01 9.88613557e-01 -2.64844016e-03 -2.87045963e+01] [-1.83302586e-02 -1.11119507e-04 9.99831981e-01 -6.82364372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.19, Y:-28.71, Z:-6.82 [[ 9.88723512e-01 1.48709068e-01 1.76474014e-02 2.28186808e+02] [-1.48686794e-01 9.88880987e-01 -2.57494331e-03 -2.87114150e+01] [-1.78340972e-02 -7.80285409e-05 9.99840957e-01 -6.82011468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.21, Y:-28.72, Z:-6.82 [[ 9.88935721e-01 1.47283548e-01 1.77114561e-02 2.28214017e+02] [-1.47260896e-01 9.89094310e-01 -2.58356441e-03 -2.87152396e+01] [-1.78988169e-02 -5.32257589e-05 9.99839802e-01 -6.82340085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.24, Y:-28.72, Z:-6.82 [[ 9.89226423e-01 1.45303444e-01 1.78323627e-02 2.28242007e+02] [-1.45280183e-01 9.89387138e-01 -2.59993274e-03 -2.87213944e+01] [-1.80208895e-02 -1.87667489e-05 9.99837610e-01 -6.82337597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.27, Y:-28.73, Z:-6.82 [[ 9.89846042e-01 1.40923979e-01 1.85807634e-02 2.28269999e+02] [-1.40897969e-01 9.90020418e-01 -2.70815122e-03 -2.87314279e+01] [-1.87769786e-02 6.26609442e-05 9.99823695e-01 -6.82189746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69587156000003 meters Centerline goodness [0,1] 0.9999572476005216 Centerline is valid? [True, True] Translation: X:228.30, Y:-28.74, Z:-6.83 [[ 9.90135061e-01 1.38862037e-01 1.87054743e-02 2.28296664e+02] [-1.38835323e-01 9.90311731e-01 -2.72559442e-03 -2.87400475e+01] [-1.89027322e-02 1.01726045e-04 9.99821322e-01 -6.82613189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.32, Y:-28.75, Z:-6.82 [[ 9.90554789e-01 1.35799167e-01 1.89682839e-02 2.28324936e+02] [-1.35771158e-01 9.90736373e-01 -2.76268278e-03 -2.87452439e+01] [-1.91677388e-02 1.61242793e-04 9.99816269e-01 -6.82261645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.35, Y:-28.75, Z:-6.83 [[ 9.90692322e-01 1.34738193e-01 1.93479198e-02 2.28351509e+02] [-1.34708863e-01 9.90881217e-01 -2.81725558e-03 -2.87533665e+01] [-1.95510822e-02 1.84697197e-04 9.99808842e-01 -6.82670512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.38, Y:-28.75, Z:-6.82 [[ 9.90795807e-01 1.33966598e-01 1.94066888e-02 2.28381361e+02] [-1.33936967e-01 9.90985828e-01 -2.82451396e-03 -2.87528586e+01] [-1.96101441e-02 1.99243554e-04 9.99807683e-01 -6.82096320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81587156000003 meters Centerline goodness [0,1] 0.9998506921485399 Centerline is valid? [True, True] Translation: X:228.41, Y:-28.76, Z:-6.82 [[ 9.90937542e-01 1.32937212e-01 1.92479793e-02 2.28408433e+02] [-1.32907885e-01 9.91124437e-01 -2.80062887e-03 -2.87587048e+01] [-1.94494504e-02 2.17040063e-04 9.99810818e-01 -6.82118101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.44, Y:-28.76, Z:-6.82 [[ 9.91065702e-01 1.32082215e-01 1.85219635e-02 2.28436797e+02] [-1.32054932e-01 9.91238739e-01 -2.69382878e-03 -2.87626726e+01] [-1.87154946e-02 2.23844684e-04 9.99824825e-01 -6.82326115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87587156000004 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:228.46, Y:-28.77, Z:-6.82 [[ 9.91145880e-01 1.31514828e-01 1.82673300e-02 2.28463879e+02] [-1.31488207e-01 9.91314177e-01 -2.65606940e-03 -2.87689022e+01] [-1.84579757e-02 2.30613766e-04 9.99829610e-01 -6.82385065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.49, Y:-28.77, Z:-6.82 [[ 9.91194624e-01 1.31097347e-01 1.86199715e-02 2.28490980e+02] [-1.31069636e-01 9.91369471e-01 -2.70617847e-03 -2.87739940e+01] [-1.88140441e-02 2.41836652e-04 9.99822971e-01 -6.82492494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93587156000004 meters Centerline goodness [0,1] 0.9998712197634736 Centerline is valid? [True, True] Translation: X:228.52, Y:-28.78, Z:-6.82 [[ 9.91179711e-01 1.31195390e-01 1.87230112e-02 2.28519452e+02] [-1.31167412e-01 9.91356501e-01 -2.71991764e-03 -2.87778774e+01] [-1.89180196e-02 2.40078245e-04 9.99821009e-01 -6.82316449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.55, Y:-28.78, Z:-6.82 [[ 9.90966867e-01 1.32721148e-01 1.92292977e-02 2.28548205e+02] [-1.32691943e-01 9.91153394e-01 -2.79250736e-03 -2.87800992e+01] [-1.94298084e-02 2.15709407e-04 9.99811200e-01 -6.82333379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99587156000004 meters Centerline goodness [0,1] 0.9997851356868138 Centerline is valid? [True, True] Translation: X:228.58, Y:-28.78, Z:-6.82 [[ 9.90758190e-01 1.34278751e-01 1.91683368e-02 2.28576483e+02] [-1.34250039e-01 9.90943582e-01 -2.78270968e-03 -2.87829112e+01] [-1.93683992e-02 1.83642428e-04 9.99812398e-01 -6.82318546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02587156000004 meters Centerline goodness [0,1] 0.9997854031202387 Centerline is valid? [True, True] Translation: X:228.60, Y:-28.78, Z:-6.83 [[ 9.90340347e-01 1.37363492e-01 1.89015467e-02 2.28604407e+02] [-1.37336151e-01 9.90520700e-01 -2.74319884e-03 -2.87848048e+01] [-1.90991886e-02 1.20834821e-04 9.99817587e-01 -6.82613753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05587156000004 meters Centerline goodness [0,1] 0.9999784830554062 Centerline is valid? [True, True] Translation: X:228.63, Y:-28.79, Z:-6.83 [[ 9.90095453e-01 1.39138131e-01 1.87503441e-02 2.28633528e+02] [-1.39111568e-01 9.90272979e-01 -2.71995524e-03 -2.87864807e+01] [-1.89464086e-02 8.46255393e-05 9.99820497e-01 -6.82853543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08587156000004 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:228.66, Y:-28.79, Z:-6.83 [[ 9.89814383e-01 1.41155446e-01 1.85101727e-02 2.28662420e+02] [-1.41129930e-01 9.89987443e-01 -2.68414812e-03 -2.87873810e+01] [-1.87037207e-02 4.44690403e-05 9.99825069e-01 -6.82905418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11587156000004 meters Centerline goodness [0,1] 0.9999351673762237 Centerline is valid? [True, True] Translation: X:228.69, Y:-28.79, Z:-6.83 [[ 9.89243189e-01 1.45249393e-01 1.73357373e-02 2.28691310e+02] [-1.45227647e-01 9.89395074e-01 -2.51345836e-03 -2.87858875e+01] [-1.75169714e-02 -3.12067770e-05 9.99846566e-01 -6.83074111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14587156000002 meters Centerline goodness [0,1] 0.9999351673762237 Centerline is valid? [True, True] Translation: X:228.72, Y:-28.79, Z:-6.83 [[ 9.89253825e-01 1.45176926e-01 1.73358160e-02 2.28718522e+02] [-1.45155179e-01 9.89405710e-01 -2.51291491e-03 -2.87896974e+01] [-1.75169726e-02 -3.04727955e-05 9.99846566e-01 -6.83157039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17587156000002 meters Centerline goodness [0,1] 0.9998079877112135 Centerline is valid? [True, True] Translation: X:228.75, Y:-28.79, Z:-6.83 [[ 9.89012972e-01 1.46822368e-01 1.72201666e-02 2.28746516e+02] [-1.46801185e-01 9.89162873e-01 -2.49471615e-03 -2.87906780e+01] [-1.73998296e-02 -6.06342274e-05 9.99848610e-01 -6.83379616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20587156000002 meters Centerline goodness [0,1] 0.9999142367066896 Centerline is valid? [True, True] Translation: X:228.78, Y:-28.79, Z:-6.83 [[ 9.88535567e-01 1.50004632e-01 1.72059277e-02 2.28775956e+02] [-1.49983989e-01 9.88685287e-01 -2.49125529e-03 -2.87900651e+01] [-1.73849474e-02 -1.17919224e-04 9.99848863e-01 -6.83446817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23587156000002 meters Centerline goodness [0,1] 0.9998262946477038 Centerline is valid? [True, True] Translation: X:228.80, Y:-28.79, Z:-6.83 [[ 9.88290874e-01 1.51693109e-01 1.64423204e-02 2.28804881e+02] [-1.51674498e-01 9.88427630e-01 -2.38034587e-03 -2.87926048e+01] [-1.66131258e-02 -1.41406587e-04 9.99861983e-01 -6.83389157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26587156000002 meters Centerline goodness [0,1] 0.9998070077625767 Centerline is valid? [True, True] Translation: X:228.83, Y:-28.79, Z:-6.84 [[ 9.88056956e-01 1.53168008e-01 1.68230164e-02 2.28832914e+02] [-1.53148750e-01 9.88200148e-01 -2.43474468e-03 -2.87936285e+01] [-1.69974323e-02 -1.70757521e-04 9.99855519e-01 -6.83531060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29587156000002 meters Centerline goodness [0,1] 0.9991887449029696 Centerline is valid? [True, True] Translation: X:228.86, Y:-28.79, Z:-6.84 [[ 9.87504110e-01 1.56606122e-01 1.76112274e-02 2.28861366e+02] [-1.56585577e-01 9.87661108e-01 -2.54811819e-03 -2.87879336e+01] [-1.77929752e-02 -2.41387013e-04 9.99841663e-01 -6.83781744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32587156000002 meters Centerline goodness [0,1] 0.9990740142558735 Centerline is valid? [True, True] Translation: X:228.89, Y:-28.79, Z:-6.84 [[ 9.87262595e-01 1.58090359e-01 1.78887111e-02 2.28889432e+02] [-1.58069448e-01 9.87424611e-01 -2.58588992e-03 -2.87921323e+01] [-1.80725578e-02 -2.74706286e-04 9.99836640e-01 -6.83520096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35587156000003 meters Centerline goodness [0,1] 0.998495316407409 Centerline is valid? [True, True] Translation: X:228.92, Y:-28.79, Z:-6.84 [[ 9.86836364e-01 1.60609234e-01 1.89384574e-02 2.28918294e+02] [-1.60586284e-01 9.87018013e-01 -2.73636689e-03 -2.87863698e+01] [-1.91320844e-02 -3.40910149e-04 9.99816907e-01 -6.83706527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38587156000003 meters Centerline goodness [0,1] 0.9987631152435383 Centerline is valid? [True, True] Translation: X:228.95, Y:-28.79, Z:-6.84 [[ 9.86723314e-01 1.61269681e-01 1.92143547e-02 2.28946432e+02] [-1.61246208e-01 9.86910310e-01 -2.77489134e-03 -2.87913749e+01] [-1.94103506e-02 -3.60191866e-04 9.99811537e-01 -6.83502697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41587156000003 meters Centerline goodness [0,1] 0.9989505472146666 Centerline is valid? [True, True] Translation: X:228.98, Y:-28.79, Z:-6.84 [[ 9.86659253e-01 1.61600484e-01 1.97180567e-02 2.28975219e+02] [-1.61575850e-01 9.86856191e-01 -2.84665266e-03 -2.87938582e+01] [-1.99189067e-02 -3.77285585e-04 9.99801528e-01 -6.83500222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44587156000003 meters Centerline goodness [0,1] 0.9989965198454214 Centerline is valid? [True, True] Translation: X:229.00, Y:-28.80, Z:-6.84 [[ 9.86718067e-01 1.61222583e-01 1.98679469e-02 2.29003563e+02] [-1.61197516e-01 9.86918000e-01 -2.86731563e-03 -2.87973624e+01] [-2.00703104e-02 -3.73431549e-04 9.99798501e-01 -6.83520355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47587156000003 meters Centerline goodness [0,1] 0.9983793926987377 Centerline is valid? [True, True] Translation: X:229.03, Y:-28.80, Z:-6.84 [[ 9.86835755e-01 1.60560404e-01 1.93791076e-02 2.29030733e+02] [-1.60536429e-01 9.87025954e-01 -2.79674168e-03 -2.87954773e+01] [-1.95767282e-02 -3.51128042e-04 9.99808296e-01 -6.83845230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50587156000003 meters Centerline goodness [0,1] 0.9985754985754985 Centerline is valid? [True, True] Translation: X:229.06, Y:-28.80, Z:-6.84 [[ 9.87074105e-01 1.59161463e-01 1.87707038e-02 2.29058322e+02] [-1.59138778e-01 9.87252515e-01 -2.70569776e-03 -2.87991361e+01] [-1.89620674e-02 -3.16422678e-04 9.99820154e-01 -6.84195880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53587156000003 meters Centerline goodness [0,1] 0.9988873911462011 Centerline is valid? [True, True] Translation: X:229.09, Y:-28.81, Z:-6.84 [[ 9.87189771e-01 1.58563002e-01 1.77237054e-02 2.29085999e+02] [-1.58542698e-01 9.87348819e-01 -2.55380882e-03 -2.88086588e+01] [-1.79044191e-02 -2.88870126e-04 9.99839661e-01 -6.83894164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56587156000003 meters Centerline goodness [0,1] 0.9990803319360082 Centerline is valid? [True, True] Translation: X:229.11, Y:-28.81, Z:-6.84 [[ 9.87404493e-01 1.57147407e-01 1.83591782e-02 2.29114175e+02] [-1.57125394e-01 9.87575120e-01 -2.64443461e-03 -2.88131388e+01] [-1.85466337e-02 -2.73566493e-04 9.99827959e-01 -6.84057481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59587156000003 meters Centerline goodness [0,1] 0.9993835689233712 Centerline is valid? [True, True] Translation: X:229.14, Y:-28.82, Z:-6.84 [[ 9.87522408e-01 1.56405345e-01 1.83537990e-02 2.29141712e+02] [-1.56383230e-01 9.87692918e-01 -2.64291678e-03 -2.88171679e+01] [-1.85412836e-02 -2.60286830e-04 9.99828062e-01 -6.84163832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62587156000004 meters Centerline goodness [0,1] 0.9989731741753305 Centerline is valid? [True, True] Translation: X:229.17, Y:-28.82, Z:-6.84 [[ 9.87656503e-01 1.55635782e-01 1.76673402e-02 2.29168353e+02] [-1.55615180e-01 9.87814480e-01 -2.54335500e-03 -2.88204046e+01] [-1.78478915e-02 -2.37345212e-04 9.99840686e-01 -6.84172633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65587156000004 meters Centerline goodness [0,1] 0.9992903836229141 Centerline is valid? [True, True] Translation: X:229.20, Y:-28.82, Z:-6.84 [[ 9.87770277e-01 1.54774102e-01 1.88376443e-02 2.29197465e+02] [-1.54750566e-01 9.87949857e-01 -2.70959739e-03 -2.88238863e+01] [-1.90300235e-02 -2.38676347e-04 9.99818884e-01 -6.84122805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68587156000004 meters Centerline goodness [0,1] 0.9993594123676119 Centerline is valid? [True, True] Translation: X:229.23, Y:-28.83, Z:-6.84 [[ 9.87831658e-01 1.54344821e-01 1.91387447e-02 2.29226098e+02] [-1.54320457e-01 9.88017015e-01 -2.75232719e-03 -2.88276956e+01] [-1.93342128e-02 -2.34663889e-04 9.99813049e-01 -6.84159777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71587156000004 meters Centerline goodness [0,1] 0.9992574677528853 Centerline is valid? [True, True] Translation: X:229.25, Y:-28.83, Z:-6.84 [[ 9.87893222e-01 1.53899957e-01 1.95393019e-02 2.29253389e+02] [-1.53874487e-01 9.88086408e-01 -2.80935474e-03 -2.88298518e+01] [-1.97388782e-02 -2.31257552e-04 9.99805143e-01 -6.84308869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74587156000004 meters Centerline goodness [0,1] 0.9995499453505069 Centerline is valid? [True, True] Translation: X:229.28, Y:-28.84, Z:-6.84 [[ 9.88062653e-01 1.52803148e-01 1.95803869e-02 2.29281837e+02] [-1.52777397e-01 9.88256623e-01 -2.81315890e-03 -2.88371954e+01] [-1.97803066e-02 -2.11863292e-04 9.99804328e-01 -6.84142443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77587156000004 meters Centerline goodness [0,1] 0.9996127449925776 Centerline is valid? [True, True] Translation: X:229.31, Y:-28.84, Z:-6.84 [[ 9.88193083e-01 1.51986081e-01 1.93561777e-02 2.29309592e+02] [-1.51960775e-01 9.88382615e-01 -2.78013239e-03 -2.88409966e+01] [-1.95538510e-02 -1.94072173e-04 9.99808786e-01 -6.84243036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80587156000004 meters Centerline goodness [0,1] 0.9996362391406685 Centerline is valid? [True, True] Translation: X:229.34, Y:-28.85, Z:-6.84 [[ 9.88433075e-01 1.50444907e-01 1.91412375e-02 2.29337235e+02] [-1.50419894e-01 9.88618381e-01 -2.74809236e-03 -2.88451318e+01] [-1.93368158e-02 -1.62917536e-04 9.99813013e-01 -6.84450169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83587156000004 meters Centerline goodness [0,1] 0.9996565344324232 Centerline is valid? [True, True] Translation: X:229.37, Y:-28.85, Z:-6.85 [[ 9.88567975e-01 1.49571060e-01 1.90225232e-02 2.29365708e+02] [-1.49546219e-01 9.88750968e-01 -2.72976349e-03 -2.88509034e+01] [-1.92168319e-02 -1.46189661e-04 9.99815329e-01 -6.84534503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86587156000004 meters Centerline goodness [0,1] 0.9997632524804684 Centerline is valid? [True, True] Translation: X:229.39, Y:-28.86, Z:-6.85 [[ 9.88728081e-01 1.48510655e-01 1.90096568e-02 2.29394302e+02] [-1.48485669e-01 9.88910800e-01 -2.72701637e-03 -2.88574058e+01] [-1.92038459e-02 -1.26383950e-04 9.99815581e-01 -6.84538774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89587156000002 meters Centerline goodness [0,1] 0.9999138302455838 Centerline is valid? [True, True] Translation: X:229.42, Y:-28.86, Z:-6.85 [[ 9.89034592e-01 1.46489733e-01 1.87439280e-02 2.29422515e+02] [-1.46465095e-01 9.89212187e-01 -2.68799293e-03 -2.88648358e+01] [-1.89354854e-02 -8.68132116e-05 9.99820704e-01 -6.84570545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92587156000002 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:229.45, Y:-28.87, Z:-6.85 [[ 9.89139629e-01 1.45711003e-01 1.92639086e-02 2.29450386e+02] [-1.45684850e-01 9.89327195e-01 -2.76156411e-03 -2.88699145e+01] [-1.94606990e-02 -7.48871445e-05 9.99810620e-01 -6.84636551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95587156000002 meters Centerline goodness [0,1] 0.999935339253384 Centerline is valid? [True, True] Translation: X:229.48, Y:-28.88, Z:-6.85 [[ 9.89240033e-01 1.44978010e-01 1.96350160e-02 2.29478921e+02] [-1.44950716e-01 9.89434875e-01 -2.81375751e-03 -2.88758225e+01] [-1.98355025e-02 -6.26280470e-05 9.99803255e-01 -6.84615868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98587156000002 meters Centerline goodness [0,1] 0.999870731444576 Centerline is valid? [True, True] Translation: X:229.51, Y:-28.88, Z:-6.85 [[ 9.89233592e-01 1.45129320e-01 1.88249874e-02 2.29507437e+02] [-1.45104276e-01 9.89412693e-01 -2.69683336e-03 -2.88800444e+01] [-1.90170711e-02 -6.37880093e-05 9.99819157e-01 -6.84672693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01587156000002 meters Centerline goodness [0,1] 0.9997860596465705 Centerline is valid? [True, True] Translation: X:229.53, Y:-28.88, Z:-6.85 [[ 9.89125706e-01 1.45900357e-01 1.85317094e-02 2.29534665e+02] [-1.45876234e-01 9.89299287e-01 -2.65420462e-03 -2.88823645e+01] [-1.87206563e-02 -7.79939496e-05 9.99824750e-01 -6.84873001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04587156000002 meters Centerline goodness [0,1] 0.9999139673936422 Centerline is valid? [True, True] Translation: X:229.56, Y:-28.88, Z:-6.85 [[ 9.88814089e-01 1.47872482e-01 1.95045153e-02 2.29563214e+02] [-1.47846173e-01 9.89006428e-01 -2.79199263e-03 -2.88830525e+01] [-1.97029499e-02 -1.22906288e-04 9.99805870e-01 -6.84892334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07587156000002 meters Centerline goodness [0,1] 0.9996780286769125 Centerline is valid? [True, True] Translation: X:229.59, Y:-28.88, Z:-6.85 [[ 9.88663848e-01 1.48867215e-01 1.95537197e-02 2.29591213e+02] [-1.48840998e-01 9.88857185e-01 -2.79749064e-03 -2.88849355e+01] [-1.97522909e-02 -1.44617292e-04 9.99804894e-01 -6.85087767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10587156000003 meters Centerline goodness [0,1] 0.9998493554565606 Centerline is valid? [True, True] Translation: X:229.62, Y:-28.89, Z:-6.85 [[ 9.88520354e-01 1.49799449e-01 1.96884598e-02 2.29620117e+02] [-1.49773081e-01 9.88716389e-01 -2.81544616e-03 -2.88880453e+01] [-1.98880551e-02 -1.65675449e-04 9.99802199e-01 -6.85120983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13587156000003 meters Centerline goodness [0,1] 0.9995091448449538 Centerline is valid? [True, True] Translation: X:229.65, Y:-28.89, Z:-6.85 [[ 9.88250515e-01 1.51527542e-01 2.00081176e-02 2.29648114e+02] [-1.51500681e-01 9.88453015e-01 -2.86028960e-03 -2.88893670e+01] [-2.02104968e-02 -2.04560779e-04 9.99795726e-01 -6.85148660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16587156000003 meters Centerline goodness [0,1] 0.9994424549139022 Centerline is valid? [True, True] Translation: X:229.68, Y:-28.89, Z:-6.85 [[ 9.88143755e-01 1.52204421e-01 2.01428542e-02 2.29676016e+02] [-1.52177363e-01 9.88349010e-01 -2.87832660e-03 -2.88910960e+01] [-2.03462640e-02 -2.21085988e-04 9.99792969e-01 -6.85265140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19587156000003 meters Centerline goodness [0,1] 0.9992885631130753 Centerline is valid? [True, True] Translation: X:229.71, Y:-28.89, Z:-6.85 [[ 9.87954206e-01 1.53416342e-01 2.02463135e-02 2.29705272e+02] [-1.53389287e-01 9.88161608e-01 -2.89178325e-03 -2.88934868e+01] [-2.04502765e-02 -2.48618160e-04 9.99790840e-01 -6.85132794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22587156000003 meters Centerline goodness [0,1] 0.9989973547230993 Centerline is valid? [True, True] Translation: X:229.73, Y:-28.90, Z:-6.85 [[ 9.87890000e-01 1.53731765e-01 2.09736060e-02 2.29732019e+02] [-1.53702818e-01 9.88112582e-01 -2.99491699e-03 -2.88959647e+01] [-2.11846978e-02 -2.65053796e-04 9.99775544e-01 -6.85165602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25587156000003 meters Centerline goodness [0,1] 0.9992300124053557 Centerline is valid? [True, True] Translation: X:229.76, Y:-28.90, Z:-6.85 [[ 9.87870596e-01 1.53797358e-01 2.14022745e-02 2.29759976e+02] [-1.53767272e-01 9.88102372e-01 -3.05421315e-03 -2.88992482e+01] [-2.16173681e-02 -2.73801993e-04 9.99766280e-01 -6.85166755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28587156000003 meters Centerline goodness [0,1] 0.999194847020934 Centerline is valid? [True, True] Translation: X:229.79, Y:-28.90, Z:-6.85 [[ 9.87858282e-01 1.53880916e-01 2.13700384e-02 2.29789050e+02] [-1.53850977e-01 9.88089362e-01 -3.04791190e-03 -2.89027009e+01] [-2.15845231e-02 -2.76896274e-04 9.99766989e-01 -6.85233667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31587156000003 meters Centerline goodness [0,1] 0.9989106521135485 Centerline is valid? [True, True] Translation: X:229.82, Y:-28.90, Z:-6.86 [[ 9.87908041e-01 1.53645796e-01 2.07526367e-02 2.29816724e+02] [-1.53617522e-01 9.88125953e-01 -2.95927673e-03 -2.89028464e+01] [-2.09608993e-02 -2.64475351e-04 9.99780261e-01 -6.85553759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34587156000003 meters Centerline goodness [0,1] 0.9993145109464033 Centerline is valid? [True, True] Translation: X:229.85, Y:-28.91, Z:-6.86 [[ 9.88015453e-01 1.52992967e-01 2.04601172e-02 2.29845195e+02] [-1.52965389e-01 9.88227246e-01 -2.91546632e-03 -2.89085680e+01] [-2.06652912e-02 -2.49164004e-04 9.99786419e-01 -6.85651168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37587156000004 meters Centerline goodness [0,1] 0.9992694613351668 Centerline is valid? [True, True] Translation: X:229.87, Y:-28.91, Z:-6.86 [[ 9.88097446e-01 1.52494355e-01 2.02215170e-02 2.29873156e+02] [-1.52467331e-01 9.88304313e-01 -2.88055988e-03 -2.89137769e+01] [-2.04242816e-02 -2.36846860e-04 9.99791375e-01 -6.85701447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40587156000004 meters Centerline goodness [0,1] 0.9993137906632642 Centerline is valid? [True, True] Translation: X:229.90, Y:-28.92, Z:-6.86 [[ 9.88194298e-01 1.51901043e-01 1.99525319e-02 2.29900386e+02] [-1.51874628e-01 9.88395682e-01 -2.84143115e-03 -2.89163487e+01] [-2.01526127e-02 -2.22397294e-04 9.99796891e-01 -6.85924408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43587156000004 meters Centerline goodness [0,1] 0.9991894025043196 Centerline is valid? [True, True] Translation: X:229.93, Y:-28.92, Z:-6.86 [[ 9.88330345e-01 1.51118574e-01 1.91391164e-02 2.29927775e+02] [-1.51094140e-01 9.88515623e-01 -2.72464204e-03 -2.89204809e+01] [-1.93310596e-02 -1.98961935e-04 9.99813118e-01 -6.86122928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46587156000004 meters Centerline goodness [0,1] 0.9998705948324204 Centerline is valid? [True, True] Translation: X:229.96, Y:-28.93, Z:-6.86 [[ 9.88700885e-01 1.48723078e-01 1.87618478e-02 2.29955517e+02] [-1.48699198e-01 9.88878872e-01 -2.66931428e-03 -2.89276082e+01] [-1.89501835e-02 -1.50718317e-04 9.99820418e-01 -6.86209299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.98, Y:-28.94, Z:-6.86 [[ 9.89344081e-01 1.44457937e-01 1.81712465e-02 2.29983100e+02] [-1.44434826e-01 9.89510940e-01 -2.58481625e-03 -2.89375174e+01] [-1.83540444e-02 -6.72881667e-05 9.99831548e-01 -6.86350019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52587156000004 meters Centerline goodness [0,1] 0.9998929473729286 Centerline is valid? [True, True] Translation: X:230.01, Y:-28.95, Z:-6.86 [[ 9.89749948e-01 1.41649298e-01 1.81801394e-02 2.30010579e+02] [-1.41625706e-01 9.89916904e-01 -2.58520436e-03 -2.89460682e+01] [-1.83630197e-02 -1.60692082e-05 9.99831385e-01 -6.86457186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55587156000004 meters Centerline goodness [0,1] 0.9999573041863246 Centerline is valid? [True, True] Translation: X:230.04, Y:-28.96, Z:-6.86 [[ 9.90193057e-01 1.38427148e-01 1.88582653e-02 2.30037564e+02] [-1.38401192e-01 9.90372618e-01 -2.68095811e-03 -2.89551660e+01] [-1.90478270e-02 4.46597171e-05 9.99818573e-01 -6.86423896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58587156000004 meters Centerline goodness [0,1] 0.999978948697977 Centerline is valid? [True, True] Translation: X:230.06, Y:-28.97, Z:-6.87 [[ 9.91051099e-01 1.32034583e-01 1.96109267e-02 2.30063435e+02] [-1.32005294e-01 9.91245095e-01 -2.78625569e-03 -2.89713853e+01] [-1.98071170e-02 1.72575628e-04 9.99803805e-01 -6.86572627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61587156000004 meters Centerline goodness [0,1] 0.9998508575689784 Centerline is valid? [True, True] Translation: X:230.09, Y:-28.98, Z:-6.87 [[ 9.91425835e-01 1.29132306e-01 1.99915273e-02 2.30090921e+02] [-1.29101306e-01 9.91627346e-01 -2.83895297e-03 -2.89808861e+01] [-2.01907457e-02 2.33679025e-04 9.99796119e-01 -6.86609106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64587156000005 meters Centerline goodness [0,1] 0.999978413849674 Centerline is valid? [True, True] Translation: X:230.12, Y:-28.99, Z:-6.86 [[ 9.91994666e-01 1.24537812e-01 2.09025538e-02 2.30119658e+02] [-1.24502927e-01 9.92214804e-01 -2.96716074e-03 -2.89923846e+01] [-2.11093471e-02 3.40978477e-04 9.99777115e-01 -6.86376933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67587156000002 meters Centerline goodness [0,1] 0.9999786825836708 Centerline is valid? [True, True] Translation: X:230.15, Y:-29.00, Z:-6.86 [[ 9.92174681e-01 1.23114446e-01 2.07902596e-02 2.30148960e+02] [-1.23079633e-01 9.92392411e-01 -2.95073362e-03 -2.89992889e+01] [-2.09953738e-02 3.68785659e-04 9.99779505e-01 -6.86435441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70587156000002 meters Centerline goodness [0,1] 0.9999353029976278 Centerline is valid? [True, True] Translation: X:230.18, Y:-29.01, Z:-6.86 [[ 9.92266976e-01 1.22286080e-01 2.12688091e-02 2.30176972e+02] [-1.22249462e-01 9.92494815e-01 -3.01832938e-03 -2.90060998e+01] [-2.14782825e-02 3.94888085e-04 9.99769237e-01 -6.86458483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73587156000002 meters Centerline goodness [0,1] 0.9996560101477007 Centerline is valid? [True, True] Translation: X:230.21, Y:-29.01, Z:-6.86 [[ 9.92276030e-01 1.22084781e-01 2.19905995e-02 2.30206429e+02] [-1.22045615e-01 9.92519590e-01 -3.11948306e-03 -2.90119748e+01] [-2.22069422e-02 4.11532029e-04 9.99753311e-01 -6.86356668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76587156000002 meters Centerline goodness [0,1] 0.9998292495517801 Centerline is valid? [True, True] Translation: X:230.23, Y:-29.02, Z:-6.86 [[ 9.92193289e-01 1.22717259e-01 2.22025100e-02 2.30234093e+02] [-1.22677502e-01 9.92441592e-01 -3.14908661e-03 -2.90192204e+01] [-2.24211417e-02 4.00754126e-04 9.99748534e-01 -6.86492720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79587156000002 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:230.26, Y:-29.02, Z:-6.86 [[ 9.91924321e-01 1.24875266e-01 2.21880523e-02 2.30264105e+02] [-1.24836121e-01 9.92172387e-01 -3.14613631e-03 -2.90208364e+01] [-2.24072475e-02 3.50858740e-04 9.99748865e-01 -6.86432038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82587156000002 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:230.29, Y:-29.02, Z:-6.87 [[ 9.91775989e-01 1.26100245e-01 2.18886974e-02 2.30293196e+02] [-1.26062447e-01 9.92017453e-01 -3.10365751e-03 -2.90245096e+01] [-2.21053418e-02 3.18790229e-04 9.99755596e-01 -6.86586271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.32, Y:-29.03, Z:-6.87 [[ 9.91597363e-01 1.27514988e-01 2.17852737e-02 2.30321792e+02] [-1.27477940e-01 9.91836603e-01 -3.08668042e-03 -2.90283434e+01] [-2.20010299e-02 2.83602358e-04 9.99757908e-01 -6.86695678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88587156000003 meters Centerline goodness [0,1] 0.9999786077953194 Centerline is valid? [True, True] Translation: X:230.35, Y:-29.03, Z:-6.87 [[ 9.91167546e-01 1.30747666e-01 2.21798209e-02 2.30349481e+02] [-1.30710077e-01 9.91415655e-01 -3.14235566e-03 -2.90304604e+01] [-2.24002774e-02 2.15474844e-04 9.99749059e-01 -6.86808318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.38, Y:-29.03, Z:-6.87 [[ 9.90720346e-01 1.34011185e-01 2.26759340e-02 2.30378693e+02] [-1.33972783e-01 9.90979809e-01 -3.21119436e-03 -2.90309600e+01] [-2.29017288e-02 1.43437590e-04 9.99737711e-01 -6.86821505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94587156000003 meters Centerline goodness [0,1] 0.999935258319306 Centerline is valid? [True, True] Translation: X:230.41, Y:-29.03, Z:-6.87 [[ 9.90456755e-01 1.35899543e-01 2.29506126e-02 2.30407835e+02] [-1.35860737e-01 9.90722617e-01 -3.24899249e-03 -2.90327771e+01] [-2.31792276e-02 9.98994076e-05 9.99731321e-01 -6.86906182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97587156000003 meters Centerline goodness [0,1] 0.9999784728650464 Centerline is valid? [True, True] Translation: X:230.44, Y:-29.03, Z:-6.87 [[ 9.90176429e-01 1.37927316e-01 2.29498179e-02 2.30436942e+02] [-1.37889082e-01 9.90442352e-01 -3.24780099e-03 -2.90339526e+01] [-2.31784321e-02 5.13666748e-05 9.99731343e-01 -6.86983252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00587156000003 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:230.47, Y:-29.03, Z:-6.87 [[ 9.89630645e-01 1.41830373e-01 2.27009336e-02 2.30465113e+02] [-1.41794012e-01 9.89890976e-01 -3.21161026e-03 -2.90321449e+01] [-2.29269532e-02 -4.05485213e-05 9.99737142e-01 -6.87160755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03587156000003 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:230.49, Y:-29.03, Z:-6.87 [[ 9.89378437e-01 1.43555750e-01 2.28485047e-02 2.30492891e+02] [-1.43519406e-01 9.89642228e-01 -3.23113627e-03 -2.90335133e+01] [-2.30756933e-02 -8.23872752e-05 9.99733717e-01 -6.87305951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06587156000003 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:230.52, Y:-29.04, Z:-6.87 [[ 9.89388078e-01 1.43489267e-01 2.28486796e-02 2.30520116e+02] [-1.43452934e-01 9.89651870e-01 -3.22989943e-03 -2.90372243e+01] [-2.30756944e-02 -8.20861274e-05 9.99733717e-01 -6.87388879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09587156000003 meters Centerline goodness [0,1] 0.9999360122856411 Centerline is valid? [True, True] Translation: X:230.55, Y:-29.04, Z:-6.87 [[ 9.89028020e-01 1.45939151e-01 2.29202751e-02 2.30548655e+02] [-1.45903285e-01 9.89293558e-01 -3.23839059e-03 -2.90378050e+01] [-2.31474885e-02 -1.41284394e-04 9.99732051e-01 -6.87439194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12587156000004 meters Centerline goodness [0,1] 0.9999351183009646 Centerline is valid? [True, True] Translation: X:230.58, Y:-29.04, Z:-6.87 [[ 9.88899545e-01 1.46769322e-01 2.31615252e-02 2.30577805e+02] [-1.46732960e-01 9.89170733e-01 -3.27096514e-03 -2.90409916e+01] [-2.33907802e-02 -1.63903202e-04 9.99726385e-01 -6.87430991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15587156000004 meters Centerline goodness [0,1] 0.999936153911637 Centerline is valid? [True, True] Translation: X:230.61, Y:-29.04, Z:-6.88 [[ 9.88807782e-01 1.47405375e-01 2.30396563e-02 2.30605876e+02] [-1.47369591e-01 9.89076146e-01 -3.25273173e-03 -2.90438637e+01] [-2.32674446e-02 -1.79018280e-04 9.99729260e-01 -6.87567640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18587156000004 meters Centerline goodness [0,1] 0.9997651329134194 Centerline is valid? [True, True] Translation: X:230.63, Y:-29.04, Z:-6.88 [[ 9.88677233e-01 1.48115750e-01 2.40635353e-02 2.30632690e+02] [-1.48076961e-01 9.88970011e-01 -3.39579667e-03 -2.90449508e+01] [-2.43010857e-02 -2.05908314e-04 9.99704664e-01 -6.87592551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21587156000004 meters Centerline goodness [0,1] 0.9997837650823855 Centerline is valid? [True, True] Translation: X:230.66, Y:-29.05, Z:-6.87 [[ 9.88651622e-01 1.48165917e-01 2.47957742e-02 2.30661072e+02] [-1.48124806e-01 9.88962494e-01 -3.49676755e-03 -2.90500644e+01] [-2.50401924e-02 -2.15784329e-04 9.99686422e-01 -6.87468191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24587156000004 meters Centerline goodness [0,1] 0.9997215498961167 Centerline is valid? [True, True] Translation: X:230.69, Y:-29.05, Z:-6.88 [[ 9.88650185e-01 1.48182781e-01 2.47522754e-02 2.30689023e+02] [-1.48141847e-01 9.88959967e-01 -3.48951720e-03 -2.90529257e+01] [-2.49960958e-02 -2.16935974e-04 9.99687525e-01 -6.87596027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27587156000004 meters Centerline goodness [0,1] 0.9998062933149671 Centerline is valid? [True, True] Translation: X:230.72, Y:-29.06, Z:-6.88 [[ 9.88738211e-01 1.47555508e-01 2.49824371e-02 2.30716046e+02] [-1.47513655e-01 9.89053755e-01 -3.52016014e-03 -2.90569462e+01] [-2.52283922e-02 -2.04733767e-04 9.99681692e-01 -6.87802088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30587156000004 meters Centerline goodness [0,1] 0.9998506889637814 Centerline is valid? [True, True] Translation: X:230.74, Y:-29.06, Z:-6.88 [[ 9.88831438e-01 1.47071690e-01 2.41309824e-02 2.30743887e+02] [-1.47032531e-01 9.89125818e-01 -3.39878521e-03 -2.90611772e+01] [-2.43684428e-02 -1.87213755e-04 9.99703028e-01 -6.87946785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33587156000004 meters Centerline goodness [0,1] 0.9998503314090229 Centerline is valid? [True, True] Translation: X:230.77, Y:-29.07, Z:-6.88 [[ 9.88975008e-01 1.46255103e-01 2.31922234e-02 2.30772072e+02] [-1.46218741e-01 9.89246895e-01 -3.26516138e-03 -2.90663667e+01] [-2.34203815e-02 -1.61974692e-04 9.99725692e-01 -6.88155240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36587156000004 meters Centerline goodness [0,1] 0.9998510828404884 Centerline is valid? [True, True] Translation: X:230.80, Y:-29.07, Z:-6.88 [[ 9.88997640e-01 1.46082564e-01 2.33142360e-02 2.30799704e+02] [-1.46045794e-01 9.89272389e-01 -3.28128412e-03 -2.90704546e+01] [-2.35434683e-02 -1.59763868e-04 9.99722801e-01 -6.88263210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39587156000005 meters Centerline goodness [0,1] 0.9998924985487304 Centerline is valid? [True, True] Translation: X:230.83, Y:-29.08, Z:-6.88 [[ 9.89041891e-01 1.45704677e-01 2.37967434e-02 2.30827728e+02] [-1.45666297e-01 9.89328117e-01 -3.34765809e-03 -2.90755577e+01] [-2.40305567e-02 -1.55409405e-04 9.99711212e-01 -6.88173273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42587156000002 meters Centerline goodness [0,1] 0.999871335749362 Centerline is valid? [True, True] Translation: X:230.86, Y:-29.08, Z:-6.88 [[ 9.89126010e-01 1.45056421e-01 2.42563714e-02 2.30855148e+02] [-1.45016378e-01 9.89423375e-01 -3.41117226e-03 -2.90794554e+01] [-2.44946333e-02 -1.43491910e-04 9.99699951e-01 -6.88118940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.88, Y:-29.08, Z:-6.88 [[ 9.89169234e-01 1.44777064e-01 2.41625446e-02 2.30882990e+02] [-1.44737282e-01 9.89464291e-01 -3.39651856e-03 -2.90829259e+01] [-2.43997131e-02 -1.37489369e-04 9.99702273e-01 -6.88211485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48587156000002 meters Centerline goodness [0,1] 0.9999357395308985 Centerline is valid? [True, True] Translation: X:230.91, Y:-29.09, Z:-6.88 [[ 9.89348033e-01 1.43543715e-01 2.42006333e-02 2.30911629e+02] [-1.43503476e-01 9.89643971e-01 -3.40034799e-03 -2.90883517e+01] [-2.44381094e-02 -1.08747386e-04 9.99701339e-01 -6.88272741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.94, Y:-29.09, Z:-6.88 [[ 9.89478230e-01 1.42617911e-01 2.43508515e-02 2.30939773e+02] [-1.42576920e-01 9.89777815e-01 -3.42025273e-03 -2.90934374e+01] [-2.45897219e-02 -8.76038013e-05 9.99697623e-01 -6.88312791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54587156000002 meters Centerline goodness [0,1] 0.9999573615315738 Centerline is valid? [True, True] Translation: X:230.97, Y:-29.10, Z:-6.88 [[ 9.89677315e-01 1.41280484e-01 2.40548705e-02 2.30967268e+02] [-1.41240114e-01 9.89969607e-01 -3.37759517e-03 -2.90985591e+01] [-2.42907789e-02 -5.47833359e-05 9.99704934e-01 -6.88478744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57587156000002 meters Centerline goodness [0,1] 0.9998724435562737 Centerline is valid? [True, True] Translation: X:231.00, Y:-29.11, Z:-6.89 [[ 9.90167483e-01 1.37940320e-01 2.32556250e-02 2.30995200e+02] [-1.37901702e-01 9.90440542e-01 -3.26392959e-03 -2.91073787e+01] [-2.34835413e-02 2.48466801e-05 9.99724223e-01 -6.88672481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.02, Y:-29.11, Z:-6.89 [[ 9.90390577e-01 1.36222411e-01 2.38738435e-02 2.31023544e+02] [-1.36181240e-01 9.90678278e-01 -3.34953708e-03 -2.91136097e+01] [-2.41075802e-02 6.61803537e-05 9.99709368e-01 -6.88675055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63587156000003 meters Centerline goodness [0,1] 0.9999144293507327 Centerline is valid? [True, True] Translation: X:231.05, Y:-29.12, Z:-6.89 [[ 9.90683340e-01 1.34116068e-01 2.36516257e-02 2.31051871e+02] [-1.34075088e-01 9.90965624e-01 -3.31721218e-03 -2.91201064e+01] [-2.38828394e-02 1.15213057e-04 9.99714758e-01 -6.88782188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.08, Y:-29.12, Z:-6.89 [[ 9.90705314e-01 1.33823656e-01 2.43764061e-02 2.31080367e+02] [-1.33780067e-01 9.91005153e-01 -3.41764402e-03 -2.91232920e+01] [-2.46145057e-02 1.24800857e-04 9.99697009e-01 -6.88718245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.11, Y:-29.13, Z:-6.89 [[ 9.90672229e-01 1.34097641e-01 2.42148359e-02 2.31108409e+02] [-1.34054737e-01 9.90968117e-01 -3.39386882e-03 -2.91259921e+01] [-2.44512401e-02 1.16098137e-04 9.99701017e-01 -6.88891413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72587156000003 meters Centerline goodness [0,1] 0.9998930206684069 Centerline is valid? [True, True] Translation: X:231.14, Y:-29.13, Z:-6.89 [[ 9.90514265e-01 1.35397765e-01 2.34294053e-02 2.31137618e+02] [-1.35357998e-01 9.90791320e-01 -3.28231213e-03 -2.91277854e+01] [-2.36580691e-02 7.98195979e-05 9.99720106e-01 -6.89150470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.17, Y:-29.13, Z:-6.89 [[ 9.90380071e-01 1.36378142e-01 2.34161796e-02 2.31166057e+02] [-1.36338720e-01 9.90656852e-01 -3.27934396e-03 -2.91297172e+01] [-2.36446296e-02 5.52649501e-05 9.99720425e-01 -6.89177008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78587156000003 meters Centerline goodness [0,1] 0.9999783755730474 Centerline is valid? [True, True] Translation: X:231.19, Y:-29.13, Z:-6.89 [[ 9.90097776e-01 1.38346691e-01 2.38030714e-02 2.31194094e+02] [-1.38306550e-01 9.90383861e-01 -3.33244419e-03 -2.91286089e+01] [-2.40352104e-02 7.32489554e-06 9.99711113e-01 -6.89303697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81587156000003 meters Centerline goodness [0,1] 0.9999571063975808 Centerline is valid? [True, True] Translation: X:231.22, Y:-29.13, Z:-6.89 [[ 9.89996368e-01 1.39064188e-01 2.38399378e-02 2.31222682e+02] [-1.39024171e-01 9.90283369e-01 -3.33591974e-03 -2.91300226e+01] [-2.40722009e-02 -1.17791611e-05 9.99710223e-01 -6.89400507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.25, Y:-29.13, Z:-6.89 [[ 9.89946274e-01 1.39407870e-01 2.39127831e-02 2.31250779e+02] [-1.39367734e-01 9.90235045e-01 -3.34505570e-03 -2.91317417e+01] [-2.41456029e-02 -2.12449738e-05 9.99708452e-01 -6.89457855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.28, Y:-29.13, Z:-6.89 [[ 9.90028823e-01 1.38654287e-01 2.48579577e-02 2.31278915e+02] [-1.38610722e-01 9.90340845e-01 -3.47552614e-03 -2.91335773e+01] [-2.50997474e-02 -4.70839583e-06 9.99684952e-01 -6.89406888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.31, Y:-29.14, Z:-6.90 [[ 9.90136779e-01 1.37935719e-01 2.45539506e-02 2.31307434e+02] [-1.37893028e-01 9.90441183e-01 -3.43153763e-03 -2.91377176e+01] [-2.47925755e-02 1.18730260e-05 9.99692617e-01 -6.89544580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93587156000004 meters Centerline goodness [0,1] 0.9999569327504899 Centerline is valid? [True, True] Translation: X:231.34, Y:-29.14, Z:-6.90 [[ 9.90346706e-01 1.36478251e-01 2.42299354e-02 2.31336184e+02] [-1.36436271e-01 9.90643066e-01 -3.38513173e-03 -2.91431760e+01] [-2.44652143e-02 4.66120298e-05 9.99700681e-01 -6.89765723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96587156000004 meters Centerline goodness [0,1] 0.9998498530705047 Centerline is valid? [True, True] Translation: X:231.37, Y:-29.15, Z:-6.90 [[ 9.90439096e-01 1.35856696e-01 2.39448494e-02 2.31365173e+02] [-1.35815543e-01 9.90728497e-01 -3.34419264e-03 -2.91471754e+01] [-2.41771756e-02 6.01364050e-05 9.99707688e-01 -6.89879388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99587156000004 meters Centerline goodness [0,1] 0.9996764521904187 Centerline is valid? [True, True] Translation: X:231.39, Y:-29.15, Z:-6.90 [[ 9.90612086e-01 1.34535222e-01 2.42480937e-02 2.31392715e+02] [-1.34492651e-01 9.90908808e-01 -3.38546052e-03 -2.91505667e+01] [-2.44831133e-02 9.24877119e-05 9.99700239e-01 -6.89958217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02587156000004 meters Centerline goodness [0,1] 0.999657988115087 Centerline is valid? [True, True] Translation: X:231.42, Y:-29.15, Z:-6.90 [[ 9.90646450e-01 1.34257911e-01 2.43808070e-02 2.31420682e+02] [-1.34214829e-01 9.90946418e-01 -3.40234811e-03 -2.91536203e+01] [-2.46168655e-02 9.82582262e-05 9.99696954e-01 -6.89974557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05587156000004 meters Centerline goodness [0,1] 0.9998285689795569 Centerline is valid? [True, True] Translation: X:231.45, Y:-29.16, Z:-6.90 [[ 9.90692966e-01 1.33930641e-01 2.42905504e-02 2.31449886e+02] [-1.33887815e-01 9.90990703e-01 -3.38826353e-03 -2.91564817e+01] [-2.45255020e-02 1.04520113e-04 9.99699199e-01 -6.89947701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08587156000004 meters Centerline goodness [0,1] 0.9996978786767086 Centerline is valid? [True, True] Translation: X:231.48, Y:-29.16, Z:-6.90 [[ 9.90641350e-01 1.34312467e-01 2.42873980e-02 2.31479042e+02] [-1.34269798e-01 9.90939026e-01 -3.38657233e-03 -2.91584559e+01] [-2.45221894e-02 9.38145456e-05 9.99699281e-01 -6.90163419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11587156000004 meters Centerline goodness [0,1] 0.9998932171535965 Centerline is valid? [True, True] Translation: X:231.51, Y:-29.16, Z:-6.90 [[ 9.90640938e-01 1.34377240e-01 2.39434793e-02 2.31506609e+02] [-1.34335808e-01 9.90930244e-01 -3.33790695e-03 -2.91617772e+01] [-2.41748565e-02 9.02006353e-05 9.99707741e-01 -6.90359702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14587156000005 meters Centerline goodness [0,1] 0.9997839379469784 Centerline is valid? [True, True] Translation: X:231.54, Y:-29.16, Z:-6.90 [[ 9.90623999e-01 1.34333356e-01 2.48725358e-02 2.31535725e+02] [-1.34288672e-01 9.90936194e-01 -3.46579704e-03 -2.91633173e+01] [-2.51126681e-02 9.32019166e-05 9.99684623e-01 -6.90184352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17587156000002 meters Centerline goodness [0,1] 0.9999569049106855 Centerline is valid? [True, True] Translation: X:231.56, Y:-29.17, Z:-6.90 [[ 9.90703517e-01 1.33709043e-01 2.50685883e-02 2.31563722e+02] [-1.33663483e-01 9.91020625e-01 -3.49190346e-03 -2.91671476e+01] [-2.53103871e-02 1.08686203e-04 9.99679635e-01 -6.90165142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20587156000002 meters Centerline goodness [0,1] 0.9997216512504282 Centerline is valid? [True, True] Translation: X:231.59, Y:-29.17, Z:-6.90 [[ 9.90882197e-01 1.32369426e-01 2.51158723e-02 2.31591207e+02] [-1.32323303e-01 9.91200441e-01 -3.49692517e-03 -2.91732966e+01] [-2.53577497e-02 1.41625712e-04 9.99678431e-01 -6.90401421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23587156000002 meters Centerline goodness [0,1] 0.999893387918719 Centerline is valid? [True, True] Translation: X:231.62, Y:-29.18, Z:-6.90 [[ 9.91032142e-01 1.31267564e-01 2.49823975e-02 2.31619976e+02] [-1.31221620e-01 9.91346962e-01 -3.47675687e-03 -2.91782764e+01] [-2.52226092e-02 1.67347140e-04 9.99681845e-01 -6.90422105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26587156000002 meters Centerline goodness [0,1] 0.9998711367882992 Centerline is valid? [True, True] Translation: X:231.65, Y:-29.18, Z:-6.91 [[ 9.91160510e-01 1.30279280e-01 2.50629937e-02 2.31648731e+02] [-1.30232753e-01 9.91477318e-01 -3.48676847e-03 -2.91831013e+01] [-2.53036435e-02 1.91924538e-04 9.99679793e-01 -6.90589418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29587156000002 meters Centerline goodness [0,1] 0.9999353350721014 Centerline is valid? [True, True] Translation: X:231.68, Y:-29.19, Z:-6.91 [[ 9.91388407e-01 1.28611908e-01 2.46577213e-02 2.31677207e+02] [-1.28566387e-01 9.91694976e-01 -3.42922180e-03 -2.91891856e+01] [-2.48939770e-02 2.29536601e-04 9.99690071e-01 -6.90678865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32587156000002 meters Centerline goodness [0,1] 0.9999361104012267 Centerline is valid? [True, True] Translation: X:231.70, Y:-29.19, Z:-6.91 [[ 9.91490503e-01 1.27802296e-01 2.47619817e-02 2.31704607e+02] [-1.27756166e-01 9.91799632e-01 -3.44258014e-03 -2.91948091e+01] [-2.49988940e-02 2.49789675e-04 9.99687448e-01 -6.90768499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35587156000003 meters Centerline goodness [0,1] 0.9998294133953132 Centerline is valid? [True, True] Translation: X:231.73, Y:-29.20, Z:-6.91 [[ 9.91748361e-01 1.25635520e-01 2.55128225e-02 2.31733450e+02] [-1.25585877e-01 9.92076418e-01 -3.54522089e-03 -2.92028626e+01] [-2.57560752e-02 3.11916814e-04 9.99668209e-01 -6.90730106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38587156000003 meters Centerline goodness [0,1] 0.9998072103335262 Centerline is valid? [True, True] Translation: X:231.76, Y:-29.21, Z:-6.91 [[ 9.91911303e-01 1.24411876e-01 2.51724587e-02 2.31762133e+02] [-1.24363171e-01 9.92230603e-01 -3.49732520e-03 -2.92088329e+01] [-2.54119927e-02 3.38509617e-04 9.99677006e-01 -6.90857391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41587156000003 meters Centerline goodness [0,1] 0.9998931897803982 Centerline is valid? [True, True] Translation: X:231.79, Y:-29.21, Z:-6.91 [[ 9.92089478e-01 1.23061552e-01 2.47855239e-02 2.31789854e+02] [-1.23013925e-01 9.92398972e-01 -3.44304079e-03 -2.92149462e+01] [-2.50208344e-02 3.66839968e-04 9.99686863e-01 -6.90962989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44587156000003 meters Centerline goodness [0,1] 0.9999139507367968 Centerline is valid? [True, True] Translation: X:231.82, Y:-29.22, Z:-6.91 [[ 9.92256166e-01 1.21785452e-01 2.44132251e-02 2.31818725e+02] [-1.21738881e-01 9.92556371e-01 -3.39039847e-03 -2.92208701e+01] [-2.46444033e-02 3.92105071e-04 9.99696204e-01 -6.91103363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47587156000003 meters Centerline goodness [0,1] 0.999764871855161 Centerline is valid? [True, True] Translation: X:231.85, Y:-29.23, Z:-6.91 [[ 9.92555321e-01 1.19441156e-01 2.38274007e-02 2.31847586e+02] [-1.19396133e-01 9.92841185e-01 -3.30842102e-03 -2.92302596e+01] [-2.40519864e-02 4.38891380e-04 9.99710613e-01 -6.91231643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50587156000003 meters Centerline goodness [0,1] 0.999851446276607 Centerline is valid? [True, True] Translation: X:231.88, Y:-29.24, Z:-6.91 [[ 9.92635313e-01 1.18795795e-01 2.37211816e-02 2.31875882e+02] [-1.18750994e-01 9.92918604e-01 -3.29348645e-03 -2.92372722e+01] [-2.39444548e-02 4.52317072e-04 9.99713188e-01 -6.91334121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53587156000003 meters Centerline goodness [0,1] 0.9998072846405859 Centerline is valid? [True, True] Translation: X:231.91, Y:-29.24, Z:-6.91 [[ 9.92729548e-01 1.17944159e-01 2.40254145e-02 2.31905138e+02] [-1.17897968e-01 9.93020114e-01 -3.33503272e-03 -2.92433494e+01] [-2.42510674e-02 4.78237979e-04 9.99705785e-01 -6.91343400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56587156000003 meters Centerline goodness [0,1] 0.999827923684154 Centerline is valid? [True, True] Translation: X:231.93, Y:-29.25, Z:-6.91 [[ 9.92719456e-01 1.17991355e-01 2.42099666e-02 2.31934523e+02] [-1.17944480e-01 9.93014506e-01 -3.36007492e-03 -2.92473696e+01] [-2.44373078e-02 4.80179813e-04 9.99701249e-01 -6.91372416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59587156000003 meters Centerline goodness [0,1] 0.9998071194359315 Centerline is valid? [True, True] Translation: X:231.96, Y:-29.25, Z:-6.91 [[ 9.92658750e-01 1.18457545e-01 2.44216480e-02 2.31962808e+02] [-1.18410002e-01 9.92959006e-01 -3.38885882e-03 -2.92523632e+01] [-2.46511312e-02 4.72212968e-04 9.99696003e-01 -6.91459123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62587156000004 meters Centerline goodness [0,1] 0.9998725627628393 Centerline is valid? [True, True] Translation: X:231.99, Y:-29.26, Z:-6.92 [[ 9.92487739e-01 1.20028753e-01 2.36893682e-02 2.31991006e+02] [-1.19984477e-01 9.92770327e-01 -3.28677618e-03 -2.92554813e+01] [-2.39126094e-02 4.19728612e-04 9.99713965e-01 -6.91723037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65587156000004 meters Centerline goodness [0,1] 0.9998930069331508 Centerline is valid? [True, True] Translation: X:232.02, Y:-29.26, Z:-6.92 [[ 9.92396252e-01 1.20797275e-01 2.36155955e-02 2.32020443e+02] [-1.20753514e-01 9.92677117e-01 -3.27563514e-03 -2.92584387e+01] [-2.38383490e-02 3.99061889e-04 9.99715747e-01 -6.91874136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68587156000004 meters Centerline goodness [0,1] 0.999786893979755 Centerline is valid? [True, True] Translation: X:232.05, Y:-29.27, Z:-6.92 [[ 9.92280438e-01 1.21926685e-01 2.26586935e-02 2.32048624e+02] [-1.21886703e-01 9.92539045e-01 -3.14247734e-03 -2.92660522e+01] [-2.28727899e-02 3.56425342e-04 9.99738320e-01 -6.92291655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71587156000004 meters Centerline goodness [0,1] 0.9998725221492766 Centerline is valid? [True, True] Translation: X:232.08, Y:-29.27, Z:-6.92 [[ 9.92271615e-01 1.22044335e-01 2.24103317e-02 2.32078230e+02] [-1.22005275e-01 9.92524588e-01 -3.10715301e-03 -2.92701422e+01] [-2.26220157e-02 3.48961056e-04 9.99744029e-01 -6.92405192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74587156000004 meters Centerline goodness [0,1] 0.9998497983005751 Centerline is valid? [True, True] Translation: X:232.11, Y:-29.28, Z:-6.92 [[ 9.92298235e-01 1.21712127e-01 2.30297893e-02 2.32107016e+02] [-1.21670801e-01 9.92565375e-01 -3.19247277e-03 -2.92772817e+01] [-2.32471341e-02 3.65832174e-04 9.99729682e-01 -6.92496528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77587156000004 meters Centerline goodness [0,1] 0.9999784909231696 Centerline is valid? [True, True] Translation: X:232.14, Y:-29.28, Z:-6.92 [[ 9.92349491e-01 1.21325935e-01 2.28583660e-02 2.32136187e+02] [-1.21285132e-01 9.92612653e-01 -3.16818231e-03 -2.92815665e+01] [-2.30738860e-02 3.71564169e-04 9.99733693e-01 -6.92398856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80587156000004 meters Centerline goodness [0,1] 0.9999133730373578 Centerline is valid? [True, True] Translation: X:232.16, Y:-29.29, Z:-6.93 [[ 9.92371766e-01 1.21111677e-01 2.30269286e-02 2.32164511e+02] [-1.21070223e-01 9.92638816e-01 -3.19106652e-03 -2.92872971e+01] [-2.32438985e-02 3.78848949e-04 9.99729752e-01 -6.92540036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83587156000004 meters Centerline goodness [0,1] 0.9997831884309347 Centerline is valid? [True, True] Translation: X:232.19, Y:-29.29, Z:-6.93 [[ 9.92405981e-01 1.21003876e-01 2.21004966e-02 2.32193178e+02] [-1.20965683e-01 9.92651968e-01 -3.06183296e-03 -2.92938351e+01] [-2.23085951e-02 3.65179676e-04 9.99751066e-01 -6.92790603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86587156000004 meters Centerline goodness [0,1] 0.9997605259720469 Centerline is valid? [True, True] Translation: X:232.22, Y:-29.30, Z:-6.93 [[ 9.92403789e-01 1.21079952e-01 2.17799362e-02 2.32222905e+02] [-1.21042889e-01 9.92642694e-01 -3.01690872e-03 -2.92987524e+01] [-2.19849817e-02 3.57685245e-04 9.99758237e-01 -6.92897944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89587156000005 meters Centerline goodness [0,1] 0.9998067632850242 Centerline is valid? [True, True] Translation: X:232.25, Y:-29.31, Z:-6.93 [[ 9.92267478e-01 1.22082032e-01 2.23881360e-02 2.32250807e+02] [-1.22043136e-01 9.92519954e-01 -3.10066766e-03 -2.93055496e+01] [-2.25992075e-02 3.44373363e-04 9.99744546e-01 -6.92964686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92587156000002 meters Centerline goodness [0,1] 0.9998924268502581 Centerline is valid? [True, True] Translation: X:232.28, Y:-29.31, Z:-6.93 [[ 9.92208034e-01 1.22508471e-01 2.26912237e-02 2.32279182e+02] [-1.22468645e-01 9.92467410e-01 -3.14178323e-03 -2.93118018e+01] [-2.29051951e-02 3.38339136e-04 9.99737584e-01 -6.93005583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95587156000002 meters Centerline goodness [0,1] 0.9998924268502581 Centerline is valid? [True, True] Translation: X:232.31, Y:-29.32, Z:-6.93 [[ 9.92208035e-01 1.22508439e-01 2.26913713e-02 2.32308889e+02] [-1.22468638e-01 9.92467414e-01 -3.14071724e-03 -2.93159142e+01] [-2.29052109e-02 3.37263559e-04 9.99737584e-01 -6.93096087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98587156000002 meters Centerline goodness [0,1] 0.9997413904573079 Centerline is valid? [True, True] Translation: X:232.34, Y:-29.32, Z:-6.93 [[ 9.92118693e-01 1.23187768e-01 2.29188212e-02 2.32338330e+02] [-1.23147342e-01 9.92383327e-01 -3.17236702e-03 -2.93188385e+01] [-2.31350528e-02 3.24972707e-04 9.99732296e-01 -6.93111234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01587156000002 meters Centerline goodness [0,1] 0.9998495206156757 Centerline is valid? [True, True] Translation: X:232.37, Y:-29.32, Z:-6.93 [[ 9.92006658e-01 1.23870733e-01 2.40589228e-02 2.32368284e+02] [-1.23826404e-01 9.92298310e-01 -3.32941800e-03 -2.93247111e+01] [-2.42860459e-02 3.23674926e-04 9.99704998e-01 -6.92952056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04587156000002 meters Centerline goodness [0,1] 0.9998715918332406 Centerline is valid? [True, True] Translation: X:232.40, Y:-29.33, Z:-6.93 [[ 9.91966191e-01 1.24200768e-01 2.40259099e-02 2.32398636e+02] [-1.24156657e-01 9.92257058e-01 -3.32484948e-03 -2.93306581e+01] [-2.42528276e-02 3.15161624e-04 9.99705807e-01 -6.93123043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07587156000002 meters Centerline goodness [0,1] 0.9999354672173464 Centerline is valid? [True, True] Translation: X:232.43, Y:-29.34, Z:-6.93 [[ 9.91986818e-01 1.24015782e-01 2.41296156e-02 2.32428682e+02] [-1.23971234e-01 9.92280194e-01 -3.33920089e-03 -2.93375252e+01] [-2.43574532e-02 3.21065042e-04 9.99703262e-01 -6.93161930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10587156000003 meters Centerline goodness [0,1] 0.9998506284275441 Centerline is valid? [True, True] Translation: X:232.46, Y:-29.35, Z:-6.93 [[ 9.91944643e-01 1.24355573e-01 2.41146401e-02 2.32457610e+02] [-1.24311184e-01 9.92237670e-01 -3.33699049e-03 -2.93482089e+01] [-2.43424277e-02 3.12390373e-04 9.99703630e-01 -6.93351607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13587156000003 meters Centerline goodness [0,1] 0.9998927314854544 Centerline is valid? [True, True] Translation: X:232.49, Y:-29.35, Z:-6.93 [[ 9.91880309e-01 1.24877274e-01 2.40648728e-02 2.32488112e+02] [-1.24833205e-01 9.92172151e-01 -3.33081777e-03 -2.93525441e+01] [-2.42924400e-02 2.99677364e-04 9.99704850e-01 -6.93371369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16587156000003 meters Centerline goodness [0,1] 0.9998506093006381 Centerline is valid? [True, True] Translation: X:232.52, Y:-29.36, Z:-6.93 [[ 9.91661809e-01 1.26528445e-01 2.44419588e-02 2.32518017e+02] [-1.26483485e-01 9.91962945e-01 -3.38301023e-03 -2.93591199e+01] [-2.46735644e-02 2.63297923e-04 9.99695527e-01 -6.93434592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19587156000003 meters Centerline goodness [0,1] 0.9998270831081811 Centerline is valid? [True, True] Translation: X:232.55, Y:-29.36, Z:-6.93 [[ 9.91467989e-01 1.28090738e-01 2.41658958e-02 2.32548304e+02] [-1.28047251e-01 9.91762428e-01 -3.34480036e-03 -2.93620664e+01] [-2.43952654e-02 2.21885956e-04 9.99702367e-01 -6.93454482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22587156000003 meters Centerline goodness [0,1] 0.9999140136288398 Centerline is valid? [True, True] Translation: X:232.58, Y:-29.36, Z:-6.94 [[ 9.90946971e-01 1.32103558e-01 2.39322013e-02 2.32577510e+02] [-1.32062082e-01 9.91235913e-01 -3.31234012e-03 -2.93629778e+01] [-2.41600293e-02 1.21817089e-04 9.99708096e-01 -6.93611371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25587156000003 meters Centerline goodness [0,1] 0.999914374397945 Centerline is valid? [True, True] Translation: X:232.61, Y:-29.36, Z:-6.94 [[ 9.90626911e-01 1.34446329e-01 2.41351861e-02 2.32607534e+02] [-1.34404823e-01 9.90920875e-01 -3.34115006e-03 -2.93649247e+01] [-2.43652650e-02 6.59477531e-05 9.99703121e-01 -6.93699600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28587156000003 meters Centerline goodness [0,1] 0.9998921949115999 Centerline is valid? [True, True] Translation: X:232.64, Y:-29.37, Z:-6.94 [[ 9.90280962e-01 1.36837200e-01 2.48836595e-02 2.32636258e+02] [-1.36793847e-01 9.90593550e-01 -3.44427454e-03 -2.93665490e+01] [-2.51208975e-02 6.86800750e-06 9.99684420e-01 -6.93646749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31587156000003 meters Centerline goodness [0,1] 0.9999786420623225 Centerline is valid? [True, True] Translation: X:232.67, Y:-29.36, Z:-6.94 [[ 9.89577518e-01 1.41867098e-01 2.46994422e-02 2.32665212e+02] [-1.41825979e-01 9.89885707e-01 -3.41757008e-03 -2.93642376e+01] [-2.49344655e-02 -1.21072047e-04 9.99689081e-01 -6.93796323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34587156000003 meters Centerline goodness [0,1] 0.9998927038626609 Centerline is valid? [True, True] Translation: X:232.69, Y:-29.36, Z:-6.94 [[ 9.89218293e-01 1.44340454e-01 2.47588958e-02 2.32694543e+02] [-1.44299931e-01 9.89528069e-01 -3.42498695e-03 -2.93647006e+01] [-2.49939865e-02 -1.84647217e-04 9.99687584e-01 -6.93859900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37587156000004 meters Centerline goodness [0,1] 0.9998911884398598 Centerline is valid? [True, True] Translation: X:232.72, Y:-29.36, Z:-6.94 [[ 9.88907606e-01 1.46506472e-01 2.44458802e-02 2.32722432e+02] [-1.46467656e-01 9.89209683e-01 -3.38062067e-03 -2.93648562e+01] [-2.46773842e-02 -2.37409265e-04 9.99695439e-01 -6.93995641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40587156000004 meters Centerline goodness [0,1] 0.9998278607393382 Centerline is valid? [True, True] Translation: X:232.75, Y:-29.37, Z:-6.94 [[ 9.88320510e-01 1.50584019e-01 2.33885284e-02 2.32751684e+02] [-1.50549662e-01 9.88597161e-01 -3.23297608e-03 -2.93652779e+01] [-2.36086673e-02 -3.25918473e-04 9.99721223e-01 -6.94155933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43587156000004 meters Centerline goodness [0,1] 0.9996534245981892 Centerline is valid? [True, True] Translation: X:232.78, Y:-29.36, Z:-6.94 [[ 9.88054644e-01 1.52361482e-01 2.31084308e-02 2.32779749e+02] [-1.52328446e-01 9.88324767e-01 -3.19357763e-03 -2.93629768e+01] [-2.33252127e-02 -3.64642143e-04 9.99727864e-01 -6.94377591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46587156000004 meters Centerline goodness [0,1] 0.9995302257051952 Centerline is valid? [True, True] Translation: X:232.81, Y:-29.36, Z:-6.94 [[ 9.87480123e-01 1.56039910e-01 2.31204234e-02 2.32809266e+02] [-1.56007882e-01 9.87750647e-01 -3.19370431e-03 -2.93595846e+01] [-2.33355585e-02 -4.53248775e-04 9.99727586e-01 -6.94380878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49587156000004 meters Centerline goodness [0,1] 0.9993734741936181 Centerline is valid? [True, True] Translation: X:232.84, Y:-29.36, Z:-6.94 [[ 9.87240943e-01 1.57523797e-01 2.32717477e-02 2.32838725e+02] [-1.57491787e-01 9.87515069e-01 -3.21347762e-03 -2.93594852e+01] [-2.34874007e-02 -4.92632457e-04 9.99724012e-01 -6.94374790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52587156000004 meters Centerline goodness [0,1] 0.9995261480141294 Centerline is valid? [True, True] Translation: X:232.87, Y:-29.36, Z:-6.94 [[ 9.86926227e-01 1.59373779e-01 2.40129558e-02 2.32867170e+02] [-1.59340271e-01 9.87218158e-01 -3.31470564e-03 -2.93631538e+01] [-2.42343031e-02 -5.54860952e-04 9.99706152e-01 -6.94219660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55587156000004 meters Centerline goodness [0,1] 0.9993735553971442 Centerline is valid? [True, True] Translation: X:232.90, Y:-29.36, Z:-6.94 [[ 9.86895898e-01 1.59559515e-01 2.40259760e-02 2.32895129e+02] [-1.59526053e-01 9.87188152e-01 -3.31538130e-03 -2.93637096e+01] [-2.42471595e-02 -5.60832929e-04 9.99705837e-01 -6.94351106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58587156000004 meters Centerline goodness [0,1] 0.9991156741367039 Centerline is valid? [True, True] Translation: X:232.92, Y:-29.36, Z:-6.95 [[ 9.86965900e-01 1.59161059e-01 2.37922197e-02 2.32922927e+02] [-1.59128161e-01 9.87252479e-01 -3.28179999e-03 -2.93631228e+01] [-2.40112627e-02 -5.46987499e-04 9.99711538e-01 -6.94674963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61587156000004 meters Centerline goodness [0,1] 0.9995307667697558 Centerline is valid? [True, True] Translation: X:232.95, Y:-29.37, Z:-6.95 [[ 9.87203299e-01 1.57826603e-01 2.28125053e-02 2.32951462e+02] [-1.57796051e-01 9.87466717e-01 -3.14457544e-03 -2.93706980e+01] [-2.30228874e-02 -4.95388007e-04 9.99734815e-01 -6.94894522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64587156000005 meters Centerline goodness [0,1] 0.9995913539090224 Centerline is valid? [True, True] Translation: X:232.98, Y:-29.37, Z:-6.95 [[ 9.87404060e-01 1.56566191e-01 2.28090154e-02 2.32979122e+02] [-1.56535327e-01 9.87667358e-01 -3.14344980e-03 -2.93746442e+01] [-2.30198780e-02 -4.66561583e-04 9.99734899e-01 -6.94999992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67587156000002 meters Centerline goodness [0,1] 0.9997865528281751 Centerline is valid? [True, True] Translation: X:233.01, Y:-29.38, Z:-6.95 [[ 9.87992235e-01 1.52678875e-01 2.36749933e-02 2.33008551e+02] [-1.52644549e-01 9.88275775e-01 -3.26103572e-03 -2.93823957e+01] [-2.38953136e-02 -3.91980706e-04 9.99714389e-01 -6.94938824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70587156000002 meters Centerline goodness [0,1] 0.9999355434759255 Centerline is valid? [True, True] Translation: X:233.04, Y:-29.39, Z:-6.95 [[ 9.88342472e-01 1.50356375e-01 2.39190072e-02 2.33037016e+02] [-1.50320658e-01 9.88631805e-01 -3.29457694e-03 -2.93894211e+01] [-2.41424519e-02 -3.39350586e-04 9.99708471e-01 -6.94950707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73587156000002 meters Centerline goodness [0,1] 0.9999570898324358 Centerline is valid? [True, True] Translation: X:233.06, Y:-29.40, Z:-6.95 [[ 9.88931637e-01 1.46409827e-01 2.40495382e-02 2.33064094e+02] [-1.46372579e-01 9.89223990e-01 -3.31144673e-03 -2.93963958e+01] [-2.42752085e-02 -2.45398499e-04 9.99705284e-01 -6.95008638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76587156000002 meters Centerline goodness [0,1] 0.9999143853941482 Centerline is valid? [True, True] Translation: X:233.09, Y:-29.40, Z:-6.95 [[ 9.89175523e-01 1.44809252e-01 2.37079210e-02 2.33092749e+02] [-1.44772631e-01 9.89459569e-01 -3.26292474e-03 -2.94012418e+01] [-2.39305310e-02 -2.04652813e-04 9.99713603e-01 -6.95210313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79587156000002 meters Centerline goodness [0,1] 0.9999569169790186 Centerline is valid? [True, True] Translation: X:233.12, Y:-29.41, Z:-6.95 [[ 9.89389406e-01 1.43252346e-01 2.42356823e-02 2.33121551e+02] [-1.43213638e-01 9.89686180e-01 -3.33437317e-03 -2.94067967e+01] [-2.44633766e-02 -1.71886738e-04 9.99700712e-01 -6.95184004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82587156000002 meters Centerline goodness [0,1] 0.9998501263220999 Centerline is valid? [True, True] Translation: X:233.15, Y:-29.41, Z:-6.95 [[ 9.89968328e-01 1.39147400e-01 2.45093911e-02 2.33148435e+02] [-1.39106582e-01 9.90271678e-01 -3.37088203e-03 -2.94139866e+01] [-2.47400053e-02 -7.23511853e-05 9.99693917e-01 -6.95292261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85587156000003 meters Centerline goodness [0,1] 0.9998923921231034 Centerline is valid? [True, True] Translation: X:233.18, Y:-29.42, Z:-6.95 [[ 9.90332050e-01 1.36555101e-01 2.43953829e-02 2.33176373e+02] [-1.36513913e-01 9.90632477e-01 -3.35365993e-03 -2.94200784e+01] [-2.46248179e-02 -9.07226615e-06 9.99696763e-01 -6.95371492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88587156000003 meters Centerline goodness [0,1] 0.99976365433372 Centerline is valid? [True, True] Translation: X:233.20, Y:-29.43, Z:-6.96 [[ 9.91093203e-01 1.31012279e-01 2.38756277e-02 2.33203507e+02] [-1.30971248e-01 9.91380738e-01 -3.28100429e-03 -2.94297111e+01] [-2.40996893e-02 1.24760283e-04 9.99709553e-01 -6.95618135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91587156000003 meters Centerline goodness [0,1] 0.9998070201771125 Centerline is valid? [True, True] Translation: X:233.23, Y:-29.44, Z:-6.96 [[ 9.91493099e-01 1.27999997e-01 2.36100840e-02 2.33232326e+02] [-1.27959041e-01 9.91774149e-01 -3.24359601e-03 -2.94376611e+01] [-2.38310513e-02 1.94879352e-04 9.99715981e-01 -6.95797601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94587156000003 meters Centerline goodness [0,1] 0.9997412956774819 Centerline is valid? [True, True] Translation: X:233.26, Y:-29.44, Z:-6.96 [[ 9.91859132e-01 1.25171652e-01 2.33991210e-02 2.33261908e+02] [-1.25130655e-01 9.92135066e-01 -3.21391304e-03 -2.94447967e+01] [-2.36173793e-02 2.59801668e-04 9.99721037e-01 -6.95847912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97587156000003 meters Centerline goodness [0,1] 0.99944256249732 Centerline is valid? [True, True] Translation: X:233.29, Y:-29.45, Z:-6.96 [[ 9.92221664e-01 1.22408009e-01 2.26373447e-02 2.33291723e+02] [-1.22368919e-01 9.92479813e-01 -3.10928165e-03 -2.94510809e+01] [-2.28477087e-02 3.14989216e-04 9.99738907e-01 -6.96009720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00587156000003 meters Centerline goodness [0,1] 0.9996584334905962 Centerline is valid? [True, True] Translation: X:233.32, Y:-29.46, Z:-6.96 [[ 9.92846425e-01 1.17039054e-01 2.36185775e-02 2.33320311e+02] [-1.16994981e-01 9.93127208e-01 -3.24405580e-03 -2.94625834e+01] [-2.38359331e-02 4.57594184e-04 9.99715779e-01 -6.95934103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03587156000003 meters Centerline goodness [0,1] 0.9995498585269657 Centerline is valid? [True, True] Translation: X:233.35, Y:-29.47, Z:-6.96 [[ 9.93068780e-01 1.14923229e-01 2.46383722e-02 2.33351561e+02] [-1.14874639e-01 9.93374235e-01 -3.38323041e-03 -2.94701325e+01] [-2.48639360e-02 5.29456387e-04 9.99690704e-01 -6.95884269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06587156000003 meters Centerline goodness [0,1] 0.9994217177125723 Centerline is valid? [True, True] Translation: X:233.38, Y:-29.48, Z:-6.96 [[ 9.93467605e-01 1.11286801e-01 2.52461134e-02 2.33381499e+02] [-1.11234481e-01 9.93788125e-01 -3.47174663e-03 -2.94807897e+01] [-2.54756473e-02 6.40829491e-04 9.99675238e-01 -6.95865195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09587156000003 meters Centerline goodness [0,1] 0.9994430878635994 Centerline is valid? [True, True] Translation: X:233.41, Y:-29.49, Z:-6.96 [[ 9.93573392e-01 1.10257950e-01 2.55949032e-02 2.33412690e+02] [-1.10203814e-01 9.93902775e-01 -3.52043220e-03 -2.94871984e+01] [-2.58270010e-02 6.77151823e-04 9.99666198e-01 -6.95869522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12587156000004 meters Centerline goodness [0,1] 0.9993566373579241 Centerline is valid? [True, True] Translation: X:233.44, Y:-29.50, Z:-6.96 [[ 9.93665406e-01 1.09653229e-01 2.46014330e-02 2.33443137e+02] [-1.09602977e-01 9.93969679e-01 -3.38590855e-03 -2.94957320e+01] [-2.48243543e-02 6.68069898e-04 9.99691605e-01 -6.96161185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15587156000004 meters Centerline goodness [0,1] 0.9989068930041153 Centerline is valid? [True, True] Translation: X:233.47, Y:-29.50, Z:-6.96 [[ 9.93828789e-01 1.08296070e-01 2.40062227e-02 2.33474617e+02] [-1.08247784e-01 9.94118449e-01 -3.30566633e-03 -2.95031372e+01] [-2.42230196e-02 6.86645952e-04 9.99706344e-01 -6.96353080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18587156000004 meters Centerline goodness [0,1] 0.9991632337796087 Centerline is valid? [True, True] Translation: X:233.51, Y:-29.51, Z:-6.96 [[ 9.93851220e-01 1.08158807e-01 2.36944131e-02 2.33506443e+02] [-1.08111638e-01 9.94133393e-01 -3.26651195e-03 -2.95055950e+01] [-2.39087093e-02 6.84785067e-04 9.99713911e-01 -6.96475280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21587156000004 meters Centerline goodness [0,1] 0.9990053839001924 Centerline is valid? [True, True] Translation: X:233.54, Y:-29.51, Z:-6.97 [[ 9.93865310e-01 1.08222645e-01 2.27948532e-02 2.33537471e+02] [-1.08178923e-01 9.94126462e-01 -3.14619503e-03 -2.95131083e+01] [-2.30014563e-02 6.60971433e-04 9.99735213e-01 -6.96723406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24587156000004 meters Centerline goodness [0,1] 0.9989010756778461 Centerline is valid? [True, True] Translation: X:233.57, Y:-29.52, Z:-6.97 [[ 9.93807866e-01 1.08608382e-01 2.34551594e-02 2.33568065e+02] [-1.08562098e-01 9.94084385e-01 -3.24148840e-03 -2.95229725e+01] [-2.36684606e-02 6.75075364e-04 9.99719635e-01 -6.96809669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27587156000004 meters Centerline goodness [0,1] 0.9993206089042695 Centerline is valid? [True, True] Translation: X:233.60, Y:-29.52, Z:-6.97 [[ 9.93488991e-01 1.11379999e-01 2.39607971e-02 2.33599354e+02] [-1.11332380e-01 9.93777693e-01 -3.31640864e-03 -2.95248180e+01] [-2.41810873e-02 6.27202895e-04 9.99707398e-01 -6.96718679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30587156000004 meters Centerline goodness [0,1] 0.9995697166584195 Centerline is valid? [True, True] Translation: X:233.63, Y:-29.52, Z:-6.97 [[ 9.93234087e-01 1.13564554e-01 2.42722026e-02 2.33631820e+02] [-1.13516348e-01 9.93530450e-01 -3.35926289e-03 -2.95238380e+01] [-2.44966656e-02 5.81242616e-04 9.99699743e-01 -6.96703083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33587156000004 meters Centerline goodness [0,1] 0.9994391475042064 Centerline is valid? [True, True] Translation: X:233.66, Y:-29.53, Z:-6.97 [[ 9.92945106e-01 1.16051856e-01 2.43307059e-02 2.33662845e+02] [-1.16004060e-01 9.93243017e-01 -3.37153730e-03 -2.95292447e+01] [-2.45575769e-02 5.25290804e-04 9.99698279e-01 -6.96865084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36587156000004 meters Centerline goodness [0,1] 0.9995690026721834 Centerline is valid? [True, True] Translation: X:233.69, Y:-29.53, Z:-6.97 [[ 9.92354447e-01 1.21094046e-01 2.38512669e-02 2.33694611e+02] [-1.21049453e-01 9.92640959e-01 -3.30994306e-03 -2.95272908e+01] [-2.40765589e-02 3.97453895e-04 9.99710039e-01 -6.97054948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39587156000005 meters Centerline goodness [0,1] 0.9998711948821433 Centerline is valid? [True, True] Translation: X:233.73, Y:-29.53, Z:-6.97 [[ 9.92040734e-01 1.23549953e-01 2.43020629e-02 2.33725364e+02] [-1.23504381e-01 9.92338294e-01 -3.37311102e-03 -2.95300588e+01] [-2.45326153e-02 3.44852308e-04 9.99698971e-01 -6.97121353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42587156000002 meters Centerline goodness [0,1] 0.999681886624393 Centerline is valid? [True, True] Translation: X:233.76, Y:-29.53, Z:-6.97 [[ 9.91546600e-01 1.27649802e-01 2.32565608e-02 2.33755398e+02] [-1.27609175e-01 9.91819275e-01 -3.22876846e-03 -2.95290450e+01] [-2.34784569e-02 2.33723845e-04 9.99724316e-01 -6.97468896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45587156000002 meters Centerline goodness [0,1] 0.9997431176949094 Centerline is valid? [True, True] Translation: X:233.79, Y:-29.53, Z:-6.98 [[ 9.91348152e-01 1.29156041e-01 2.33999724e-02 2.33786042e+02] [-1.29115340e-01 9.91624262e-01 -3.24832878e-03 -2.95316717e+01] [-2.36235216e-02 1.98929354e-04 9.99720906e-01 -6.97547021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48587156000002 meters Centerline goodness [0,1] 0.9998100504421603 Centerline is valid? [True, True] Translation: X:233.82, Y:-29.53, Z:-6.98 [[ 9.91097066e-01 1.31180620e-01 2.27651258e-02 2.33816277e+02] [-1.31142631e-01 9.91358474e-01 -3.16020089e-03 -2.95334614e+01] [-2.29829575e-02 1.46587328e-04 9.99735846e-01 -6.97666208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51587156000002 meters Centerline goodness [0,1] 0.9999356250804686 Centerline is valid? [True, True] Translation: X:233.85, Y:-29.54, Z:-6.98 [[ 9.91032752e-01 1.31667783e-01 2.27525650e-02 2.33845680e+02] [-1.31629958e-01 9.91293890e-01 -3.15874352e-03 -2.95369482e+01] [-2.29703835e-02 1.35499095e-04 9.99736137e-01 -6.97767005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54587156000002 meters Centerline goodness [0,1] 0.9998299211259222 Centerline is valid? [True, True] Translation: X:233.88, Y:-29.54, Z:-6.98 [[ 9.91017426e-01 1.31905561e-01 2.20314547e-02 2.33875031e+02] [-1.31870177e-01 9.91262280e-01 -3.05765748e-03 -2.95411618e+01] [-2.22422720e-02 1.24900026e-04 9.99752602e-01 -6.97956915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57587156000002 meters Centerline goodness [0,1] 0.9998497370398197 Centerline is valid? [True, True] Translation: X:233.90, Y:-29.55, Z:-6.98 [[ 9.90993554e-01 1.31907083e-01 2.30715679e-02 2.33904345e+02] [-1.31868294e-01 9.91262077e-01 -3.20133888e-03 -2.95480591e+01] [-2.32922496e-02 1.30097904e-04 9.99728690e-01 -6.97849223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60587156000003 meters Centerline goodness [0,1] 0.9997410109207062 Centerline is valid? [True, True] Translation: X:233.93, Y:-29.55, Z:-6.98 [[ 9.90980962e-01 1.31958782e-01 2.33155092e-02 2.33933999e+02] [-1.31919191e-01 9.91255196e-01 -3.23482808e-03 -2.95531870e+01] [-2.35384836e-02 1.29889927e-04 9.99722923e-01 -6.97837876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63587156000003 meters Centerline goodness [0,1] 0.9998927544935867 Centerline is valid? [True, True] Translation: X:233.96, Y:-29.56, Z:-6.98 [[ 9.90971436e-01 1.32064629e-01 2.31202869e-02 2.33964280e+02] [-1.32025727e-01 9.91241100e-01 -3.20774265e-03 -2.95590554e+01] [-2.33414080e-02 1.26308654e-04 9.99727544e-01 -6.97939075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66587156000003 meters Centerline goodness [0,1] 0.9999359617478174 Centerline is valid? [True, True] Translation: X:233.99, Y:-29.56, Z:-6.98 [[ 9.90981321e-01 1.31995705e-01 2.30901692e-02 2.33993100e+02] [-1.31956884e-01 9.91250280e-01 -3.20364424e-03 -2.95647268e+01] [-2.33110040e-02 1.27844823e-04 9.99728253e-01 -6.98064110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69587156000003 meters Centerline goodness [0,1] 0.9999356057353825 Centerline is valid? [True, True] Translation: X:234.02, Y:-29.57, Z:-6.98 [[ 9.90985833e-01 1.31915607e-01 2.33527679e-02 2.34023105e+02] [-1.31875884e-01 9.91260942e-01 -3.23972151e-03 -2.95694160e+01] [-2.35760566e-02 1.30851201e-04 9.99722038e-01 -6.98114456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72587156000003 meters Centerline goodness [0,1] 0.9998060344827586 Centerline is valid? [True, True] Translation: X:234.05, Y:-29.57, Z:-6.98 [[ 9.90901122e-01 1.32509624e-01 2.35831924e-02 2.34053096e+02] [-1.32469281e-01 9.91181712e-01 -3.27168822e-03 -2.95730734e+01] [-2.38087592e-02 1.17870983e-04 9.99716524e-01 -6.98154827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75587156000003 meters Centerline goodness [0,1] 0.9997841757672552 Centerline is valid? [True, True] Translation: X:234.08, Y:-29.58, Z:-6.98 [[ 9.90865670e-01 1.32800433e-01 2.34364919e-02 2.34082898e+02] [-1.32760672e-01 9.91142791e-01 -3.25133651e-03 -2.95779743e+01] [-2.36606889e-02 1.10193311e-04 9.99720041e-01 -6.98280876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78587156000003 meters Centerline goodness [0,1] 0.9999139414802065 Centerline is valid? [True, True] Translation: X:234.11, Y:-29.59, Z:-6.98 [[ 9.90822286e-01 1.33104860e-01 2.35434381e-02 2.34112667e+02] [-1.33064821e-01 9.91101955e-01 -3.26617312e-03 -2.95854759e+01] [-2.37686910e-02 1.03393731e-04 9.99717479e-01 -6.98359750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81587156000003 meters Centerline goodness [0,1] 0.99993538938663 Centerline is valid? [True, True] Translation: X:234.14, Y:-29.59, Z:-6.98 [[ 9.90801269e-01 1.33256250e-01 2.35715449e-02 2.34143090e+02] [-1.33216158e-01 9.91081612e-01 -3.27007236e-03 -2.95911798e+01] [-2.37970823e-02 9.98811991e-05 9.99716804e-01 -6.98486984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84587156000003 meters Centerline goodness [0,1] 0.9999567567567568 Centerline is valid? [True, True] Translation: X:234.17, Y:-29.60, Z:-6.99 [[ 9.90812118e-01 1.33284102e-01 2.29498483e-02 2.34171538e+02] [-1.33246102e-01 9.91077867e-01 -3.18390465e-03 -2.95984159e+01] [-2.31694505e-02 9.66734716e-05 9.99731548e-01 -6.98698846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87587156000004 meters Centerline goodness [0,1] 0.9999567567567568 Centerline is valid? [True, True] Translation: X:234.20, Y:-29.60, Z:-6.99 [[ 9.90812118e-01 1.33284091e-01 2.29498953e-02 2.34201241e+02] [-1.33246100e-01 9.91077869e-01 -3.18356585e-03 -2.96025364e+01] [-2.31694520e-02 9.63315817e-05 9.99731548e-01 -6.98789336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90587156000004 meters Centerline goodness [0,1] 0.9999569522169608 Centerline is valid? [True, True] Translation: X:234.23, Y:-29.61, Z:-6.99 [[ 9.90801287e-01 1.33397977e-01 2.27549715e-02 2.34230905e+02] [-1.33360659e-01 9.91062546e-01 -3.15652639e-03 -2.96081006e+01] [-2.29726742e-02 9.28724258e-05 9.99736089e-01 -6.98928421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93587156000004 meters Centerline goodness [0,1] 0.9997417244199561 Centerline is valid? [True, True] Translation: X:234.26, Y:-29.61, Z:-6.99 [[ 9.90688675e-01 1.34363847e-01 2.19614629e-02 2.34259485e+02] [-1.34329322e-01 9.90932062e-01 -3.04654264e-03 -2.96129128e+01] [-2.21716629e-02 6.81068660e-05 9.99754176e-01 -6.99162503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96587156000004 meters Centerline goodness [0,1] 0.9998496628151712 Centerline is valid? [True, True] Translation: X:234.29, Y:-29.62, Z:-6.99 [[ 9.90576485e-01 1.35156401e-01 2.21579585e-02 2.34288485e+02] [-1.35121459e-01 9.90824275e-01 -3.07354475e-03 -2.96172552e+01] [-2.23700524e-02 5.05654753e-05 9.99749758e-01 -6.99286551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99587156000004 meters Centerline goodness [0,1] 0.9998293915676782 Centerline is valid? [True, True] Translation: X:234.32, Y:-29.62, Z:-6.99 [[ 9.90439557e-01 1.36165080e-01 2.21032822e-02 2.34318190e+02] [-1.36130565e-01 9.90686161e-01 -3.06579792e-03 -2.96214004e+01] [-2.23148704e-02 2.75552352e-05 9.99750992e-01 -6.99371799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02587156000004 meters Centerline goodness [0,1] 0.9998724381324943 Centerline is valid? [True, True] Translation: X:234.35, Y:-29.62, Z:-7.00 [[ 9.90021009e-01 1.39241535e-01 2.16840226e-02 2.34346926e+02] [-1.39209063e-01 9.90258448e-01 -3.00725976e-03 -2.96224342e+01] [-2.18915220e-02 -4.13621161e-05 9.99760351e-01 -6.99557608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05587156000004 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:234.38, Y:-29.62, Z:-7.00 [[ 9.89761797e-01 1.41023161e-01 2.20012053e-02 2.34376187e+02] [-1.40990186e-01 9.90006294e-01 -3.05058009e-03 -2.96237761e+01] [-2.22115341e-02 -8.26063968e-05 9.99753290e-01 -6.99535918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08587156000004 meters Centerline goodness [0,1] 0.9998079713237177 Centerline is valid? [True, True] Translation: X:234.40, Y:-29.62, Z:-7.00 [[ 9.89147233e-01 1.45109060e-01 2.30458916e-02 2.34404823e+02] [-1.45074011e-01 9.89415649e-01 -3.19440764e-03 -2.96219024e+01] [-2.32655033e-02 -1.83620461e-04 9.99729305e-01 -6.99528142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11587156000004 meters Centerline goodness [0,1] 0.9998301738595113 Centerline is valid? [True, True] Translation: X:234.43, Y:-29.62, Z:-7.00 [[ 9.88851011e-01 1.47042633e-01 2.34976853e-02 2.34432948e+02] [-1.47006774e-01 9.89130127e-01 -3.25567932e-03 -2.96231373e+01] [-2.37209921e-02 -2.34937136e-04 9.99718590e-01 -6.99505260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14587156000005 meters Centerline goodness [0,1] 0.9998292677721579 Centerline is valid? [True, True] Translation: X:234.46, Y:-29.62, Z:-6.99 [[ 9.88525615e-01 1.49138868e-01 2.39730352e-02 2.34461563e+02] [-1.49102195e-01 9.88816218e-01 -3.32010550e-03 -2.96244204e+01] [-2.42000828e-02 -2.92422834e-04 9.99707092e-01 -6.99492434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17587156000002 meters Centerline goodness [0,1] 0.999871904355252 Centerline is valid? [True, True] Translation: X:234.49, Y:-29.62, Z:-7.00 [[ 9.88027760e-01 1.52383264e-01 2.40932829e-02 2.34490345e+02] [-1.52347211e-01 9.88321405e-01 -3.33569440e-03 -2.96242932e+01] [-2.43202113e-02 -3.74785794e-04 9.99704150e-01 -6.99524884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20587156000002 meters Centerline goodness [0,1] 0.9997010016444909 Centerline is valid? [True, True] Translation: X:234.52, Y:-29.63, Z:-7.00 [[ 9.87839558e-01 1.53719275e-01 2.33107928e-02 2.34518338e+02] [-1.53685918e-01 9.88114481e-01 -3.22647191e-03 -2.96258429e+01] [-2.35297029e-02 -3.95304015e-04 9.99723060e-01 -6.99787787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23587156000002 meters Centerline goodness [0,1] 0.9995538370017847 Centerline is valid? [True, True] Translation: X:234.55, Y:-29.63, Z:-7.00 [[ 9.87580342e-01 1.55439204e-01 2.28849754e-02 2.34547148e+02] [-1.55407553e-01 9.87845367e-01 -3.16596255e-03 -2.96271925e+01] [-2.30989316e-02 -4.29855667e-04 9.99733092e-01 -7.00028151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26587156000002 meters Centerline goodness [0,1] 0.9995522769913013 Centerline is valid? [True, True] Translation: X:234.58, Y:-29.63, Z:-7.00 [[ 9.87500920e-01 1.55988373e-01 2.25734498e-02 2.34576157e+02] [-1.55957745e-01 9.87758794e-01 -3.12187321e-03 -2.96301115e+01] [-2.27840995e-02 -4.37651653e-04 9.99740313e-01 -7.00210284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29587156000002 meters Centerline goodness [0,1] 0.9995744228109373 Centerline is valid? [True, True] Translation: X:234.60, Y:-29.63, Z:-7.00 [[ 9.87395637e-01 1.56678735e-01 2.23971027e-02 2.34603905e+02] [-1.56648780e-01 9.87649518e-01 -3.09663436e-03 -2.96329860e+01] [-2.26056644e-02 -4.50875558e-04 9.99744358e-01 -7.00330472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32587156000002 meters Centerline goodness [0,1] 0.9995327499787614 Centerline is valid? [True, True] Translation: X:234.63, Y:-29.64, Z:-7.00 [[ 9.87237366e-01 1.57654432e-01 2.25269286e-02 2.34632591e+02] [-1.57624417e-01 9.87494229e-01 -3.11303306e-03 -2.96374100e+01] [-2.27359954e-02 -4.77491432e-04 9.99741390e-01 -7.00391127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35587156000003 meters Centerline goodness [0,1] 0.9994064527069996 Centerline is valid? [True, True] Translation: X:234.66, Y:-29.64, Z:-7.00 [[ 9.87152179e-01 1.58213187e-01 2.23419451e-02 2.34660754e+02] [-1.58183828e-01 9.87404856e-01 -3.08650987e-03 -2.96442352e+01] [-2.25488716e-02 -4.87279452e-04 9.99745623e-01 -7.00323815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38587156000003 meters Centerline goodness [0,1] 0.9996391041290733 Centerline is valid? [True, True] Translation: X:234.69, Y:-29.65, Z:-7.00 [[ 9.87037315e-01 1.58816268e-01 2.31242636e-02 2.34689383e+02] [-1.58785009e-01 9.87308018e-01 -3.19345427e-03 -2.96472900e+01] [-2.33379434e-02 -5.19727871e-04 9.99727498e-01 -7.00280411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41587156000003 meters Centerline goodness [0,1] 0.9993795597013329 Centerline is valid? [True, True] Translation: X:234.72, Y:-29.65, Z:-7.00 [[ 9.86722189e-01 1.60740907e-01 2.32740866e-02 2.34717927e+02] [-1.60709800e-01 9.86996472e-01 -3.21310972e-03 -2.96454734e+01] [-2.34879195e-02 -5.69927153e-04 9.99723958e-01 -7.00355097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44587156000003 meters Centerline goodness [0,1] 0.9987627986348123 Centerline is valid? [True, True] Translation: X:234.75, Y:-29.65, Z:-7.00 [[ 9.86526428e-01 1.61965100e-01 2.30848957e-02 2.34746198e+02] [-1.61934863e-01 9.86796307e-01 -3.18564601e-03 -2.96451253e+01] [-2.32960533e-02 -5.95525443e-04 9.99728433e-01 -7.00474499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47587156000003 meters Centerline goodness [0,1] 0.9973136046734751 Centerline is valid? [True, True] Translation: X:234.78, Y:-29.64, Z:-7.01 [[ 9.86000322e-01 1.65196459e-01 2.26604092e-02 2.34775230e+02] [-1.65168208e-01 9.86260459e-01 -3.12570086e-03 -2.96401963e+01] [-2.28654203e-02 -6.60837120e-04 9.99738334e-01 -7.00587499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50587156000003 meters Centerline goodness [0,1] 0.9966463608770403 Centerline is valid? [True, True] Translation: X:234.80, Y:-29.64, Z:-7.01 [[ 9.85731572e-01 1.66835416e-01 2.23430367e-02 2.34804748e+02] [-1.66808396e-01 9.85984517e-01 -3.08082662e-03 -2.96388364e+01] [-2.25438793e-02 -6.90138041e-04 9.99745616e-01 -7.00739152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53587156000003 meters Centerline goodness [0,1] 0.9946474634565778 Centerline is valid? [True, True] Translation: X:234.84, Y:-29.63, Z:-7.01 [[ 9.85251780e-01 1.69686450e-01 2.20326614e-02 2.34835342e+02] [-1.69660905e-01 9.85497820e-01 -3.03720235e-03 -2.96345768e+01] [-2.22285119e-02 -7.45672253e-04 9.99752638e-01 -7.00839753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56587156000003 meters Centerline goodness [0,1] 0.9864044825034359 Centerline is valid? [True, True] Translation: X:234.86, Y:-29.62, Z:-7.01 [[ 9.85123874e-01 1.70394226e-01 2.22881319e-02 2.34864672e+02] [-1.70368267e-01 9.85375672e-01 -3.07237460e-03 -2.96249729e+01] [-2.24856978e-02 -7.70520837e-04 9.99746868e-01 -7.01119875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59587156000003 meters Centerline goodness [0,1] 0.9959580838323353 Centerline is valid? [True, True] Translation: X:234.89, Y:-29.64, Z:-7.01 [[ 9.85115098e-01 1.70450346e-01 2.22468765e-02 2.34891685e+02] [-1.70424546e-01 9.85365964e-01 -3.06451357e-03 -2.96407403e+01] [-2.24436623e-02 -7.72515231e-04 9.99747811e-01 -7.00840935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62587156000004 meters Centerline goodness [0,1] 0.9970206837423642 Centerline is valid? [True, True] Translation: X:234.92, Y:-29.64, Z:-7.01 [[ 9.85400075e-01 1.68672925e-01 2.31546060e-02 2.34920766e+02] [-1.68644514e-01 9.85671782e-01 -3.18840844e-03 -2.96412636e+01] [-2.33606399e-02 -7.63039350e-04 9.99726812e-01 -7.00738896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65587156000004 meters Centerline goodness [0,1] 0.9973425344506118 Centerline is valid? [True, True] Translation: X:234.95, Y:-29.64, Z:-7.01 [[ 9.85718339e-01 1.66804336e-01 2.31445276e-02 2.34948813e+02] [-1.66775459e-01 9.85989754e-01 -3.18599919e-03 -2.96424009e+01] [-2.33517056e-02 -7.19441378e-04 9.99727053e-01 -7.00883070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68587156000004 meters Centerline goodness [0,1] 0.9987379139214512 Centerline is valid? [True, True] Translation: X:234.98, Y:-29.65, Z:-7.01 [[ 9.86640352e-01 1.61188981e-01 2.36416698e-02 2.34977499e+02] [-1.61157278e-01 9.86923377e-01 -3.25270913e-03 -2.96497689e+01] [-2.38568175e-02 -6.00773076e-04 9.99715205e-01 -7.00935640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71587156000004 meters Centerline goodness [0,1] 0.9994085589962401 Centerline is valid? [True, True] Translation: X:235.01, Y:-29.66, Z:-7.01 [[ 9.87115387e-01 1.58061237e-01 2.48969523e-02 2.35006420e+02] [-1.58025092e-01 9.87429157e-01 -3.42507783e-03 -2.96557733e+01] [-2.51253487e-02 -5.53396152e-04 9.99684155e-01 -7.00871132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74587156000004 meters Centerline goodness [0,1] 0.9997652882686809 Centerline is valid? [True, True] Translation: X:235.03, Y:-29.66, Z:-7.01 [[ 9.87590783e-01 1.54960640e-01 2.55273572e-02 2.35034609e+02] [-1.54921618e-01 9.87920525e-01 -3.51129623e-03 -2.96620803e+01] [-2.57631129e-02 -4.87015710e-04 9.99667957e-01 -7.00871916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77587156000004 meters Centerline goodness [0,1] 0.9998272548638553 Centerline is valid? [True, True] Translation: X:235.06, Y:-29.67, Z:-7.01 [[ 9.88569226e-01 1.48746626e-01 2.46034070e-02 2.35062213e+02] [-1.48708481e-01 9.88875292e-01 -3.38305425e-03 -2.96717613e+01] [-2.48329191e-02 -3.14351964e-04 9.99691566e-01 -7.01155483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80587156000004 meters Centerline goodness [0,1] 0.9999135863812136 Centerline is valid? [True, True] Translation: X:235.09, Y:-29.68, Z:-7.01 [[ 9.89041130e-01 1.45590406e-01 2.45168741e-02 2.35090223e+02] [-1.45551579e-01 9.89344924e-01 -3.37037836e-03 -2.96793694e+01] [-2.47463397e-02 -2.35026910e-04 9.99693735e-01 -7.01302469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83587156000004 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:235.12, Y:-29.69, Z:-7.02 [[ 9.89884882e-01 1.39893617e-01 2.36155882e-02 2.35116829e+02] [-1.39855994e-01 9.90166535e-01 -3.24549527e-03 -2.96874037e+01] [-2.38373892e-02 -9.01148550e-05 9.99715845e-01 -7.01597951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86587156000004 meters Centerline goodness [0,1] 0.9999785186458154 Centerline is valid? [True, True] Translation: X:235.15, Y:-29.69, Z:-7.02 [[ 9.90279119e-01 1.37172568e-01 2.30424002e-02 2.35145131e+02] [-1.37136044e-01 9.90547165e-01 -3.16535721e-03 -2.96939704e+01] [-2.32587844e-02 -2.53564480e-05 9.99729478e-01 -7.01724689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89587156000005 meters Centerline goodness [0,1] 0.9999354602757997 Centerline is valid? [True, True] Translation: X:235.17, Y:-29.70, Z:-7.02 [[ 9.91018823e-01 1.31890677e-01 2.20577069e-02 2.35172893e+02] [-1.31855925e-01 9.91264264e-01 -3.02894339e-03 -2.97025772e+01] [-2.22645060e-02 9.33005629e-05 9.99752111e-01 -7.02005948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92587156000002 meters Centerline goodness [0,1] 0.9999570760183715 Centerline is valid? [True, True] Translation: X:235.20, Y:-29.71, Z:-7.02 [[ 9.91348857e-01 1.29424383e-01 2.18351307e-02 2.35201657e+02] [-1.29389744e-01 9.91589284e-01 -2.99774417e-03 -2.97084192e+01] [-2.20394628e-02 1.46568278e-04 9.99757091e-01 -7.02116855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95587156000002 meters Centerline goodness [0,1] 0.9995913714863325 Centerline is valid? [True, True] Translation: X:235.23, Y:-29.72, Z:-7.02 [[ 9.91910233e-01 1.25022247e-01 2.19892497e-02 2.35229231e+02] [-1.24986045e-01 9.92153908e-01 -3.01847096e-03 -2.97159569e+01] [-2.21940960e-02 2.45702881e-04 9.99753651e-01 -7.02212153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98587156000002 meters Centerline goodness [0,1] 0.9999137038315499 Centerline is valid? [True, True] Translation: X:235.26, Y:-29.72, Z:-7.02 [[ 9.92076104e-01 1.23477646e-01 2.32007440e-02 2.35258262e+02] [-1.23436944e-01 9.92347310e-01 -3.18382462e-03 -2.97216110e+01] [-2.34163271e-02 2.94767391e-04 9.99725757e-01 -7.02057731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01587156000002 meters Centerline goodness [0,1] 0.9998924199066205 Centerline is valid? [True, True] Translation: X:235.29, Y:-29.73, Z:-7.02 [[ 9.92273454e-01 1.21782189e-01 2.37169036e-02 2.35288191e+02] [-1.21739188e-01 9.92556790e-01 -3.25394783e-03 -2.97275039e+01] [-2.39366466e-02 3.41529461e-04 9.99713419e-01 -7.02024370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04587156000002 meters Centerline goodness [0,1] 0.9998078975453575 Centerline is valid? [True, True] Translation: X:235.32, Y:-29.73, Z:-7.02 [[ 9.92587076e-01 1.19044852e-01 2.44789809e-02 2.35316803e+02] [-1.18998210e-01 9.92888788e-01 -3.35856624e-03 -2.97348741e+01] [-2.47047257e-02 4.20714546e-04 9.99694703e-01 -7.01998572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07587156000002 meters Centerline goodness [0,1] 0.999721376827125 Centerline is valid? [True, True] Translation: X:235.35, Y:-29.74, Z:-7.02 [[ 9.92753213e-01 1.17657228e-01 2.44506539e-02 2.35347352e+02] [-1.17610284e-01 9.93054163e-01 -3.35421539e-03 -2.97416781e+01] [-2.46754713e-02 4.54259742e-04 9.99695411e-01 -7.02168124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10587156000003 meters Centerline goodness [0,1] 0.9995060031358062 Centerline is valid? [True, True] Translation: X:235.38, Y:-29.75, Z:-7.03 [[ 9.93037356e-01 1.15429198e-01 2.35140240e-02 2.35377284e+02] [-1.15385165e-01 9.93315590e-01 -3.22544060e-03 -2.97510441e+01] [-2.37291567e-02 4.89813471e-04 9.99718304e-01 -7.02539188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13587156000003 meters Centerline goodness [0,1] 0.9995942165175234 Centerline is valid? [True, True] Translation: X:235.41, Y:-29.76, Z:-7.03 [[ 9.93125007e-01 1.14708378e-01 2.33389924e-02 2.35408512e+02] [-1.14664720e-01 9.93399080e-01 -3.20476455e-03 -2.97579889e+01] [-2.35525469e-02 5.06572782e-04 9.99722472e-01 -7.02701743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16587156000003 meters Centerline goodness [0,1] 0.999596097021747 Centerline is valid? [True, True] Translation: X:235.44, Y:-29.76, Z:-7.03 [[ 9.93175722e-01 1.14393702e-01 2.27170947e-02 2.35439113e+02] [-1.14352177e-01 9.93435366e-01 -3.12289410e-03 -2.97639819e+01] [-2.29252048e-02 5.03833365e-04 9.99737056e-01 -7.02894372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19587156000003 meters Centerline goodness [0,1] 0.9994845471531969 Centerline is valid? [True, True] Translation: X:235.47, Y:-29.77, Z:-7.03 [[ 9.93141512e-01 1.14789631e-01 2.22098351e-02 2.35470324e+02] [-1.14749950e-01 9.93389703e-01 -3.05715793e-03 -2.97695225e+01] [-2.24139515e-02 4.87612986e-04 9.99748657e-01 -7.03151581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22587156000003 meters Centerline goodness [0,1] 0.9996338416472819 Centerline is valid? [True, True] Translation: X:235.50, Y:-29.77, Z:-7.03 [[ 9.93095546e-01 1.15208313e-01 2.20970717e-02 2.35501318e+02] [-1.15169119e-01 9.93341239e-01 -3.04245732e-03 -2.97740661e+01] [-2.23004489e-02 4.76550542e-04 9.99751200e-01 -7.03295740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25587156000003 meters Centerline goodness [0,1] 0.9997010144153764 Centerline is valid? [True, True] Translation: X:235.53, Y:-29.78, Z:-7.03 [[ 9.93004663e-01 1.15989348e-01 2.20954973e-02 2.35532030e+02] [-1.15950342e-01 9.93250351e-01 -3.04273662e-03 -2.97776850e+01] [-2.22992855e-02 4.59471183e-04 9.99751234e-01 -7.03352786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28587156000003 meters Centerline goodness [0,1] 0.9998275490407416 Centerline is valid? [True, True] Translation: X:235.56, Y:-29.78, Z:-7.03 [[ 9.92709687e-01 1.18271868e-01 2.32215978e-02 2.35561308e+02] [-1.18229390e-01 9.92981158e-01 -3.19858441e-03 -2.97801370e+01] [-2.34369117e-02 4.29790389e-04 9.99725225e-01 -7.03283146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31587156000003 meters Centerline goodness [0,1] 0.9998505199769374 Centerline is valid? [True, True] Translation: X:235.59, Y:-29.78, Z:-7.03 [[ 9.92558107e-01 1.19452360e-01 2.36545421e-02 2.35591623e+02] [-1.19408625e-01 9.92839849e-01 -3.25788332e-03 -2.97837113e+01] [-2.38743339e-02 4.09082145e-04 9.99714884e-01 -7.03265210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34587156000003 meters Centerline goodness [0,1] 0.9998491314280787 Centerline is valid? [True, True] Translation: X:235.62, Y:-29.78, Z:-7.03 [[ 9.92264554e-01 1.21648216e-01 2.47541311e-02 2.35623580e+02] [-1.21601006e-01 9.92573208e-01 -3.40920316e-03 -2.97827610e+01] [-2.49850108e-02 3.72704199e-04 9.99687756e-01 -7.03075800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37587156000004 meters Centerline goodness [0,1] 0.999870351563344 Centerline is valid? [True, True] Translation: X:235.65, Y:-29.79, Z:-7.03 [[ 9.92141630e-01 1.22620016e-01 2.48861088e-02 2.35653891e+02] [-1.22572592e-01 9.92453630e-01 -3.42798544e-03 -2.97881205e+01] [-2.51186487e-02 3.50692193e-04 9.99684415e-01 -7.03253420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40587156000004 meters Centerline goodness [0,1] 0.999739187133232 Centerline is valid? [True, True] Translation: X:235.68, Y:-29.79, Z:-7.03 [[ 9.92072226e-01 1.23271269e-01 2.44313841e-02 2.35683834e+02] [-1.23225744e-01 9.92372957e-01 -3.36599109e-03 -2.97931309e+01] [-2.46599749e-02 3.28730788e-04 9.99695843e-01 -7.03457400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43587156000004 meters Centerline goodness [0,1] 0.9998936984437452 Centerline is valid? [True, True] Translation: X:235.71, Y:-29.80, Z:-7.04 [[ 9.91908170e-01 1.24639268e-01 2.41502490e-02 2.35713941e+02] [-1.24595184e-01 9.92202080e-01 -3.32747360e-03 -2.97990735e+01] [-2.43766612e-02 2.91543530e-04 9.99702803e-01 -7.03601434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46587156000004 meters Centerline goodness [0,1] 0.9999355185384202 Centerline is valid? [True, True] Translation: X:235.74, Y:-29.80, Z:-7.04 [[ 9.91803467e-01 1.25497140e-01 2.40073208e-02 2.35744691e+02] [-1.25453815e-01 9.92093945e-01 -3.30833008e-03 -2.98022130e+01] [-2.42327036e-02 2.69403254e-04 9.99706309e-01 -7.03658016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49587156000004 meters Centerline goodness [0,1] 0.9998488904239703 Centerline is valid? [True, True] Translation: X:235.77, Y:-29.81, Z:-7.04 [[ 9.91592530e-01 1.27104208e-01 2.42646707e-02 2.35774668e+02] [-1.27060413e-01 9.91889342e-01 -3.34445803e-03 -2.98080942e+01] [-2.44929629e-02 2.33260516e-04 9.99699975e-01 -7.03750720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52587156000004 meters Centerline goodness [0,1] 0.999913670306902 Centerline is valid? [True, True] Translation: X:235.81, Y:-29.81, Z:-7.04 [[ 9.91441649e-01 1.28283497e-01 2.42239914e-02 2.35805245e+02] [-1.28240192e-01 9.91737517e-01 -3.33921071e-03 -2.98116801e+01] [-2.44522067e-02 2.04143268e-04 9.99700979e-01 -7.03770778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55587156000004 meters Centerline goodness [0,1] 0.9998265056060376 Centerline is valid? [True, True] Translation: X:235.84, Y:-29.82, Z:-7.04 [[ 9.91336789e-01 1.29119263e-01 2.40745906e-02 2.35835033e+02] [-1.29076739e-01 9.91629055e-01 -3.31854636e-03 -2.98172317e+01] [-2.43015518e-02 1.82327435e-04 9.99704657e-01 -7.03999019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58587156000004 meters Centerline goodness [0,1] 0.9999573433434288 Centerline is valid? [True, True] Translation: X:235.87, Y:-29.82, Z:-7.04 [[ 9.91068510e-01 1.31218558e-01 2.37676144e-02 2.35865180e+02] [-1.31177706e-01 9.91353455e-01 -3.27658650e-03 -2.98202317e+01] [-2.39920556e-02 1.29540553e-04 9.99712141e-01 -7.04054980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61587156000004 meters Centerline goodness [0,1] 0.9999353253136722 Centerline is valid? [True, True] Translation: X:235.90, Y:-29.82, Z:-7.04 [[ 9.90709312e-01 1.33945399e-01 2.35306119e-02 2.35895470e+02] [-1.33906127e-01 9.90988711e-01 -3.24391350e-03 -2.98227086e+01] [-2.37530781e-02 6.28821975e-05 9.99717854e-01 -7.04176554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64587156000005 meters Centerline goodness [0,1] 0.999935864545921 Centerline is valid? [True, True] Translation: X:235.93, Y:-29.83, Z:-7.04 [[ 9.90541469e-01 1.35249553e-01 2.31334357e-02 2.35925153e+02] [-1.35211950e-01 9.90811565e-01 -3.18923952e-03 -2.98256695e+01] [-2.33522188e-02 3.11570556e-05 9.99727299e-01 -7.04340571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67587156000002 meters Centerline goodness [0,1] 0.9999565255195201 Centerline is valid? [True, True] Translation: X:235.96, Y:-29.83, Z:-7.04 [[ 9.90374397e-01 1.36457134e-01 2.31949207e-02 2.35955492e+02] [-1.36419669e-01 9.90645976e-01 -3.19735868e-03 -2.98289320e+01] [-2.34142573e-02 2.33876434e-06 9.99725849e-01 -7.04338673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70587156000002 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:235.98, Y:-29.83, Z:-7.04 [[ 9.90212673e-01 1.37572249e-01 2.35103775e-02 2.35984069e+02] [-1.37534069e-01 9.90491734e-01 -3.24100827e-03 -2.98316621e+01] [-2.37327074e-02 -2.41904131e-05 9.99718339e-01 -7.04440886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.01, Y:-29.84, Z:-7.05 [[ 9.89982090e-01 1.39333026e-01 2.28422705e-02 2.36013644e+02] [-1.39297467e-01 9.90245578e-01 -3.14832731e-03 -2.98354396e+01] [-2.30581233e-02 -6.50827581e-05 9.99734124e-01 -7.04750518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.04, Y:-29.84, Z:-7.05 [[ 9.89988763e-01 1.39285597e-01 2.28423224e-02 2.36041706e+02] [-1.39250034e-01 9.90252250e-01 -3.14795060e-03 -2.98392170e+01] [-2.30581253e-02 -6.43584558e-05 9.99734124e-01 -7.04835964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79587156000002 meters Centerline goodness [0,1] 0.9999575001593745 Centerline is valid? [True, True] Translation: X:236.07, Y:-29.84, Z:-7.05 [[ 9.89758379e-01 1.41056253e-01 2.19427474e-02 2.36070196e+02] [-1.41023897e-01 9.90001577e-01 -3.02280094e-03 -2.98417007e+01] [-2.21497395e-02 -1.02609194e-04 9.99754659e-01 -7.05200328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82587156000002 meters Centerline goodness [0,1] 0.9999353099730458 Centerline is valid? [True, True] Translation: X:236.10, Y:-29.84, Z:-7.05 [[ 9.89639102e-01 1.41945330e-01 2.15863577e-02 2.36099506e+02] [-1.41914242e-01 9.89874491e-01 -2.97307461e-03 -2.98448538e+01] [-2.17897989e-02 -1.21140701e-04 9.99762567e-01 -7.05248540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85587156000003 meters Centerline goodness [0,1] 0.9998712169993561 Centerline is valid? [True, True] Translation: X:236.13, Y:-29.85, Z:-7.05 [[ 9.89518492e-01 1.42809594e-01 2.14143437e-02 2.36127872e+02] [-1.42779208e-01 9.89750171e-01 -2.94907659e-03 -2.98473159e+01] [-2.16160068e-02 -1.39357221e-04 9.99766337e-01 -7.05373171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88587156000003 meters Centerline goodness [0,1] 0.9999574377527134 Centerline is valid? [True, True] Translation: X:236.16, Y:-29.85, Z:-7.05 [[ 9.89298855e-01 1.44263172e-01 2.18154328e-02 2.36155406e+02] [-1.44232012e-01 9.89539341e-01 -3.00333231e-03 -2.98494103e+01] [-2.20204993e-02 -1.75290568e-04 9.99757504e-01 -7.05370009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91587156000003 meters Centerline goodness [0,1] 0.9999135789132548 Centerline is valid? [True, True] Translation: X:236.18, Y:-29.85, Z:-7.05 [[ 9.89193984e-01 1.44991591e-01 2.17416705e-02 2.36183726e+02] [-1.44960849e-01 9.89432869e-01 -2.99177823e-03 -2.98526248e+01] [-2.19457061e-02 -1.92241988e-04 9.99759146e-01 -7.05417041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94587156000003 meters Centerline goodness [0,1] 0.9999359234498815 Centerline is valid? [True, True] Translation: X:236.21, Y:-29.86, Z:-7.05 [[ 9.89094943e-01 1.45591850e-01 2.22307612e-02 2.36211076e+02] [-1.45559883e-01 9.89344717e-01 -3.05807704e-03 -2.98562546e+01] [-2.24391172e-02 -2.11178466e-04 9.99748189e-01 -7.05478184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97587156000003 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:236.24, Y:-29.86, Z:-7.06 [[ 9.89124227e-01 1.45352616e-01 2.24917747e-02 2.36238501e+02] [-1.45319863e-01 9.89379893e-01 -3.09261875e-03 -2.98614694e+01] [-2.27024299e-02 -2.09517479e-04 9.99742245e-01 -7.05585852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.27, Y:-29.87, Z:-7.06 [[ 9.89195072e-01 1.44863550e-01 2.25313520e-02 2.36266758e+02] [-1.44830587e-01 9.89451622e-01 -3.09664162e-03 -2.98673734e+01] [-2.27422733e-02 -2.00046312e-04 9.99741341e-01 -7.05689048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03587156000003 meters Centerline goodness [0,1] 0.999935805533563 Centerline is valid? [True, True] Translation: X:236.29, Y:-29.87, Z:-7.06 [[ 9.89305374e-01 1.44097930e-01 2.25978678e-02 2.36293947e+02] [-1.44064595e-01 9.89563415e-01 -3.10480733e-03 -2.98734413e+01] [-2.28094196e-02 -1.83950098e-04 9.99739814e-01 -7.05719076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06587156000003 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:236.32, Y:-29.88, Z:-7.06 [[ 9.89310440e-01 1.44010637e-01 2.29300962e-02 2.36322224e+02] [-1.43976324e-01 9.89576122e-01 -3.14901083e-03 -2.98772669e+01] [-2.31445667e-02 -1.86041679e-04 9.99732111e-01 -7.05760788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09587156000003 meters Centerline goodness [0,1] 0.9999354783207157 Centerline is valid? [True, True] Translation: X:236.35, Y:-29.88, Z:-7.06 [[ 9.89346413e-01 1.43757958e-01 2.29635339e-02 2.36350653e+02] [-1.43723501e-01 9.89612862e-01 -3.15254352e-03 -2.98834066e+01] [-2.31782118e-02 -1.81441874e-04 9.99731333e-01 -7.05781121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12587156000004 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:236.38, Y:-29.89, Z:-7.06 [[ 9.89368906e-01 1.43636108e-01 2.27560361e-02 2.36378503e+02] [-1.43602261e-01 9.89630556e-01 -3.12310160e-03 -2.98876501e+01] [-2.29686589e-02 -1.77918626e-04 9.99736170e-01 -7.06000547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15587156000004 meters Centerline goodness [0,1] 0.9998927337867118 Centerline is valid? [True, True] Translation: X:236.41, Y:-29.89, Z:-7.06 [[ 9.89332690e-01 1.44010281e-01 2.19514979e-02 2.36406890e+02] [-1.43978910e-01 9.89576175e-01 -3.01119214e-03 -2.98929930e+01] [-2.21563219e-02 -1.81481929e-04 9.99754502e-01 -7.06248865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18587156000004 meters Centerline goodness [0,1] 0.9997875414294213 Centerline is valid? [True, True] Translation: X:236.43, Y:-29.90, Z:-7.06 [[ 9.89243469e-01 1.44663341e-01 2.16766306e-02 2.36434155e+02] [-1.44632925e-01 9.89480914e-01 -2.97269896e-03 -2.98952926e+01] [-2.18786528e-02 -1.94431447e-04 9.99760615e-01 -7.06382504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21587156000004 meters Centerline goodness [0,1] 0.999764977352363 Centerline is valid? [True, True] Translation: X:236.46, Y:-29.90, Z:-7.06 [[ 9.89099072e-01 1.45625261e-01 2.18245251e-02 2.36463263e+02] [-1.45594701e-01 9.89339798e-01 -2.99128393e-03 -2.98975514e+01] [-2.20274777e-02 -2.18859039e-04 9.99757342e-01 -7.06415016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24587156000004 meters Centerline goodness [0,1] 0.9999573023633141 Centerline is valid? [True, True] Translation: X:236.49, Y:-29.90, Z:-7.06 [[ 9.88766857e-01 1.47850110e-01 2.19191039e-02 2.36491682e+02] [-1.47819851e-01 9.89009743e-01 -3.00333651e-03 -2.98967179e+01] [-2.21222509e-02 -2.70479059e-04 9.99755236e-01 -7.06476792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27587156000004 meters Centerline goodness [0,1] 0.9998929404963278 Centerline is valid? [True, True] Translation: X:236.52, Y:-29.90, Z:-7.06 [[ 9.88511956e-01 1.49556190e-01 2.18416561e-02 2.36520336e+02] [-1.49526589e-01 9.88753180e-01 -2.99143621e-03 -2.99011931e+01] [-2.20433948e-02 -3.08837874e-04 9.99756967e-01 -7.06421440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30587156000004 meters Centerline goodness [0,1] 0.9999355946758265 Centerline is valid? [True, True] Translation: X:236.55, Y:-29.90, Z:-7.06 [[ 9.88427357e-01 1.50071729e-01 2.21322484e-02 2.36548261e+02] [-1.50041486e-01 9.88675058e-01 -3.03021798e-03 -2.99037953e+01] [-2.23363520e-02 -3.25605094e-04 9.99750460e-01 -7.06493978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33587156000004 meters Centerline goodness [0,1] 0.9998930549911236 Centerline is valid? [True, True] Translation: X:236.58, Y:-29.90, Z:-7.07 [[ 9.88406068e-01 1.50164304e-01 2.24527756e-02 2.36576076e+02] [-1.50133235e-01 9.88660999e-01 -3.07269671e-03 -2.99042730e+01] [-2.26595930e-02 -3.33835773e-04 9.99743183e-01 -7.06623215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36587156000004 meters Centerline goodness [0,1] 0.9997213409928835 Centerline is valid? [True, True] Translation: X:236.60, Y:-29.91, Z:-7.07 [[ 9.88395417e-01 1.50165997e-01 2.29057301e-02 2.36604194e+02] [-1.50133696e-01 9.88660739e-01 -3.13318037e-03 -2.99099051e+01] [-2.31164932e-02 -3.42100807e-04 9.99732720e-01 -7.06561638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39587156000005 meters Centerline goodness [0,1] 0.9998082004944165 Centerline is valid? [True, True] Translation: X:236.63, Y:-29.91, Z:-7.07 [[ 9.88382021e-01 1.50167847e-01 2.34648473e-02 2.36633110e+02] [-1.50133979e-01 9.88660454e-01 -3.20849379e-03 -2.99125522e+01] [-2.36805792e-02 -3.51653319e-04 9.99719514e-01 -7.06518794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42587156000002 meters Centerline goodness [0,1] 0.9998941574936494 Centerline is valid? [True, True] Translation: X:236.66, Y:-29.91, Z:-7.07 [[ 9.88371901e-01 1.50190567e-01 2.37440252e-02 2.36660487e+02] [-1.50155921e-01 9.88657001e-01 -3.24557907e-03 -2.99146635e+01] [-2.39621521e-02 -3.57466822e-04 9.99712802e-01 -7.06636054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45587156000002 meters Centerline goodness [0,1] 0.9998511999659886 Centerline is valid? [True, True] Translation: X:236.69, Y:-29.92, Z:-7.07 [[ 9.88373807e-01 1.50153924e-01 2.38959480e-02 2.36689260e+02] [-1.50118858e-01 9.88662566e-01 -3.26482777e-03 -2.99196959e+01] [-2.41152560e-02 -3.60362170e-04 9.99709120e-01 -7.06627347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48587156000002 meters Centerline goodness [0,1] 0.9995330772332703 Centerline is valid? [True, True] Translation: X:236.72, Y:-29.92, Z:-7.07 [[ 9.88394584e-01 1.50028081e-01 2.38268975e-02 2.36717359e+02] [-1.49993207e-01 9.88681671e-01 -3.25436025e-03 -2.99198416e+01] [-2.40454622e-02 -3.57280709e-04 9.99710802e-01 -7.06817718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51587156000002 meters Centerline goodness [0,1] 0.9994680058732152 Centerline is valid? [True, True] Translation: X:236.75, Y:-29.92, Z:-7.07 [[ 9.88428870e-01 1.49846914e-01 2.35429871e-02 2.36745558e+02] [-1.49812850e-01 9.88709148e-01 -3.21405390e-03 -2.99220037e+01] [-2.37587827e-02 -3.50178332e-04 9.99717659e-01 -7.06933656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54587156000002 meters Centerline goodness [0,1] 0.9996167032218224 Centerline is valid? [True, True] Translation: X:236.77, Y:-29.93, Z:-7.07 [[ 9.88463956e-01 1.49598158e-01 2.36516179e-02 2.36773939e+02] [-1.49563742e-01 9.88746818e-01 -3.22745585e-03 -2.99252584e+01] [-2.38682834e-02 -3.47200698e-04 9.99715052e-01 -7.07026301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57587156000002 meters Centerline goodness [0,1] 0.9997659723847414 Centerline is valid? [True, True] Translation: X:236.80, Y:-29.93, Z:-7.07 [[ 9.88572871e-01 1.48939881e-01 2.32506242e-02 2.36801981e+02] [-1.48906464e-01 9.88846199e-01 -3.17172137e-03 -2.99313945e+01] [-2.34636872e-02 -3.26690537e-04 9.99724636e-01 -7.07048546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60587156000003 meters Centerline goodness [0,1] 0.9998081882312824 Centerline is valid? [True, True] Translation: X:236.83, Y:-29.94, Z:-7.07 [[ 9.88756173e-01 1.47775577e-01 2.28825306e-02 2.36830812e+02] [-1.47742923e-01 9.89020875e-01 -3.12042084e-03 -2.99352842e+01] [-2.30924224e-02 -2.95396588e-04 9.99733291e-01 -7.07144176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63587156000003 meters Centerline goodness [0,1] 0.9998503026025962 Centerline is valid? [True, True] Translation: X:236.86, Y:-29.94, Z:-7.07 [[ 9.88868055e-01 1.46993681e-01 2.30830434e-02 2.36859139e+02] [-1.46960265e-01 9.89137391e-01 -3.14664176e-03 -2.99399290e+01] [-2.32948378e-02 -2.80676675e-04 9.99728599e-01 -7.07129010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66587156000003 meters Centerline goodness [0,1] 0.999850411368736 Centerline is valid? [True, True] Translation: X:236.89, Y:-29.94, Z:-7.07 [[ 9.89026913e-01 1.45892030e-01 2.32654455e-02 2.36887698e+02] [-1.45857807e-01 9.89300485e-01 -3.17036197e-03 -2.99448217e+01] [-2.34790471e-02 -2.57873556e-04 9.99724296e-01 -7.07214903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69587156000003 meters Centerline goodness [0,1] 0.9998071235694999 Centerline is valid? [True, True] Translation: X:236.92, Y:-29.95, Z:-7.07 [[ 9.89380589e-01 1.43355158e-01 2.39864220e-02 2.36915413e+02] [-1.43318064e-01 9.89671287e-01 -3.26740020e-03 -2.99510800e+01] [-2.42070719e-02 -2.04985222e-04 9.99706945e-01 -7.07132531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72587156000003 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:236.94, Y:-29.96, Z:-7.07 [[ 9.89574783e-01 1.41954370e-01 2.43044417e-02 2.36943493e+02] [-1.41915894e-01 9.89873187e-01 -3.30946012e-03 -2.99562081e+01] [-2.45281075e-02 -1.74228308e-04 9.99699126e-01 -7.07167581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.97, Y:-29.97, Z:-7.07 [[ 9.90016002e-01 1.38872158e-01 2.41420807e-02 2.36971193e+02] [-1.38833299e-01 9.90310312e-01 -3.28649693e-03 -2.99650949e+01] [-2.43645544e-02 -9.80401620e-05 9.99703135e-01 -7.07305688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78587156000003 meters Centerline goodness [0,1] 0.9999147121535181 Centerline is valid? [True, True] Translation: X:237.00, Y:-29.97, Z:-7.07 [[ 9.90275025e-01 1.37017177e-01 2.41177894e-02 2.36999782e+02] [-1.36977870e-01 9.90568670e-01 -3.28220231e-03 -2.99726319e+01] [-2.43400447e-02 -5.33204489e-05 9.99703736e-01 -7.07384947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81587156000003 meters Centerline goodness [0,1] 0.9998922506680459 Centerline is valid? [True, True] Translation: X:237.03, Y:-29.98, Z:-7.07 [[ 9.90745786e-01 1.33474233e-01 2.46458080e-02 2.37029376e+02] [-1.33432098e-01 9.91052283e-01 -3.35370376e-03 -2.99844381e+01] [-2.48729173e-02 3.41260015e-05 9.99690621e-01 -7.07327264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84587156000003 meters Centerline goodness [0,1] 0.999848307545616 Centerline is valid? [True, True] Translation: X:237.06, Y:-29.99, Z:-7.07 [[ 9.90978931e-01 1.31733214e-01 2.46397829e-02 2.37060084e+02] [-1.31690564e-01 9.91285203e-01 -3.35275823e-03 -2.99920306e+01] [-2.48667218e-02 7.76858653e-05 9.99690772e-01 -7.07401168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87587156000004 meters Centerline goodness [0,1] 0.9998043308113749 Centerline is valid? [True, True] Translation: X:237.09, Y:-30.00, Z:-7.07 [[ 9.91199639e-01 1.30064128e-01 2.46292152e-02 2.37090973e+02] [-1.30021004e-01 9.91505577e-01 -3.35115374e-03 -3.00005118e+01] [-2.48558691e-02 1.19347089e-04 9.99691038e-01 -7.07453206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90587156000004 meters Centerline goodness [0,1] 0.9996338416472819 Centerline is valid? [True, True] Translation: X:237.12, Y:-30.01, Z:-7.08 [[ 9.91552298e-01 1.27306169e-01 2.48431197e-02 2.37120386e+02] [-1.27261319e-01 9.91863449e-01 -3.38453553e-03 -3.00136687e+01] [-2.50718547e-02 1.94375784e-04 9.99685633e-01 -7.07578355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93587156000004 meters Centerline goodness [0,1] 0.9998717126363054 Centerline is valid? [True, True] Translation: X:237.15, Y:-30.02, Z:-7.08 [[ 9.91655039e-01 1.26394736e-01 2.53900484e-02 2.37151582e+02] [-1.26347490e-01 9.91980000e-01 -3.46298297e-03 -3.00226046e+01] [-2.56241231e-02 2.26115614e-04 9.99671623e-01 -7.07617591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96587156000004 meters Centerline goodness [0,1] 0.9998486290113312 Centerline is valid? [True, True] Translation: X:237.18, Y:-30.03, Z:-7.08 [[ 9.91731326e-01 1.25808930e-01 2.53197539e-02 2.37183188e+02] [-1.25761641e-01 9.92054461e-01 -3.45782941e-03 -3.00323671e+01] [-2.55536006e-02 2.44983942e-04 9.99673423e-01 -7.07629127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99587156000004 meters Centerline goodness [0,1] 0.9998285799995714 Centerline is valid? [True, True] Translation: X:237.22, Y:-30.04, Z:-7.08 [[ 9.91694338e-01 1.26116511e-01 2.52381870e-02 2.37215028e+02] [-1.26069504e-01 9.92015407e-01 -3.45148330e-03 -3.00392506e+01] [-2.54719594e-02 2.41050739e-04 9.99675508e-01 -7.07718088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02587156000004 meters Centerline goodness [0,1] 0.9996136592904209 Centerline is valid? [True, True] Translation: X:237.25, Y:-30.05, Z:-7.08 [[ 9.91465752e-01 1.28111125e-01 2.41495997e-02 2.37246868e+02] [-1.28068578e-01 9.91759802e-01 -3.30669749e-03 -3.00455415e+01] [-2.43742270e-02 1.85672416e-04 9.99702887e-01 -7.08034824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05587156000004 meters Centerline goodness [0,1] 0.999765478424015 Centerline is valid? [True, True] Translation: X:237.28, Y:-30.05, Z:-7.08 [[ 9.91282458e-01 1.29525093e-01 2.41316830e-02 2.37278312e+02] [-1.29482932e-01 9.91576132e-01 -3.30816212e-03 -3.00501026e+01] [-2.43568909e-02 1.54682008e-04 9.99703315e-01 -7.08069006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08587156000004 meters Centerline goodness [0,1] 0.9999574540503744 Centerline is valid? [True, True] Translation: X:237.31, Y:-30.05, Z:-7.08 [[ 9.91060679e-01 1.31257906e-01 2.38766069e-02 2.37310449e+02] [-1.31217042e-01 9.91348248e-01 -3.27702350e-03 -3.00549565e+01] [-2.41001677e-02 1.14711396e-04 9.99709542e-01 -7.08205412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11587156000004 meters Centerline goodness [0,1] 0.9998064183085262 Centerline is valid? [True, True] Translation: X:237.34, Y:-30.06, Z:-7.09 [[ 9.90565471e-01 1.35091501e-01 2.30289902e-02 2.37342400e+02] [-1.35054440e-01 9.90833127e-01 -3.16426033e-03 -3.00589676e+01] [-2.32453511e-02 2.42396545e-05 9.99729790e-01 -7.08538200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14587156000005 meters Centerline goodness [0,1] 0.9998927061651037 Centerline is valid? [True, True] Translation: X:237.37, Y:-30.06, Z:-7.09 [[ 9.90289606e-01 1.37122557e-01 2.28888855e-02 2.37372173e+02] [-1.37086379e-01 9.90554089e-01 -3.14971107e-03 -3.00616079e+01] [-2.31045755e-02 -1.86283007e-05 9.99733053e-01 -7.08616771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17587156000002 meters Centerline goodness [0,1] 0.9999356112637363 Centerline is valid? [True, True] Translation: X:237.40, Y:-30.06, Z:-7.09 [[ 9.89685007e-01 1.41404552e-01 2.29856395e-02 2.37402360e+02] [-1.41369213e-01 9.89951887e-01 -3.16337016e-03 -3.00628729e+01] [-2.32019922e-02 -1.18721758e-04 9.99730790e-01 -7.08714348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20587156000002 meters Centerline goodness [0,1] 0.9998499110186754 Centerline is valid? [True, True] Translation: X:237.43, Y:-30.07, Z:-7.09 [[ 9.89377743e-01 1.43551721e-01 2.29038196e-02 2.37432330e+02] [-1.43517208e-01 9.89642802e-01 -3.15210980e-03 -3.00657074e+01] [-2.31190910e-02 -1.68464971e-04 9.99732704e-01 -7.08830122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23587156000002 meters Centerline goodness [0,1] 0.9999571449998929 Centerline is valid? [True, True] Translation: X:237.46, Y:-30.07, Z:-7.09 [[ 9.88791499e-01 1.47580223e-01 2.26152321e-02 2.37461631e+02] [-1.47547626e-01 9.89050055e-01 -3.11247621e-03 -3.00665707e+01] [-2.28269365e-02 -2.59233801e-04 9.99739398e-01 -7.08890246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26587156000002 meters Centerline goodness [0,1] 0.9998489817052123 Centerline is valid? [True, True] Translation: X:237.49, Y:-30.07, Z:-7.09 [[ 9.88450884e-01 1.49837078e-01 2.26649696e-02 2.37492050e+02] [-1.49804938e-01 9.88710652e-01 -3.11897969e-03 -3.00718095e+01] [-2.28764357e-02 -3.12366133e-04 9.99738251e-01 -7.08796811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29587156000002 meters Centerline goodness [0,1] 0.9997659624263313 Centerline is valid? [True, True] Translation: X:237.52, Y:-30.07, Z:-7.09 [[ 9.88106182e-01 1.52087405e-01 2.27067184e-02 2.37522489e+02] [-1.52055738e-01 9.88366980e-01 -3.12481345e-03 -3.00694766e+01] [-2.29178155e-02 -3.65039355e-04 9.99737286e-01 -7.09061280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32587156000002 meters Centerline goodness [0,1] 0.9991912656692277 Centerline is valid? [True, True] Translation: X:237.55, Y:-30.07, Z:-7.09 [[ 9.87461779e-01 1.56225633e-01 2.26448061e-02 2.37552786e+02] [-1.56195230e-01 9.87721287e-01 -3.11608669e-03 -3.00677648e+01] [-2.28535696e-02 -4.59994198e-04 9.99738717e-01 -7.09129808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35587156000003 meters Centerline goodness [0,1] 0.9984163851351351 Centerline is valid? [True, True] Translation: X:237.58, Y:-30.07, Z:-7.09 [[ 9.86909596e-01 1.59697969e-01 2.24946094e-02 2.37581634e+02] [-1.59668877e-01 9.87165777e-01 -3.09508325e-03 -3.00661007e+01] [-2.27001870e-02 -5.37121652e-04 9.99742173e-01 -7.09271911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38587156000003 meters Centerline goodness [0,1] 0.9981176067937282 Centerline is valid? [True, True] Translation: X:237.61, Y:-30.07, Z:-7.09 [[ 9.86686538e-01 1.61026194e-01 2.28087874e-02 2.37610011e+02] [-1.60996660e-01 9.86949965e-01 -3.13735788e-03 -3.00676133e+01] [-2.30163287e-02 -5.76549803e-04 9.99734923e-01 -7.09308161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41587156000003 meters Centerline goodness [0,1] 0.9973942759504485 Centerline is valid? [True, True] Translation: X:237.64, Y:-30.07, Z:-7.09 [[ 9.86547956e-01 1.61891933e-01 2.26744808e-02 2.37638360e+02] [-1.61863004e-01 9.86808314e-01 -3.11756816e-03 -3.00701942e+01] [-2.28800753e-02 -5.94529071e-04 9.99738040e-01 -7.09357325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44587156000003 meters Centerline goodness [0,1] 0.9977165539170704 Centerline is valid? [True, True] Translation: X:237.67, Y:-30.08, Z:-7.09 [[ 9.86330835e-01 1.63295366e-01 2.20478476e-02 2.37667017e+02] [-1.63268385e-01 9.86577037e-01 -3.03049561e-03 -3.00750535e+01] [-2.22467660e-02 -6.10645197e-04 9.99752324e-01 -7.09412097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47587156000003 meters Centerline goodness [0,1] 0.99696802646086 Centerline is valid? [True, True] Translation: X:237.70, Y:-30.07, Z:-7.10 [[ 9.86270329e-01 1.63635703e-01 2.22304954e-02 2.37695752e+02] [-1.63608381e-01 9.86520637e-01 -3.05464292e-03 -3.00721874e+01] [-2.24306911e-02 -6.24391669e-04 9.99748205e-01 -7.09582851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50587156000003 meters Centerline goodness [0,1] 0.9978371959882106 Centerline is valid? [True, True] Translation: X:237.72, Y:-30.08, Z:-7.10 [[ 9.86274142e-01 1.63615944e-01 2.22067593e-02 2.37724226e+02] [-1.63588706e-01 9.86523914e-01 -3.05000248e-03 -3.00781090e+01] [-2.24065282e-02 -6.24636448e-04 9.99748747e-01 -7.09521471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53587156000003 meters Centerline goodness [0,1] 0.9974706144918911 Centerline is valid? [True, True] Translation: X:237.75, Y:-30.08, Z:-7.10 [[ 9.86320910e-01 1.63344789e-01 2.21255953e-02 2.37752926e+02] [-1.63317705e-01 9.86568852e-01 -3.03784309e-03 -3.00813418e+01] [-2.23246390e-02 -6.17213275e-04 9.99750584e-01 -7.09589976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56587156000003 meters Centerline goodness [0,1] 0.9977012482007434 Centerline is valid? [True, True] Translation: X:237.78, Y:-30.09, Z:-7.10 [[ 9.86502139e-01 1.62320732e-01 2.15756618e-02 2.37780649e+02] [-1.62294751e-01 9.86737880e-01 -2.96148023e-03 -3.00850500e+01] [-2.17702324e-02 -5.80110067e-04 9.99762832e-01 -7.09791820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59587156000003 meters Centerline goodness [0,1] 0.9974479401230993 Centerline is valid? [True, True] Translation: X:237.81, Y:-30.09, Z:-7.10 [[ 9.86582660e-01 1.61877300e-01 2.12225207e-02 2.37807843e+02] [-1.61852086e-01 9.86810733e-01 -2.91177804e-03 -3.00879614e+01] [-2.14139620e-02 -5.62199536e-04 9.99770537e-01 -7.09917319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62587156000004 meters Centerline goodness [0,1] 0.9986827330050964 Centerline is valid? [True, True] Translation: X:237.84, Y:-30.10, Z:-7.10 [[ 9.86677897e-01 1.61365496e-01 2.06858583e-02 2.37835353e+02] [-1.61341454e-01 9.86894567e-01 -2.83693819e-03 -3.00965253e+01] [-2.08725451e-02 -5.38342248e-04 9.99782000e-01 -7.09871343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65587156000004 meters Centerline goodness [0,1] 0.9986076968259838 Centerline is valid? [True, True] Translation: X:237.86, Y:-30.10, Z:-7.10 [[ 9.86898997e-01 1.60134855e-01 1.96773340e-02 2.37864628e+02] [-1.60112876e-01 9.87095026e-01 -2.69760856e-03 -3.00987757e+01] [-1.98553796e-02 -4.88327352e-04 9.99802743e-01 -7.10104429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68587156000004 meters Centerline goodness [0,1] 0.9986076968259838 Centerline is valid? [True, True] Translation: X:237.89, Y:-30.10, Z:-7.10 [[ 9.86906689e-01 1.60087433e-01 1.96774138e-02 2.37892703e+02] [-1.60065456e-01 9.87102718e-01 -2.69702630e-03 -3.01025333e+01] [-1.98553886e-02 -4.87960917e-04 9.99802743e-01 -7.10189905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71587156000004 meters Centerline goodness [0,1] 0.9980646944982029 Centerline is valid? [True, True] Translation: X:237.92, Y:-30.10, Z:-7.10 [[ 9.87118682e-01 1.58708264e-01 2.02087862e-02 2.37921089e+02] [-1.58684815e-01 9.87325409e-01 -2.76894381e-03 -3.00997561e+01] [-2.03921023e-02 -4.73551324e-04 9.99791947e-01 -7.10401607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74587156000004 meters Centerline goodness [0,1] 0.998194674289153 Centerline is valid? [True, True] Translation: X:237.95, Y:-30.10, Z:-7.11 [[ 9.87266576e-01 1.57853524e-01 1.96716448e-02 2.37949490e+02] [-1.57831160e-01 9.87462438e-01 -2.69403954e-03 -3.01042795e+01] [-1.98502740e-02 -4.45063333e-04 9.99802865e-01 -7.10582126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77587156000004 meters Centerline goodness [0,1] 0.99862660944206 Centerline is valid? [True, True] Translation: X:237.98, Y:-30.11, Z:-7.11 [[ 9.87396855e-01 1.56974553e-01 2.01603799e-02 2.37977588e+02] [-1.56950899e-01 9.87602550e-01 -2.76012914e-03 -3.01064053e+01] [-2.03437127e-02 -4.38846922e-04 9.99792949e-01 -7.10578673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80587156000004 meters Centerline goodness [0,1] 0.9990399385560675 Centerline is valid? [True, True] Translation: X:238.01, Y:-30.11, Z:-7.11 [[ 9.87736715e-01 1.54934296e-01 1.92755486e-02 2.38005292e+02] [-1.54912306e-01 9.87924703e-01 -2.63787442e-03 -3.01137418e+01] [-1.94514878e-02 -3.80494258e-04 9.99810730e-01 -7.10668685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83587156000004 meters Centerline goodness [0,1] 0.9991435789834282 Centerline is valid? [True, True] Translation: X:238.03, Y:-30.11, Z:-7.11 [[ 9.87970618e-01 1.53469917e-01 1.90011274e-02 2.38033345e+02] [-1.53448292e-01 9.88153259e-01 -2.59958578e-03 -3.01145870e+01] [-1.91749842e-02 -3.47376171e-04 9.99816083e-01 -7.11064800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86587156000004 meters Centerline goodness [0,1] 0.9994193173753145 Centerline is valid? [True, True] Translation: X:238.06, Y:-30.12, Z:-7.11 [[ 9.88472600e-01 1.50221894e-01 1.88494488e-02 2.38061928e+02] [-1.50200049e-01 9.88652266e-01 -2.57742551e-03 -3.01203766e+01] [-1.90227360e-02 -2.83473649e-04 9.99819011e-01 -7.11206067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89587156000005 meters Centerline goodness [0,1] 0.999571771154505 Centerline is valid? [True, True] Translation: X:238.09, Y:-30.13, Z:-7.11 [[ 9.88723650e-01 1.48555779e-01 1.88871378e-02 2.38089704e+02] [-1.48533551e-01 9.88903998e-01 -2.58210796e-03 -3.01284954e+01] [-1.90611531e-02 -2.52382430e-04 9.99818288e-01 -7.11131608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92587156000002 meters Centerline goodness [0,1] 0.9995068081912727 Centerline is valid? [True, True] Translation: X:238.12, Y:-30.13, Z:-7.11 [[ 9.89105176e-01 1.45960631e-01 1.91427284e-02 2.38117629e+02] [-1.45937330e-01 9.89290378e-01 -2.61613326e-03 -3.01340393e+01] [-1.93195695e-02 -2.06007711e-04 9.99813338e-01 -7.11156817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95587156000002 meters Centerline goodness [0,1] 0.9998715423482059 Centerline is valid? [True, True] Translation: X:238.15, Y:-30.14, Z:-7.11 [[ 9.89275802e-01 1.44846207e-01 1.87873474e-02 2.38145881e+02] [-1.44823578e-01 9.89454164e-01 -2.56671469e-03 -3.01383532e+01] [-1.89609980e-02 -1.81662137e-04 9.99820208e-01 -7.11294437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98587156000002 meters Centerline goodness [0,1] 0.9995897568769703 Centerline is valid? [True, True] Translation: X:238.17, Y:-30.14, Z:-7.11 [[ 9.89417011e-01 1.43898887e-01 1.86303352e-02 2.38174096e+02] [-1.43876483e-01 9.89592383e-01 -2.54441742e-03 -3.01428852e+01] [-1.88025766e-02 -1.62977217e-04 9.99823203e-01 -7.11346831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01587156000002 meters Centerline goodness [0,1] 0.9996322177271055 Centerline is valid? [True, True] Translation: X:238.20, Y:-30.15, Z:-7.11 [[ 9.89622982e-01 1.42455708e-01 1.87809809e-02 2.38201271e+02] [-1.42432694e-01 9.89801168e-01 -2.56421998e-03 -3.01470178e+01] [-1.89547246e-02 -1.37414686e-04 9.99820334e-01 -7.11495233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04587156000002 meters Centerline goodness [0,1] 0.9996130613297792 Centerline is valid? [True, True] Translation: X:238.23, Y:-30.15, Z:-7.12 [[ 9.89716997e-01 1.41745521e-01 1.91956557e-02 2.38230054e+02] [-1.41721371e-01 9.89903122e-01 -2.61952760e-03 -3.01508919e+01] [-1.93731458e-02 -1.27843667e-04 9.99812315e-01 -7.11527692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07587156000002 meters Centerline goodness [0,1] 0.9995939997435788 Centerline is valid? [True, True] Translation: X:238.26, Y:-30.15, Z:-7.11 [[ 9.89904827e-01 1.40270348e-01 2.03141101e-02 2.38258751e+02] [-1.40243015e-01 9.90113235e-01 -2.77100852e-03 -3.01546518e+01] [-2.05019596e-02 -1.05877349e-04 9.99789807e-01 -7.11438530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10587156000003 meters Centerline goodness [0,1] 0.9999143835616439 Centerline is valid? [True, True] Translation: X:238.29, Y:-30.16, Z:-7.12 [[ 9.90060002e-01 1.39214715e-01 2.00114065e-02 2.38288051e+02] [-1.39187992e-01 9.90262216e-01 -2.72891492e-03 -3.01598344e+01] [-2.01964449e-02 -8.35579690e-05 9.99796028e-01 -7.11569200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13587156000003 meters Centerline goodness [0,1] 0.9997630638004567 Centerline is valid? [True, True] Translation: X:238.32, Y:-30.17, Z:-7.12 [[ 9.90234185e-01 1.37954234e-01 2.01218317e-02 2.38317587e+02] [-1.37926964e-01 9.90438603e-01 -2.74350296e-03 -3.01659394e+01] [-2.03079167e-02 -5.86327330e-05 9.99793771e-01 -7.11663016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16587156000003 meters Centerline goodness [0,1] 0.9996351383254996 Centerline is valid? [True, True] Translation: X:238.35, Y:-30.17, Z:-7.12 [[ 9.90631773e-01 1.35158887e-01 1.95132370e-02 2.38346201e+02] [-1.35132714e-01 9.90823938e-01 -2.65973590e-03 -3.01747355e+01] [-1.96936693e-02 -2.05778790e-06 9.99806061e-01 -7.11990887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19587156000003 meters Centerline goodness [0,1] 0.9998929450808265 Centerline is valid? [True, True] Translation: X:238.37, Y:-30.18, Z:-7.12 [[ 9.90990501e-01 1.32521899e-01 1.93848446e-02 2.38374349e+02] [-1.32495561e-01 9.91180076e-01 -2.64245591e-03 -3.01842563e+01] [-1.95640550e-02 5.02428384e-05 9.99808604e-01 -7.12117953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22587156000003 meters Centerline goodness [0,1] 0.9998293369741446 Centerline is valid? [True, True] Translation: X:238.40, Y:-30.19, Z:-7.12 [[ 9.91115207e-01 1.31559788e-01 1.95619211e-02 2.38403416e+02] [-1.31532770e-01 9.91308235e-01 -2.66702140e-03 -3.01911256e+01] [-1.97427662e-02 7.02917896e-05 9.99805090e-01 -7.12215218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25587156000003 meters Centerline goodness [0,1] 0.9999352429468776 Centerline is valid? [True, True] Translation: X:238.43, Y:-30.20, Z:-7.12 [[ 9.91220869e-01 1.30809048e-01 1.92401349e-02 2.38433678e+02] [-1.30782777e-01 9.91407578e-01 -2.62281685e-03 -3.01976244e+01] [-1.94179037e-02 8.35125192e-05 9.99811451e-01 -7.12339906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28587156000003 meters Centerline goodness [0,1] 0.9993766792047286 Centerline is valid? [True, True] Translation: X:238.46, Y:-30.21, Z:-7.13 [[ 9.91266264e-01 1.30679339e-01 1.77230110e-02 2.38463560e+02] [-1.30657038e-01 9.91424684e-01 -2.41540903e-03 -3.02050457e+01] [-1.78866747e-02 7.86773588e-05 9.99840018e-01 -7.12739677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31587156000003 meters Centerline goodness [0,1] 0.9995066812517427 Centerline is valid? [True, True] Translation: X:238.49, Y:-30.21, Z:-7.13 [[ 9.91162579e-01 1.31498130e-01 1.74637979e-02 2.38493784e+02] [-1.31476578e-01 9.91316417e-01 -2.38151860e-03 -3.02085521e+01] [-1.76253148e-02 6.43917121e-05 9.99844660e-01 -7.12920295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34587156000003 meters Centerline goodness [0,1] 0.9998088928525927 Centerline is valid? [True, True] Translation: X:238.52, Y:-30.21, Z:-7.13 [[ 9.90754656e-01 1.34436038e-01 1.82253653e-02 2.38522954e+02] [-1.34413058e-01 9.90922273e-01 -2.48561686e-03 -3.02080613e+01] [-1.83940769e-02 1.29093954e-05 9.99830815e-01 -7.12865224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37587156000004 meters Centerline goodness [0,1] 0.9996980546089808 Centerline is valid? [True, True] Translation: X:238.55, Y:-30.21, Z:-7.13 [[ 9.90529564e-01 1.36063560e-01 1.83817782e-02 2.38552894e+02] [-1.36040471e-01 9.90700110e-01 -2.50657337e-03 -3.02096958e+01] [-1.85518830e-02 -1.78307432e-05 9.99827899e-01 -7.12898605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40587156000004 meters Centerline goodness [0,1] 0.9998934061014347 Centerline is valid? [True, True] Translation: X:238.58, Y:-30.21, Z:-7.13 [[ 9.90263227e-01 1.37963894e-01 1.85662355e-02 2.38582587e+02] [-1.37940681e-01 9.90437257e-01 -2.53130510e-03 -3.02114772e+01] [-1.87379201e-02 -5.43808151e-05 9.99824428e-01 -7.13002624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43587156000004 meters Centerline goodness [0,1] 0.9995970905697987 Centerline is valid? [True, True] Translation: X:238.61, Y:-30.21, Z:-7.13 [[ 9.89765961e-01 1.41377720e-01 1.93825616e-02 2.38611298e+02] [-1.41353079e-01 9.89955719e-01 -2.64237572e-03 -3.02110461e+01] [-1.95614508e-02 -1.24451226e-04 9.99808649e-01 -7.12973769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46587156000004 meters Centerline goodness [0,1] 0.9996141313668324 Centerline is valid? [True, True] Translation: X:238.64, Y:-30.21, Z:-7.13 [[ 9.89543490e-01 1.42922172e-01 1.94147807e-02 2.38640408e+02] [-1.42897764e-01 9.89733918e-01 -2.64590801e-03 -3.02128719e+01] [-1.95936259e-02 -1.56087700e-04 9.99808014e-01 -7.13055661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49587156000004 meters Centerline goodness [0,1] 0.9997861008320678 Centerline is valid? [True, True] Translation: X:238.67, Y:-30.22, Z:-7.13 [[ 9.89133169e-01 1.45685786e-01 1.97794134e-02 2.38669818e+02] [-1.45661026e-01 9.89330888e-01 -2.69451145e-03 -3.02173175e+01] [-1.99609366e-02 -2.15858997e-04 9.99800737e-01 -7.12804969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52587156000004 meters Centerline goodness [0,1] 0.9998711976472103 Centerline is valid? [True, True] Translation: X:238.70, Y:-30.22, Z:-7.13 [[ 9.88919070e-01 1.47135684e-01 1.97525442e-02 2.38698372e+02] [-1.47111288e-01 9.89116288e-01 -2.69048817e-03 -3.02187284e+01] [-1.99334300e-02 -2.45147159e-04 9.99801279e-01 -7.12918061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55587156000004 meters Centerline goodness [0,1] 0.9992528711095932 Centerline is valid? [True, True] Translation: X:238.73, Y:-30.21, Z:-7.13 [[ 9.88531980e-01 1.49753446e-01 1.94532771e-02 2.38727385e+02] [-1.49730309e-01 9.88723328e-01 -2.64872364e-03 -3.02140645e+01] [-1.96305643e-02 -2.94397173e-04 9.99807259e-01 -7.13356801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58587156000004 meters Centerline goodness [0,1] 0.9991704422181099 Centerline is valid? [True, True] Translation: X:238.76, Y:-30.22, Z:-7.13 [[ 9.88380583e-01 1.50701138e-01 1.98239722e-02 2.38756392e+02] [-1.50677298e-01 9.88579317e-01 -2.69939198e-03 -3.02163210e+01] [-2.00043703e-02 -3.18995954e-04 9.99799842e-01 -7.13365658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61587156000004 meters Centerline goodness [0,1] 0.9987507675368947 Centerline is valid? [True, True] Translation: X:238.79, Y:-30.22, Z:-7.13 [[ 9.88113071e-01 1.52426696e-01 1.99664856e-02 2.38785572e+02] [-1.52402881e-01 9.88314714e-01 -2.71792763e-03 -3.02166107e+01] [-2.01474563e-02 -3.57330117e-04 9.99796956e-01 -7.13459282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64587156000005 meters Centerline goodness [0,1] 0.9988614393125671 Centerline is valid? [True, True] Translation: X:238.81, Y:-30.22, Z:-7.14 [[ 9.88003986e-01 1.53090900e-01 2.02805512e-02 2.38814143e+02] [-1.53066488e-01 9.88212039e-01 -2.75979493e-03 -3.02185756e+01] [-2.04639844e-02 -3.77584355e-04 9.99790519e-01 -7.13533966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67587156000002 meters Centerline goodness [0,1] 0.9994568405501119 Centerline is valid? [True, True] Translation: X:238.84, Y:-30.23, Z:-7.13 [[ 9.87971617e-01 1.53423234e-01 1.93234387e-02 2.38842356e+02] [-1.53401149e-01 9.88160501e-01 -2.62884757e-03 -3.02286246e+01] [-1.94979852e-02 -3.67010912e-04 9.99809829e-01 -7.13397765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70587156000002 meters Centerline goodness [0,1] 0.9995702621400946 Centerline is valid? [True, True] Translation: X:238.87, Y:-30.23, Z:-7.14 [[ 9.87942619e-01 1.53599073e-01 1.94089099e-02 2.38870490e+02] [-1.53576845e-01 9.88133182e-01 -2.63952169e-03 -3.02328681e+01] [-1.95840160e-02 -3.73063164e-04 9.99808145e-01 -7.13538816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73587156000002 meters Centerline goodness [0,1] 0.9990283086091857 Centerline is valid? [True, True] Translation: X:238.90, Y:-30.24, Z:-7.14 [[ 9.88011312e-01 1.53170965e-01 1.92951439e-02 2.38898055e+02] [-1.53148931e-01 9.88199638e-01 -2.62324116e-03 -3.02358054e+01] [-1.94692586e-02 -3.63238714e-04 9.99810390e-01 -7.13688373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76587156000002 meters Centerline goodness [0,1] 0.9990194615564982 Centerline is valid? [True, True] Translation: X:238.93, Y:-30.24, Z:-7.14 [[ 9.88132786e-01 1.52336089e-01 1.96802714e-02 2.38925661e+02] [-1.52313026e-01 9.88328685e-01 -2.67434163e-03 -3.02404311e+01] [-1.98579755e-02 -3.54957042e-04 9.99802748e-01 -7.13715259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79587156000002 meters Centerline goodness [0,1] 0.999207199485751 Centerline is valid? [True, True] Translation: X:238.95, Y:-30.24, Z:-7.14 [[ 9.88205879e-01 1.51874275e-01 1.95792147e-02 2.38953810e+02] [-1.51851382e-01 9.88399760e-01 -2.65934731e-03 -3.02447588e+01] [-1.97559776e-02 -3.45148178e-04 9.99804772e-01 -7.13813445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82587156000002 meters Centerline goodness [0,1] 0.9991868526919455 Centerline is valid? [True, True] Translation: X:238.98, Y:-30.25, Z:-7.14 [[ 9.88301677e-01 1.51262000e-01 1.94833828e-02 2.38982798e+02] [-1.51239230e-01 9.88493650e-01 -2.64541387e-03 -3.02487620e+01] [-1.96593508e-02 -3.32184866e-04 9.99806681e-01 -7.13912273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85587156000003 meters Centerline goodness [0,1] 0.999551674814799 Centerline is valid? [True, True] Translation: X:239.01, Y:-30.25, Z:-7.14 [[ 9.88476523e-01 1.50041871e-01 2.00399824e-02 2.39010026e+02] [-1.50017548e-01 9.88679592e-01 -2.72011369e-03 -3.02526401e+01] [-2.02212525e-02 -3.17580496e-04 9.99795479e-01 -7.14001215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88587156000003 meters Centerline goodness [0,1] 0.9997227790335651 Centerline is valid? [True, True] Translation: X:239.04, Y:-30.26, Z:-7.14 [[ 9.88585822e-01 1.49291910e-01 2.02484280e-02 2.39038442e+02] [-1.49266949e-01 9.88793119e-01 -2.74708675e-03 -3.02573943e+01] [-2.04316241e-02 -3.06690042e-04 9.99791206e-01 -7.14071729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91587156000003 meters Centerline goodness [0,1] 0.9996767241379311 Centerline is valid? [True, True] Translation: X:239.07, Y:-30.26, Z:-7.14 [[ 9.88838341e-01 1.47546212e-01 2.07086960e-02 2.39066634e+02] [-1.47519741e-01 9.89055124e-01 -2.80853924e-03 -3.02634057e+01] [-2.08964312e-02 -2.77750179e-04 9.99781607e-01 -7.14013253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94587156000003 meters Centerline goodness [0,1] 0.9995933132130397 Centerline is valid? [True, True] Translation: X:239.10, Y:-30.27, Z:-7.14 [[ 9.88989023e-01 1.46473565e-01 2.11236103e-02 2.39095519e+02] [-1.46445802e-01 9.89214550e-01 -2.86366085e-03 -3.02687408e+01] [-2.13152333e-02 -2.61334914e-04 9.99772770e-01 -7.14041543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97587156000003 meters Centerline goodness [0,1] 0.9998106100460848 Centerline is valid? [True, True] Translation: X:239.12, Y:-30.27, Z:-7.14 [[ 9.89398406e-01 1.43570798e-01 2.18682395e-02 2.39123599e+02] [-1.43540353e-01 9.89640027e-01 -2.96378289e-03 -3.02744781e+01] [-2.20671978e-02 -2.06612746e-04 9.99756468e-01 -7.14293567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00587156000003 meters Centerline goodness [0,1] 0.9998718934153216 Centerline is valid? [True, True] Translation: X:239.15, Y:-30.28, Z:-7.14 [[ 9.89663717e-01 1.41767929e-01 2.16236354e-02 2.39152683e+02] [-1.41737753e-01 9.89899907e-01 -2.92957412e-03 -3.02845736e+01] [-2.18205544e-02 -1.65592295e-04 9.99761890e-01 -7.14184943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03587156000003 meters Centerline goodness [0,1] 0.9998718988855203 Centerline is valid? [True, True] Translation: X:239.18, Y:-30.30, Z:-7.14 [[ 9.90218727e-01 1.37954087e-01 2.08696460e-02 2.39181885e+02] [-1.37925132e-01 9.90438622e-01 -2.82742349e-03 -3.02959449e+01] [-2.10601580e-02 -7.86809836e-05 9.99778207e-01 -7.14422937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06587156000003 meters Centerline goodness [0,1] 0.9999785876407863 Centerline is valid? [True, True] Translation: X:239.21, Y:-30.30, Z:-7.15 [[ 9.90432521e-01 1.36460557e-01 2.05410990e-02 2.39212448e+02] [-1.36432190e-01 9.90645504e-01 -2.78269234e-03 -3.03029844e+01] [-2.07286751e-02 -4.63981268e-05 9.99785137e-01 -7.14609366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.24, Y:-30.31, Z:-7.15 [[ 9.90720246e-01 1.34375632e-01 2.04103906e-02 2.39241478e+02] [-1.34347170e-01 9.90930467e-01 -2.76557221e-03 -3.03117623e+01] [-2.05969034e-02 -2.16982680e-06 9.99787861e-01 -7.14738148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12587156000004 meters Centerline goodness [0,1] 0.9994251894745806 Centerline is valid? [True, True] Translation: X:239.27, Y:-30.32, Z:-7.15 [[ 9.90791625e-01 1.33968671e-01 1.96048976e-02 2.39270901e+02] [-1.33942336e-01 9.90985568e-01 -2.65622532e-03 -3.03180658e+01] [-1.97840215e-02 5.84003115e-06 9.99804277e-01 -7.14888594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15587156000004 meters Centerline goodness [0,1] 0.9997433923530922 Centerline is valid? [True, True] Translation: X:239.30, Y:-30.32, Z:-7.15 [[ 9.90818774e-01 1.33699331e-01 2.00660618e-02 2.39301603e+02] [-1.33671659e-01 9.91021942e-01 -2.72008579e-03 -3.03245563e+01] [-2.02495812e-02 1.28482901e-05 9.99794956e-01 -7.14997148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18587156000004 meters Centerline goodness [0,1] 0.9998502321401828 Centerline is valid? [True, True] Translation: X:239.33, Y:-30.33, Z:-7.15 [[ 9.90759333e-01 1.34151990e-01 1.99796983e-02 2.39331663e+02] [-1.34124637e-01 9.90960768e-01 -2.70895063e-03 -3.03284469e+01] [-2.01625083e-02 4.14834491e-06 9.99796716e-01 -7.15078083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21587156000004 meters Centerline goodness [0,1] 0.9998069580884561 Centerline is valid? [True, True] Translation: X:239.36, Y:-30.33, Z:-7.15 [[ 9.90711563e-01 1.34484054e-01 2.01156268e-02 2.39363026e+02] [-1.34456393e-01 9.90915758e-01 -2.72750148e-03 -3.03328420e+01] [-2.02996970e-02 -2.50737098e-06 9.99793940e-01 -7.15138477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24587156000004 meters Centerline goodness [0,1] 0.9998284734133791 Centerline is valid? [True, True] Translation: X:239.39, Y:-30.34, Z:-7.15 [[ 9.90538805e-01 1.35609023e-01 2.10492121e-02 2.39393167e+02] [-1.35578975e-01 9.90762430e-01 -2.85470505e-03 -3.03370073e+01] [-2.12418923e-02 -2.61344711e-05 9.99774365e-01 -7.15093220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27587156000004 meters Centerline goodness [0,1] 0.9998293078433046 Centerline is valid? [True, True] Translation: X:239.42, Y:-30.34, Z:-7.15 [[ 9.90436378e-01 1.36333765e-01 2.11869417e-02 2.39423143e+02] [-1.36303483e-01 9.90662961e-01 -2.87363095e-03 -3.03406311e+01] [-2.13808913e-02 -4.17053179e-05 9.99771402e-01 -7.15223205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30587156000004 meters Centerline goodness [0,1] 0.9997029934022106 Centerline is valid? [True, True] Translation: X:239.45, Y:-30.34, Z:-7.15 [[ 9.90184056e-01 1.38187208e-01 2.09721354e-02 2.39453494e+02] [-1.38157945e-01 9.90406123e-01 -2.84483248e-03 -3.03436463e+01] [-2.11640508e-02 -8.05593614e-05 9.99776013e-01 -7.15406430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33587156000004 meters Centerline goodness [0,1] 0.9998292787025181 Centerline is valid? [True, True] Translation: X:239.48, Y:-30.35, Z:-7.16 [[ 9.90061974e-01 1.39117860e-01 2.05793117e-02 2.39483341e+02] [-1.39089884e-01 9.90275826e-01 -2.79154666e-03 -3.03470180e+01] [-2.07675489e-02 -9.85698814e-05 9.99784326e-01 -7.15584809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36587156000004 meters Centerline goodness [0,1] 0.9995939216482507 Centerline is valid? [True, True] Translation: X:239.51, Y:-30.35, Z:-7.16 [[ 9.89936783e-01 1.40085820e-01 2.00281854e-02 2.39513720e+02] [-1.40059521e-01 9.90139359e-01 -2.71678736e-03 -3.03500724e+01] [-2.02112780e-02 -1.15690298e-04 9.99795725e-01 -7.15822688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39587156000005 meters Centerline goodness [0,1] 0.9996555361794657 Centerline is valid? [True, True] Translation: X:239.54, Y:-30.35, Z:-7.16 [[ 9.89553625e-01 1.42909894e-01 1.89838132e-02 2.39544169e+02] [-1.42886786e-01 9.89735690e-01 -2.57512015e-03 -3.03502346e+01] [-1.91569675e-02 -1.64316575e-04 9.99816475e-01 -7.16177591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42587156000002 meters Centerline goodness [0,1] 0.9996779111464216 Centerline is valid? [True, True] Translation: X:239.57, Y:-30.35, Z:-7.16 [[ 9.88991722e-01 1.46893980e-01 1.78194324e-02 2.39574516e+02] [-1.46874261e-01 9.89152217e-01 -2.41744350e-03 -3.03475733e+01] [-1.79812389e-02 -2.26384343e-04 9.99838299e-01 -7.16418204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45587156000002 meters Centerline goodness [0,1] 0.9995982746955345 Centerline is valid? [True, True] Translation: X:239.60, Y:-30.35, Z:-7.17 [[ 9.88657252e-01 1.49065867e-01 1.83358976e-02 2.39602696e+02] [-1.49045361e-01 9.88827231e-01 -2.48755315e-03 -3.03467740e+01] [-1.85018441e-02 -2.73543024e-04 9.99828789e-01 -7.16515701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48587156000002 meters Centerline goodness [0,1] 0.9996358963375455 Centerline is valid? [True, True] Translation: X:239.63, Y:-30.35, Z:-7.16 [[ 9.88318257e-01 1.51215092e-01 1.90005194e-02 2.39631916e+02] [-1.51193498e-01 9.88500829e-01 -2.57625541e-03 -3.03478755e+01] [-1.91715979e-02 -3.26594733e-04 9.99816155e-01 -7.16397855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51587156000002 meters Centerline goodness [0,1] 0.9996516968892178 Centerline is valid? [True, True] Translation: X:239.66, Y:-30.35, Z:-7.16 [[ 9.88010742e-01 1.53101493e-01 1.98672479e-02 2.39661689e+02] [-1.53078287e-01 9.88210397e-01 -2.69259658e-03 -3.03521457e+01] [-2.00452615e-02 -3.80929938e-04 9.99799001e-01 -7.16100153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54587156000002 meters Centerline goodness [0,1] 0.9990647650222119 Centerline is valid? [True, True] Translation: X:239.69, Y:-30.34, Z:-7.16 [[ 9.87442496e-01 1.56600864e-01 2.08203350e-02 2.39692060e+02] [-1.56576165e-01 9.87661857e-01 -2.82132825e-03 -3.03427347e+01] [-2.10052732e-02 -4.74068805e-04 9.99779253e-01 -7.16342589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57587156000002 meters Centerline goodness [0,1] 0.9990647650222119 Centerline is valid? [True, True] Translation: X:239.72, Y:-30.35, Z:-7.16 [[ 9.87449204e-01 1.56558550e-01 2.08204284e-02 2.39720140e+02] [-1.56533856e-01 9.87668566e-01 -2.82063899e-03 -3.03464426e+01] [-2.10052778e-02 -4.73864217e-04 9.99779253e-01 -7.16428060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60587156000003 meters Centerline goodness [0,1] 0.9994206630189894 Centerline is valid? [True, True] Translation: X:239.75, Y:-30.35, Z:-7.16 [[ 9.87119077e-01 1.58540787e-01 2.14650083e-02 2.39748768e+02] [-1.58515029e-01 9.87352285e-01 -2.90702338e-03 -3.03522929e+01] [-2.16544067e-02 -5.32948172e-04 9.99765374e-01 -7.16159356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63587156000003 meters Centerline goodness [0,1] 0.9986060775020908 Centerline is valid? [True, True] Translation: X:239.78, Y:-30.35, Z:-7.17 [[ 9.87000736e-01 1.59280290e-01 2.14321441e-02 2.39777903e+02] [-1.59254805e-01 9.87233249e-01 -2.90164280e-03 -3.03463638e+01] [-2.16206997e-02 -5.49248355e-04 9.99766094e-01 -7.16548174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66587156000003 meters Centerline goodness [0,1] 0.999214153728522 Centerline is valid? [True, True] Translation: X:239.81, Y:-30.36, Z:-7.17 [[ 9.86923254e-01 1.59840366e-01 2.08218376e-02 2.39805883e+02] [-1.59816464e-01 9.87142724e-01 -2.81771244e-03 -3.03557344e+01] [-2.10045097e-02 -5.46806534e-04 9.99779231e-01 -7.16595352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69587156000003 meters Centerline goodness [0,1] 0.9987479043314021 Centerline is valid? [True, True] Translation: X:239.83, Y:-30.35, Z:-7.17 [[ 9.86831715e-01 1.60520187e-01 1.99106777e-02 2.39833873e+02] [-1.60498485e-01 9.87032411e-01 -2.69364760e-03 -3.03538817e+01] [-2.00848690e-02 -5.37456707e-04 9.99798134e-01 -7.17004860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72587156000003 meters Centerline goodness [0,1] 0.9988656793082784 Centerline is valid? [True, True] Translation: X:239.86, Y:-30.36, Z:-7.17 [[ 9.86802011e-01 1.60740805e-01 1.96006424e-02 2.39861873e+02] [-1.60719841e-01 9.86996508e-01 -2.65045917e-03 -3.03599576e+01] [-1.97718025e-02 -5.34733696e-04 9.99804376e-01 -7.17006448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75587156000003 meters Centerline goodness [0,1] 0.9990520305935581 Centerline is valid? [True, True] Translation: X:239.89, Y:-30.36, Z:-7.17 [[ 9.86778400e-01 1.60899162e-01 1.94896981e-02 2.39891064e+02] [-1.60878484e-01 9.86970705e-01 -2.63453306e-03 -3.03607764e+01] [-1.96596553e-02 -5.35772764e-04 9.99806587e-01 -7.17171430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78587156000003 meters Centerline goodness [0,1] 0.9987729004757702 Centerline is valid? [True, True] Translation: X:239.92, Y:-30.36, Z:-7.17 [[ 9.86789091e-01 1.60891374e-01 1.90067537e-02 2.39918538e+02] [-1.60871721e-01 9.86971981e-01 -2.56850797e-03 -3.03631283e+01] [-1.91723842e-02 -5.23073533e-04 9.99816056e-01 -7.17236388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81587156000003 meters Centerline goodness [0,1] 0.9988624900736162 Centerline is valid? [True, True] Translation: X:239.95, Y:-30.36, Z:-7.17 [[ 9.86819238e-01 1.60525761e-01 2.04761002e-02 2.39946030e+02] [-1.60502901e-01 9.87031494e-01 -2.76571778e-03 -3.03643603e+01] [-2.06545247e-02 -5.57209963e-04 9.99786517e-01 -7.17255498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84587156000003 meters Centerline goodness [0,1] 0.9991184880995894 Centerline is valid? [True, True] Translation: X:239.97, Y:-30.37, Z:-7.17 [[ 9.86947276e-01 1.59593174e-01 2.15660351e-02 2.39974674e+02] [-1.59567625e-01 9.87182707e-01 -2.91147034e-03 -3.03658805e+01] [-2.17542677e-02 -5.67773279e-04 9.99763187e-01 -7.17120351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87587156000004 meters Centerline goodness [0,1] 0.9991882249898528 Centerline is valid? [True, True] Translation: X:240.00, Y:-30.37, Z:-7.17 [[ 9.87074139e-01 1.58742946e-01 2.20299931e-02 2.40003884e+02] [-1.58716100e-01 9.87319787e-01 -2.97294526e-03 -3.03691690e+01] [-2.22225822e-02 -5.61997200e-04 9.99752890e-01 -7.17130045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90587156000004 meters Centerline goodness [0,1] 0.9994651262302097 Centerline is valid? [True, True] Translation: X:240.03, Y:-30.37, Z:-7.17 [[ 9.87430447e-01 1.56439625e-01 2.25334335e-02 2.40032676e+02] [-1.56410957e-01 9.87687385e-01 -3.04006647e-03 -3.03745554e+01] [-2.27315749e-02 -5.22621704e-04 9.99741468e-01 -7.17108575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93587156000004 meters Centerline goodness [0,1] 0.9992155199830383 Centerline is valid? [True, True] Translation: X:240.06, Y:-30.37, Z:-7.17 [[ 9.87573663e-01 1.55528262e-01 2.25659223e-02 2.40061514e+02] [-1.55499288e-01 9.87831315e-01 -3.04381114e-03 -3.03715367e+01] [-2.27647233e-02 -5.02997125e-04 9.99740724e-01 -7.17409781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96587156000004 meters Centerline goodness [0,1] 0.999166915879865 Centerline is valid? [True, True] Translation: X:240.09, Y:-30.37, Z:-7.18 [[ 9.87752569e-01 1.54387179e-01 2.25712525e-02 2.40089001e+02] [-1.54357925e-01 9.88010309e-01 -3.04314011e-03 -3.03745038e+01] [-2.27704519e-02 -4.78182238e-04 9.99740605e-01 -7.17519473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99587156000004 meters Centerline goodness [0,1] 0.9994860593601439 Centerline is valid? [True, True] Translation: X:240.12, Y:-30.38, Z:-7.18 [[ 9.88035518e-01 1.52601678e-01 2.23280649e-02 2.40117444e+02] [-1.52572624e-01 9.88287681e-01 -3.00908492e-03 -3.03780453e+01] [-2.25257429e-02 -4.33568671e-04 9.99746169e-01 -7.17671709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02587156000004 meters Centerline goodness [0,1] 0.9998276382126082 Centerline is valid? [True, True] Translation: X:240.15, Y:-30.39, Z:-7.18 [[ 9.88192072e-01 1.51628199e-01 2.20299175e-02 2.40145322e+02] [-1.51599694e-01 9.88437516e-01 -2.96801432e-03 -3.03870761e+01] [-2.22252316e-02 -4.06760520e-04 9.99752906e-01 -7.17571711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05587156000004 meters Centerline goodness [0,1] 0.999764680714515 Centerline is valid? [True, True] Translation: X:240.17, Y:-30.39, Z:-7.18 [[ 9.88601191e-01 1.49049280e-01 2.12602495e-02 2.40173022e+02] [-1.49022154e-01 9.88829711e-01 -2.86345063e-03 -3.03896329e+01] [-2.14495617e-02 -3.37437475e-04 9.99769875e-01 -7.17849969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08587156000004 meters Centerline goodness [0,1] 0.9998495982123673 Centerline is valid? [True, True] Translation: X:240.20, Y:-30.39, Z:-7.18 [[ 9.88858093e-01 1.47339711e-01 2.12292504e-02 2.40200547e+02] [-1.47312297e-01 9.89085901e-01 -2.85800830e-03 -3.03935516e+01] [-2.14186504e-02 -3.01165005e-04 9.99770549e-01 -7.18012654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11587156000004 meters Centerline goodness [0,1] 0.9998727276584011 Centerline is valid? [True, True] Translation: X:240.23, Y:-30.40, Z:-7.18 [[ 9.89346941e-01 1.43908518e-01 2.19765294e-02 2.40228761e+02] [-1.43878326e-01 9.89590967e-01 -2.95716468e-03 -3.03990789e+01] [-2.21733362e-02 -2.36284429e-04 9.99754113e-01 -7.17982562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14587156000005 meters Centerline goodness [0,1] 0.9998929336188437 Centerline is valid? [True, True] Translation: X:240.26, Y:-30.40, Z:-7.18 [[ 9.89611600e-01 1.42142178e-01 2.15518606e-02 2.40256738e+02] [-1.42112744e-01 9.89846232e-01 -2.89904062e-03 -3.04044036e+01] [-2.17451039e-02 -1.93869808e-04 9.99763528e-01 -7.18054059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17587156000002 meters Centerline goodness [0,1] 0.9998933401595631 Centerline is valid? [True, True] Translation: X:240.28, Y:-30.41, Z:-7.18 [[ 9.89868125e-01 1.40342172e-01 2.15677903e-02 2.40283950e+02] [-1.40312287e-01 9.90103051e-01 -2.90026367e-03 -3.04092704e+01] [-2.17613643e-02 -1.55347417e-04 9.99763181e-01 -7.18236630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20587156000002 meters Centerline goodness [0,1] 0.9998927429907545 Centerline is valid? [True, True] Translation: X:240.31, Y:-30.42, Z:-7.19 [[ 9.90351498e-01 1.36983245e-01 2.09642841e-02 2.40312587e+02] [-1.36954288e-01 9.90573361e-01 -2.81762573e-03 -3.04171498e+01] [-2.11526289e-02 -8.07087419e-05 9.99776255e-01 -7.18501731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23587156000002 meters Centerline goodness [0,1] 0.9997638471446973 Centerline is valid? [True, True] Translation: X:240.34, Y:-30.42, Z:-7.19 [[ 9.90734844e-01 1.34269077e-01 2.04030337e-02 2.40341914e+02] [-1.34241083e-01 9.90944910e-01 -2.74173524e-03 -3.04228010e+01] [-2.05864126e-02 -2.25927035e-05 9.99788077e-01 -7.18746525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26587156000002 meters Centerline goodness [0,1] 0.9998723865835761 Centerline is valid? [True, True] Translation: X:240.37, Y:-30.43, Z:-7.19 [[ 9.90884444e-01 1.33187477e-01 2.02265600e-02 2.40370562e+02] [-1.33159747e-01 9.91090862e-01 -2.71766977e-03 -3.04272873e+01] [-2.04083184e-02 -4.66920298e-07 9.99791729e-01 -7.18863838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.40, Y:-30.43, Z:-7.19 [[ 9.90997701e-01 1.32319309e-01 2.03753857e-02 2.40399593e+02] [-1.32291003e-01 9.91207143e-01 -2.73684650e-03 -3.04313126e+01] [-2.05583654e-02 1.67283846e-05 9.99788654e-01 -7.18935818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32587156000002 meters Centerline goodness [0,1] 0.9997863613057597 Centerline is valid? [True, True] Translation: X:240.43, Y:-30.43, Z:-7.19 [[ 9.91146020e-01 1.31336956e-01 1.94979903e-02 2.40427952e+02] [-1.31310851e-01 9.91337784e-01 -2.61869334e-03 -3.04344820e+01] [-1.96730257e-02 3.52097759e-05 9.99806467e-01 -7.19050195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35587156000003 meters Centerline goodness [0,1] 0.9999140819658047 Centerline is valid? [True, True] Translation: X:240.46, Y:-30.44, Z:-7.19 [[ 9.91118113e-01 1.31437887e-01 2.02229587e-02 2.40457103e+02] [-1.31409838e-01 9.91324407e-01 -2.71546945e-03 -3.04363507e+01] [-2.04044281e-02 3.38552295e-05 9.99791807e-01 -7.18921968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38587156000003 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:240.49, Y:-30.44, Z:-7.19 [[ 9.91068489e-01 1.31713387e-01 2.08526483e-02 2.40487176e+02] [-1.31683651e-01 9.91287841e-01 -2.79877776e-03 -3.04389175e+01] [-2.10396132e-02 2.78275848e-05 9.99778642e-01 -7.18883560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41587156000003 meters Centerline goodness [0,1] 0.9998716852010265 Centerline is valid? [True, True] Translation: X:240.52, Y:-30.44, Z:-7.19 [[ 9.91034584e-01 1.32022676e-01 2.05052555e-02 2.40515982e+02] [-1.31994001e-01 9.91246696e-01 -2.75154169e-03 -3.04420516e+01] [-2.06890326e-02 2.03022592e-05 9.99785959e-01 -7.19171806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44587156000003 meters Centerline goodness [0,1] 0.9999787378805919 Centerline is valid? [True, True] Translation: X:240.55, Y:-30.44, Z:-7.19 [[ 9.90923293e-01 1.32652457e-01 2.17796456e-02 2.40545439e+02] [-1.32620259e-01 9.91162613e-01 -2.92251960e-03 -3.04427167e+01] [-2.19748498e-02 7.57050324e-06 9.99758524e-01 -7.19075577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.57, Y:-30.45, Z:-7.19 [[ 9.90922515e-01 1.32598135e-01 2.21427876e-02 2.40573515e+02] [-1.32564865e-01 9.91169882e-01 -2.97015331e-03 -3.04454297e+01] [-2.23411009e-02 7.83613571e-06 9.99750406e-01 -7.19110546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50587156000003 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:240.60, Y:-30.45, Z:-7.19 [[ 9.90933763e-01 1.32495204e-01 2.22552905e-02 2.40602914e+02] [-1.32461588e-01 9.91183646e-01 -2.98443396e-03 -3.04485636e+01] [-2.24545032e-02 9.40525463e-06 9.99747866e-01 -7.18972457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.63, Y:-30.45, Z:-7.19 [[ 9.90963147e-01 1.32342354e-01 2.18527701e-02 2.40631887e+02] [-1.32309925e-01 9.91204066e-01 -2.92962981e-03 -3.04521239e+01] [-2.20482687e-02 1.18168130e-05 9.99756907e-01 -7.19273547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56587156000003 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:240.66, Y:-30.46, Z:-7.20 [[ 9.90948799e-01 1.32481273e-01 2.16607871e-02 2.40660701e+02] [-1.32449429e-01 9.91185509e-01 -2.90456172e-03 -3.04553576e+01] [-2.18546583e-02 9.31307263e-06 9.99761158e-01 -7.19562943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.69, Y:-30.46, Z:-7.20 [[ 9.90802754e-01 1.33548781e-01 2.17859016e-02 2.40688224e+02] [-1.33516839e-01 9.91042241e-01 -2.92074169e-03 -3.04569892e+01] [-2.19808103e-02 -1.49058133e-05 9.99758393e-01 -7.19626929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.72, Y:-30.46, Z:-7.19 [[ 9.90522193e-01 1.35495577e-01 2.25107380e-02 2.40717465e+02] [-1.35462007e-01 9.90777949e-01 -3.01658941e-03 -3.04567490e+01] [-2.27118774e-02 -6.13509873e-05 9.99742050e-01 -7.19349362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.75, Y:-30.46, Z:-7.19 [[ 9.90346366e-01 1.36740977e-01 2.27152229e-02 2.40746075e+02] [-1.36707147e-01 9.90606833e-01 -3.04289059e-03 -3.04574784e+01] [-2.29179428e-02 -9.18176818e-05 9.99737345e-01 -7.19404893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68587156000004 meters Centerline goodness [0,1] 0.9999786853099156 Centerline is valid? [True, True] Translation: X:240.77, Y:-30.46, Z:-7.20 [[ 9.90218541e-01 1.37755248e-01 2.21524702e-02 2.40774616e+02] [-1.37723353e-01 9.90466294e-01 -2.96636445e-03 -3.04582493e+01] [-2.23499074e-02 -1.13563392e-04 9.99750203e-01 -7.19604687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.80, Y:-30.46, Z:-7.20 [[ 9.89914086e-01 1.39983837e-01 2.17859508e-02 2.40803543e+02] [-1.39953543e-01 9.90153776e-01 -2.91660305e-03 -3.04577517e+01] [-2.19797188e-02 -1.61834557e-04 9.99758404e-01 -7.19740578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.83, Y:-30.46, Z:-7.20 [[ 9.89799575e-01 1.40746179e-01 2.20752171e-02 2.40832829e+02] [-1.40715291e-01 9.90045696e-01 -2.95415688e-03 -3.04591458e+01] [-2.22712599e-02 -1.82297382e-04 9.99751948e-01 -7.19803658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77587156000004 meters Centerline goodness [0,1] 0.9999361702127659 Centerline is valid? [True, True] Translation: X:240.86, Y:-30.46, Z:-7.20 [[ 9.89716000e-01 1.41377127e-01 2.17886965e-02 2.40860978e+02] [-1.41347202e-01 9.89955792e-01 -2.91523314e-03 -3.04580882e+01] [-2.19819936e-02 -1.94518396e-04 9.99758348e-01 -7.20027497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80587156000004 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:240.89, Y:-30.46, Z:-7.20 [[ 9.89748273e-01 1.41101644e-01 2.21061765e-02 2.40889730e+02] [-1.41070804e-01 9.89995095e-01 -2.95624916e-03 -3.04620197e+01] [-2.23021380e-02 -1.92593592e-04 9.99751258e-01 -7.19964782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83587156000004 meters Centerline goodness [0,1] 0.9999784557049294 Centerline is valid? [True, True] Translation: X:240.92, Y:-30.47, Z:-7.20 [[ 9.89800910e-01 1.40686204e-01 2.23953210e-02 2.40918844e+02] [-1.40654470e-01 9.90054219e-01 -2.99382531e-03 -3.04652597e+01] [-2.25937720e-02 -1.86710992e-04 9.99744711e-01 -7.19981164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86587156000004 meters Centerline goodness [0,1] 0.9999568118508282 Centerline is valid? [True, True] Translation: X:240.95, Y:-30.47, Z:-7.20 [[ 9.89870569e-01 1.40261476e-01 2.19767056e-02 2.40946875e+02] [-1.40230833e-01 9.90114482e-01 -2.93690360e-03 -3.04681083e+01] [-2.21713889e-02 -1.74657303e-04 9.99754169e-01 -7.20200200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89587156000005 meters Centerline goodness [0,1] 0.999936231267935 Centerline is valid? [True, True] Translation: X:240.97, Y:-30.47, Z:-7.20 [[ 9.89961943e-01 1.39716707e-01 2.13211891e-02 2.40974257e+02] [-1.39687767e-01 9.90191505e-01 -2.84803239e-03 -3.04714738e+01] [-2.15099780e-02 -1.58865596e-04 9.99768621e-01 -7.20296581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92587156000002 meters Centerline goodness [0,1] 0.9999574286930609 Centerline is valid? [True, True] Translation: X:241.00, Y:-30.47, Z:-7.20 [[ 9.89993529e-01 1.39293282e-01 2.25874869e-02 2.41003265e+02] [-1.39260726e-01 9.90251158e-01 -3.01567341e-03 -3.04745864e+01] [-2.27873481e-02 -1.60052659e-04 9.99740322e-01 -7.20209813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.03, Y:-30.48, Z:-7.20 [[ 9.90079306e-01 1.38683475e-01 2.25800979e-02 2.41032053e+02] [-1.38650805e-01 9.90336747e-01 -3.01362514e-03 -3.04777743e+01] [-2.27798407e-02 -1.47020872e-04 9.99740495e-01 -7.20275387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.06, Y:-30.48, Z:-7.20 [[ 9.90345576e-01 1.36670363e-01 2.31700816e-02 2.41060000e+02] [-1.36635438e-01 9.90616576e-01 -3.09129628e-03 -3.04818268e+01] [-2.33751555e-02 -1.04402653e-04 9.99726758e-01 -7.20225045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.09, Y:-30.49, Z:-7.20 [[ 9.90570743e-01 1.34972184e-01 2.34970610e-02 2.41088645e+02] [-1.34935824e-01 9.90849386e-01 -3.13340863e-03 -3.04873408e+01] [-2.37049715e-02 -6.67323675e-05 9.99718995e-01 -7.20255038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04587156000002 meters Centerline goodness [0,1] 0.9999783970620004 Centerline is valid? [True, True] Translation: X:241.12, Y:-30.49, Z:-7.20 [[ 9.90823162e-01 1.33127403e-01 2.33785307e-02 2.41116661e+02] [-1.33090922e-01 9.91098932e-01 -3.11648838e-03 -3.04936715e+01] [-2.35853268e-02 -2.35813410e-05 9.99721827e-01 -7.20354812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.14, Y:-30.50, Z:-7.21 [[ 9.91302493e-01 1.29531527e-01 2.32583571e-02 2.41144463e+02] [-1.29494459e-01 9.91575302e-01 -3.09923286e-03 -3.05033041e+01] [-2.34638609e-02 6.04488936e-05 9.99724684e-01 -7.20562805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10587156000003 meters Centerline goodness [0,1] 0.999957285949213 Centerline is valid? [True, True] Translation: X:241.17, Y:-30.51, Z:-7.21 [[ 9.91558385e-01 1.27581149e-01 2.31304892e-02 2.41172423e+02] [-1.27543967e-01 9.91828130e-01 -3.08174545e-03 -3.05104064e+01] [-2.33346425e-02 1.05576185e-04 9.99727705e-01 -7.20641337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.20, Y:-30.52, Z:-7.21 [[ 9.92056833e-01 1.23708024e-01 2.27939722e-02 2.41200999e+02] [-1.23670924e-01 9.92318642e-01 -3.03561077e-03 -3.05214485e+01] [-2.29944130e-02 1.92546805e-04 9.99735575e-01 -7.20872059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.23, Y:-30.53, Z:-7.21 [[ 9.92306383e-01 1.21732221e-01 2.25678897e-02 2.41230612e+02] [-1.21695350e-01 9.92562951e-01 -3.00515767e-03 -3.05286823e+01] [-2.27658757e-02 2.35629916e-04 9.99740796e-01 -7.21012837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19587156000003 meters Centerline goodness [0,1] 0.9998921507301396 Centerline is valid? [True, True] Translation: X:241.26, Y:-30.54, Z:-7.21 [[ 9.92658003e-01 1.19006690e-01 2.16216821e-02 2.41259619e+02] [-1.18972202e-01 9.92893411e-01 -2.87906469e-03 -3.05383937e+01] [-2.18106537e-02 2.85547476e-04 9.99762079e-01 -7.21232956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22587156000003 meters Centerline goodness [0,1] 0.9998711174120376 Centerline is valid? [True, True] Translation: X:241.29, Y:-30.54, Z:-7.21 [[ 9.92760921e-01 1.18122212e-01 2.17462072e-02 2.41289612e+02] [-1.18087105e-01 9.92999018e-01 -2.89599210e-03 -3.05449095e+01] [-2.19360433e-02 3.07081131e-04 9.99759329e-01 -7.21307115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.32, Y:-30.55, Z:-7.21 [[ 9.92839427e-01 1.17415093e-01 2.19901791e-02 2.41319477e+02] [-1.17379023e-01 9.93082871e-01 -2.92839219e-03 -3.05531774e+01] [-2.21819076e-02 3.26237496e-04 9.99753898e-01 -7.21459676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28587156000003 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:241.35, Y:-30.56, Z:-7.22 [[ 9.92842684e-01 1.17434421e-01 2.17384841e-02 2.41350572e+02] [-1.17399173e-01 9.93080587e-01 -2.89502679e-03 -3.05584942e+01] [-2.19280423e-02 3.22226108e-04 9.99759500e-01 -7.21553160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31587156000003 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:241.38, Y:-30.56, Z:-7.22 [[ 9.92840263e-01 1.17447409e-01 2.17788307e-02 2.41381339e+02] [-1.17412023e-01 9.93079051e-01 -2.90089536e-03 -3.05637367e+01] [-2.19688032e-02 3.23029148e-04 9.99758605e-01 -7.21683012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34587156000003 meters Centerline goodness [0,1] 0.9999573233185387 Centerline is valid? [True, True] Translation: X:241.41, Y:-30.57, Z:-7.22 [[ 9.92836929e-01 1.17553807e-01 2.13526141e-02 2.41412085e+02] [-1.17519830e-01 9.93066465e-01 -2.84353970e-03 -3.05720517e+01] [-2.15388340e-02 3.13815643e-04 9.99767963e-01 -7.21821886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37587156000004 meters Centerline goodness [0,1] 0.9999786365869812 Centerline is valid? [True, True] Translation: X:241.44, Y:-30.58, Z:-7.22 [[ 9.92811361e-01 1.17712621e-01 2.16642665e-02 2.41443281e+02] [-1.17677589e-01 9.93047651e-01 -2.88928122e-03 -3.05780776e+01] [-2.18537538e-02 3.19112572e-04 9.99761127e-01 -7.21864177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40587156000004 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:241.47, Y:-30.58, Z:-7.22 [[ 9.92628527e-01 1.19007615e-01 2.29302217e-02 2.41472738e+02] [-1.18968700e-01 9.92893294e-01 -3.05874573e-03 -3.05839179e+01] [-2.31312774e-02 3.08219606e-04 9.99732389e-01 -7.21783303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43587156000004 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:241.50, Y:-30.59, Z:-7.22 [[ 9.92541873e-01 1.19758056e-01 2.27736268e-02 2.41503951e+02] [-1.19719864e-01 9.92803064e-01 -3.03802815e-03 -3.05880800e+01] [-2.29735548e-02 2.88914646e-04 9.99736031e-01 -7.21865903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46587156000004 meters Centerline goodness [0,1] 0.9999573351537001 Centerline is valid? [True, True] Translation: X:241.53, Y:-30.59, Z:-7.22 [[ 9.92445374e-01 1.20580170e-01 2.26407208e-02 2.41534682e+02] [-1.20542625e-01 9.92703556e-01 -3.02079930e-03 -3.05922592e+01] [-2.28397725e-02 2.68806379e-04 9.99739102e-01 -7.21997095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49587156000004 meters Centerline goodness [0,1] 0.9999573351537001 Centerline is valid? [True, True] Translation: X:241.57, Y:-30.60, Z:-7.22 [[ 9.92442757e-01 1.20601722e-01 2.26406549e-02 2.41565230e+02] [-1.20564171e-01 9.92700938e-01 -3.02129245e-03 -3.05963823e+01] [-2.28397725e-02 2.68808011e-04 9.99739102e-01 -7.22090108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.60, Y:-30.60, Z:-7.22 [[ 9.92218286e-01 1.22431281e-01 2.26595499e-02 2.41595767e+02] [-1.22394129e-01 9.92476967e-01 -3.02447505e-03 -3.06009388e+01] [-2.28593717e-02 2.27543569e-04 9.99738665e-01 -7.22229631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.63, Y:-30.61, Z:-7.22 [[ 9.92093376e-01 1.23440904e-01 2.26512030e-02 2.41625404e+02] [-1.23404043e-01 9.92351904e-01 -3.02336095e-03 -3.06052244e+01] [-2.28511708e-02 2.04206337e-04 9.99738857e-01 -7.22369885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.66, Y:-30.61, Z:-7.23 [[ 9.91805964e-01 1.25935284e-01 2.14763616e-02 2.41655479e+02] [-1.25902732e-01 9.92038449e-01 -2.86654943e-03 -3.06079438e+01] [-2.16663762e-02 1.39128222e-04 9.99765247e-01 -7.22703112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61587156000004 meters Centerline goodness [0,1] 0.9999787883930087 Centerline is valid? [True, True] Translation: X:241.68, Y:-30.61, Z:-7.23 [[ 9.91589801e-01 1.27640125e-01 2.13930864e-02 2.41684986e+02] [-1.27608225e-01 9.91820542e-01 -2.85532502e-03 -3.06109149e+01] [-2.15825566e-02 1.01377397e-04 9.99767064e-01 -7.22788597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.72, Y:-30.61, Z:-7.23 [[ 9.91219813e-01 1.30457221e-01 2.15451959e-02 2.41715738e+02] [-1.30425522e-01 9.91453938e-01 -2.87601397e-03 -3.06123858e+01] [-2.17362661e-02 4.07186224e-05 9.99763739e-01 -7.22686392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.75, Y:-30.62, Z:-7.23 [[ 9.91079536e-01 1.31530172e-01 2.14748068e-02 2.41745158e+02] [-1.31498926e-01 9.91312168e-01 -2.86682362e-03 -3.06152759e+01] [-2.16653111e-02 1.73361865e-05 9.99765279e-01 -7.22757809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70587156000002 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:241.77, Y:-30.62, Z:-7.23 [[ 9.90846575e-01 1.33240388e-01 2.16809413e-02 2.41774532e+02] [-1.33208964e-01 9.91083749e-01 -2.89370471e-03 -3.06184271e+01] [-2.18731870e-02 -2.08783282e-05 9.99760753e-01 -7.23108051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.80, Y:-30.62, Z:-7.23 [[ 9.90792367e-01 1.33551413e-01 2.22374669e-02 2.41804150e+02] [-1.33518438e-01 9.91041886e-01 -2.96777382e-03 -3.06236782e+01] [-2.24346115e-02 -2.86641877e-05 9.99748312e-01 -7.23179759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.83, Y:-30.63, Z:-7.23 [[ 9.90812065e-01 1.33274046e-01 2.30104528e-02 2.41833246e+02] [-1.33238676e-01 9.91079224e-01 -3.07034425e-03 -3.06317201e+01] [-2.32143789e-02 -2.37481551e-05 9.99730510e-01 -7.23161605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79587156000002 meters Centerline goodness [0,1] 0.9998091117332655 Centerline is valid? [True, True] Translation: X:241.86, Y:-30.64, Z:-7.23 [[ 9.90882804e-01 1.32691461e-01 2.33290506e-02 2.41862725e+02] [-1.32654952e-01 9.91157392e-01 -3.11253223e-03 -3.06384275e+01] [-2.35357674e-02 -1.05594085e-05 9.99722995e-01 -7.22944207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.89, Y:-30.65, Z:-7.23 [[ 9.91065536e-01 1.31212712e-01 2.39233577e-02 2.41893304e+02] [-1.31173891e-01 9.91354237e-01 -3.19168375e-03 -3.06471421e+01] [-2.41353115e-02 2.50478462e-05 9.99708701e-01 -7.23010189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.92, Y:-30.65, Z:-7.23 [[ 9.91211840e-01 1.30226483e-01 2.32411391e-02 2.41924919e+02] [-1.30189584e-01 9.91484272e-01 -3.10020953e-03 -3.06544002e+01] [-2.34469533e-02 4.72101675e-05 9.99725081e-01 -7.23085953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.95, Y:-30.67, Z:-7.24 [[ 9.91501001e-01 1.28173388e-01 2.23013018e-02 2.41954332e+02] [-1.28138800e-01 9.91751770e-01 -2.97904366e-03 -3.06686115e+01] [-2.24991897e-02 9.60627205e-05 9.99746857e-01 -7.23685074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.99, Y:-30.68, Z:-7.24 [[ 9.91622989e-01 1.27267754e-01 2.20627755e-02 2.41985709e+02] [-1.27233645e-01 9.91868391e-01 -2.94866056e-03 -3.06767488e+01] [-2.22586390e-02 1.16832260e-04 9.99752239e-01 -7.23732010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.02, Y:-30.69, Z:-7.24 [[ 9.91735663e-01 1.26286350e-01 2.26303604e-02 2.42017680e+02] [-1.26250123e-01 9.91993819e-01 -3.02816759e-03 -3.06875169e+01] [-2.28315939e-02 1.46055996e-04 9.99739315e-01 -7.23731166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.05, Y:-30.69, Z:-7.24 [[ 9.91754818e-01 1.26186500e-01 2.23461176e-02 2.42049748e+02] [-1.26151060e-01 9.92006524e-01 -2.99423042e-03 -3.06943574e+01] [-2.25453259e-02 1.50556018e-04 9.99745810e-01 -7.23820400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00587156000003 meters Centerline goodness [0,1] 0.9998931441272012 Centerline is valid? [True, True] Translation: X:242.08, Y:-30.70, Z:-7.24 [[ 9.91746499e-01 1.26253062e-01 2.23393349e-02 2.42082262e+02] [-1.26217565e-01 9.91998055e-01 -2.99755141e-03 -3.07034728e+01] [-2.25390269e-02 1.53194656e-04 9.99745952e-01 -7.23902706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.11, Y:-30.71, Z:-7.24 [[ 9.91707379e-01 1.26478596e-01 2.27955823e-02 2.42113407e+02] [-1.26441590e-01 9.91969324e-01 -3.06330136e-03 -3.07100796e+01] [-2.29999605e-02 1.55588893e-04 9.99735454e-01 -7.24021799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.15, Y:-30.72, Z:-7.24 [[ 9.91646578e-01 1.26940810e-01 2.28712933e-02 2.42145669e+02] [-1.26903588e-01 9.91910282e-01 -3.07747655e-03 -3.07163084e+01] [-2.30769283e-02 1.49319908e-04 9.99733681e-01 -7.24103024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.18, Y:-30.72, Z:-7.24 [[ 9.91478291e-01 1.28199836e-01 2.31430514e-02 2.42177354e+02] [-1.28161961e-01 9.91748348e-01 -3.11858101e-03 -3.07228755e+01] [-2.33518845e-02 1.25946527e-04 9.99727300e-01 -7.24051337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12587156000004 meters Centerline goodness [0,1] 0.9999146775879354 Centerline is valid? [True, True] Translation: X:242.21, Y:-30.73, Z:-7.24 [[ 9.91313498e-01 1.29406482e-01 2.34842804e-02 2.42209033e+02] [-1.29367727e-01 9.91591626e-01 -3.16849592e-03 -3.07278284e+01] [-2.36968397e-02 1.02864798e-04 9.99719185e-01 -7.24083868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15587156000004 meters Centerline goodness [0,1] 0.9998293005590406 Centerline is valid? [True, True] Translation: X:242.24, Y:-30.73, Z:-7.24 [[ 9.90919369e-01 1.32487788e-01 2.29301007e-02 2.42239617e+02] [-1.32451579e-01 9.91184637e-01 -3.09746215e-03 -3.07311880e+01] [-2.31383395e-02 3.22071848e-05 9.99732272e-01 -7.24226386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.27, Y:-30.73, Z:-7.24 [[ 9.90613662e-01 1.34852545e-01 2.23464402e-02 2.42272582e+02] [-1.34818689e-01 9.90865677e-01 -3.02163736e-03 -3.07332752e+01] [-2.25497961e-02 -1.94425221e-05 9.99745721e-01 -7.24480229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.30, Y:-30.73, Z:-7.25 [[ 9.90017341e-01 1.39180425e-01 2.22367724e-02 2.42304404e+02] [-1.39147882e-01 9.90267033e-01 -3.01168620e-03 -3.07312468e+01] [-2.24395104e-02 -1.12578219e-04 9.99748196e-01 -7.24652926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24587156000004 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:242.34, Y:-30.73, Z:-7.25 [[ 9.89726480e-01 1.41214358e-01 2.23606874e-02 2.42335780e+02] [-1.41181914e-01 9.89979030e-01 -3.03097510e-03 -3.07331057e+01] [-2.25646288e-02 -1.57088324e-04 9.99745374e-01 -7.24734309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.37, Y:-30.74, Z:-7.25 [[ 9.89480844e-01 1.42857847e-01 2.27880376e-02 2.42365793e+02] [-1.42824572e-01 9.89743197e-01 -3.08952544e-03 -3.07351649e+01] [-2.29956682e-02 -1.97665473e-04 9.99735545e-01 -7.24743378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.40, Y:-30.74, Z:-7.25 [[ 9.89095182e-01 1.45390436e-01 2.35019761e-02 2.42396369e+02] [-1.45355749e-01 9.89374323e-01 -3.18667414e-03 -3.07351845e+01] [-2.37155636e-02 -2.64223297e-04 9.99718712e-01 -7.24702973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.43, Y:-30.74, Z:-7.25 [[ 9.89011856e-01 1.45931014e-01 2.36577127e-02 2.42425944e+02] [-1.45896019e-01 9.89294729e-01 -3.20786174e-03 -3.07375262e+01] [-2.38725770e-02 -2.78952804e-04 9.99714971e-01 -7.24797394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.46, Y:-30.74, Z:-7.25 [[ 9.89090518e-01 1.45344934e-01 2.39749121e-02 2.42456389e+02] [-1.45308830e-01 9.89381007e-01 -3.25052709e-03 -3.07425963e+01] [-2.41927703e-02 -2.68700899e-04 9.99707276e-01 -7.24838410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.49, Y:-30.75, Z:-7.25 [[ 9.89169154e-01 1.44807498e-01 2.39827693e-02 2.42486324e+02] [-1.44771212e-01 9.89459814e-01 -3.25159239e-03 -3.07472287e+01] [-2.42008414e-02 -2.55639703e-04 9.99707084e-01 -7.24980794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.52, Y:-30.75, Z:-7.25 [[ 9.89390700e-01 1.43333510e-01 2.36970037e-02 2.42516033e+02] [-1.43297663e-01 9.89674420e-01 -3.21277877e-03 -3.07531369e+01] [-2.39128172e-02 -2.17031808e-04 9.99714024e-01 -7.25140470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.55, Y:-30.76, Z:-7.25 [[ 9.89486512e-01 1.42658577e-01 2.37691573e-02 2.42546521e+02] [-1.42622312e-01 9.89771938e-01 -3.22276013e-03 -3.07590464e+01] [-2.39857993e-02 -2.01134491e-04 9.99712279e-01 -7.25214442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48587156000002 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:242.58, Y:-30.76, Z:-7.25 [[ 9.89548217e-01 1.42215885e-01 2.38530645e-02 2.42577066e+02] [-1.42179222e-01 9.89835646e-01 -3.23467391e-03 -3.07643651e+01] [-2.40706355e-02 -1.90544349e-04 9.99710242e-01 -7.25270151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.61, Y:-30.77, Z:-7.25 [[ 9.89676178e-01 1.41325348e-01 2.38371463e-02 2.42609068e+02] [-1.41288486e-01 9.89963190e-01 -3.23211717e-03 -3.07713183e+01] [-2.40546775e-02 -1.69164933e-04 9.99710630e-01 -7.25200898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.64, Y:-30.77, Z:-7.26 [[ 9.89716953e-01 1.41054066e-01 2.37508594e-02 2.42641034e+02] [-1.41017293e-01 9.90001882e-01 -3.22451507e-03 -3.07731913e+01] [-2.39682265e-02 -1.57924672e-04 9.99712708e-01 -7.25535437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.67, Y:-30.78, Z:-7.26 [[ 9.89895671e-01 1.39973732e-01 2.26696887e-02 2.42673035e+02] [-1.39939854e-01 9.90155210e-01 -3.08185452e-03 -3.07797333e+01] [-2.28778891e-02 -1.21678480e-04 9.99738259e-01 -7.25629196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.70, Y:-30.78, Z:-7.26 [[ 9.89940520e-01 1.39698973e-01 2.24045550e-02 2.42704684e+02] [-1.39665727e-01 9.90194014e-01 -3.04956481e-03 -3.07846344e+01] [-2.26108773e-02 -1.10260683e-04 9.99744335e-01 -7.25795878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.74, Y:-30.79, Z:-7.26 [[ 9.90176743e-01 1.38085577e-01 2.19634129e-02 2.42736554e+02] [-1.38053151e-01 9.90420299e-01 -2.99311566e-03 -3.07905400e+01] [-2.21663161e-02 -6.84048493e-05 9.99754295e-01 -7.26069917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.77, Y:-30.80, Z:-7.26 [[ 9.90298969e-01 1.37196867e-01 2.20220640e-02 2.42767306e+02] [-1.37163952e-01 9.90543799e-01 -3.00539335e-03 -3.07968900e+01] [-2.22261495e-02 -4.43954013e-05 9.99752968e-01 -7.26189755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.80, Y:-30.80, Z:-7.26 [[ 9.90465603e-01 1.35972902e-01 2.21191909e-02 2.42798332e+02] [-1.35939308e-01 9.90712557e-01 -3.02237581e-03 -3.08028797e+01] [-2.23247214e-02 -1.33082299e-05 9.99750772e-01 -7.26301493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.83, Y:-30.81, Z:-7.26 [[ 9.90886640e-01 1.32694759e-01 2.31466664e-02 2.42830596e+02] [-1.32657021e-01 9.91156948e-01 -3.16515708e-03 -3.08116202e+01] [-2.33619790e-02 6.57440416e-05 9.99727070e-01 -7.26093346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.86, Y:-30.82, Z:-7.26 [[ 9.91428703e-01 1.28347028e-01 2.44165249e-02 2.42860475e+02] [-1.28303584e-01 9.91729301e-01 -3.34415475e-03 -3.08234102e+01] [-2.46437955e-02 1.82763366e-04 9.99696279e-01 -7.26047510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78587156000003 meters Centerline goodness [0,1] 0.9998711561587356 Centerline is valid? [True, True] Translation: X:242.89, Y:-30.83, Z:-7.26 [[ 9.91665487e-01 1.26415424e-01 2.48737459e-02 2.42891246e+02] [-1.26369620e-01 9.91977360e-01 -3.41113581e-03 -3.08311207e+01] [-2.51054129e-02 2.39419843e-04 9.99684781e-01 -7.26039605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.92, Y:-30.84, Z:-7.26 [[ 9.91841771e-01 1.25081869e-01 2.45851111e-02 2.42922494e+02] [-1.25036667e-01 9.92146386e-01 -3.37341317e-03 -3.08374638e+01] [-2.48139820e-02 2.71851753e-04 9.99692049e-01 -7.26172861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84587156000003 meters Centerline goodness [0,1] 0.9999358508318009 Centerline is valid? [True, True] Translation: X:242.95, Y:-30.85, Z:-7.26 [[ 9.92187191e-01 1.22393434e-01 2.41748964e-02 2.42952834e+02] [-1.22348820e-01 9.92481603e-01 -3.32162477e-03 -3.08482270e+01] [-2.43996850e-02 3.37903502e-04 9.99702226e-01 -7.26371954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.98, Y:-30.85, Z:-7.27 [[ 9.92276994e-01 1.21732760e-01 2.38222864e-02 2.42984663e+02] [-1.21689210e-01 9.92562850e-01 -3.27475576e-03 -3.08530376e+01] [-2.40437615e-02 3.50549598e-04 9.99710846e-01 -7.26519179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.01, Y:-30.86, Z:-7.27 [[ 9.92357838e-01 1.21255771e-01 2.28682856e-02 2.43014833e+02] [-1.21215423e-01 9.92621234e-01 -3.14747065e-03 -3.08598499e+01] [-2.30811948e-02 3.51428255e-04 9.99733532e-01 -7.26791240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93587156000004 meters Centerline goodness [0,1] 0.9999136796219168 Centerline is valid? [True, True] Translation: X:243.05, Y:-30.87, Z:-7.27 [[ 9.92377379e-01 1.21127692e-01 2.26984387e-02 2.43046302e+02] [-1.21087829e-01 9.92636870e-01 -3.12755304e-03 -3.08654110e+01] [-2.29101404e-02 3.55208219e-04 9.99737465e-01 -7.26825168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.08, Y:-30.87, Z:-7.27 [[ 9.92290352e-01 1.21785901e-01 2.29793550e-02 2.43078543e+02] [-1.21745105e-01 9.92556332e-01 -3.17130114e-03 -3.08705067e+01] [-2.31945241e-02 3.49227536e-04 9.99730910e-01 -7.26935109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99587156000004 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:243.11, Y:-30.88, Z:-7.27 [[ 9.92212334e-01 1.22484368e-01 2.26332411e-02 2.43109723e+02] [-1.22444962e-01 9.92470388e-01 -3.12402073e-03 -3.08767133e+01] [-2.28454653e-02 3.28365565e-04 9.99738954e-01 -7.27007031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.14, Y:-30.88, Z:-7.27 [[ 9.92073766e-01 1.23555054e-01 2.28864866e-02 2.43140555e+02] [-1.23514942e-01 9.92337670e-01 -3.16346851e-03 -3.08823545e+01] [-2.31019853e-02 3.11571064e-04 9.99733065e-01 -7.27207102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05587156000004 meters Centerline goodness [0,1] 0.9999571109967405 Centerline is valid? [True, True] Translation: X:243.17, Y:-30.89, Z:-7.27 [[ 9.91806455e-01 1.25627435e-01 2.31884173e-02 2.43172551e+02] [-1.25586740e-01 9.92077454e-01 -3.20876472e-03 -3.08855617e+01] [-2.34078148e-02 2.70315832e-04 9.99725963e-01 -7.27139849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.20, Y:-30.89, Z:-7.27 [[ 9.91220086e-01 1.30155564e-01 2.32867032e-02 2.43204536e+02] [-1.30115680e-01 9.91493571e-01 -3.22628220e-03 -3.08860955e+01] [-2.35085351e-02 1.67990508e-04 9.99723622e-01 -7.27275304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.24, Y:-30.89, Z:-7.27 [[ 9.90851105e-01 1.32892864e-01 2.35281726e-02 2.43235739e+02] [-1.32852822e-01 9.91130403e-01 -3.26382303e-03 -3.08880444e+01] [-2.37532260e-02 1.08178521e-04 9.99717846e-01 -7.27365463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.27, Y:-30.89, Z:-7.27 [[ 9.90405777e-01 1.36147875e-01 2.36675601e-02 2.43268272e+02] [-1.36108200e-01 9.90688526e-01 -3.28677182e-03 -3.08890792e+01] [-2.38946672e-02 3.38887817e-05 9.99714481e-01 -7.27359921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.30, Y:-30.89, Z:-7.28 [[ 9.89513303e-01 1.42529167e-01 2.34277509e-02 2.43300168e+02] [-1.42491973e-01 9.89790596e-01 -3.25792833e-03 -3.08850714e+01] [-2.36529173e-02 -1.14503030e-04 9.99720224e-01 -7.27557315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20587156000002 meters Centerline goodness [0,1] 0.9998503314090229 Centerline is valid? [True, True] Translation: X:243.33, Y:-30.88, Z:-7.28 [[ 9.89103711e-01 1.45418765e-01 2.29615112e-02 2.43331465e+02] [-1.45383777e-01 9.89370179e-01 -3.19473093e-03 -3.08848878e+01] [-2.31820082e-02 -1.78311001e-04 9.99731245e-01 -7.27667454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.36, Y:-30.88, Z:-7.28 [[ 9.88364617e-01 1.50427974e-01 2.25124263e-02 2.43363597e+02] [-1.50395542e-01 9.88620930e-01 -3.13656859e-03 -3.08819166e+01] [-2.27280835e-02 -2.85695127e-04 9.99741643e-01 -7.27976847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26587156000002 meters Centerline goodness [0,1] 0.9999785807612398 Centerline is valid? [True, True] Translation: X:243.39, Y:-30.88, Z:-7.28 [[ 9.88069864e-01 1.52384907e-01 2.22886646e-02 2.43394525e+02] [-1.52353597e-01 9.88321169e-01 -3.10609857e-03 -3.08824983e+01] [-2.25016816e-02 -3.26715845e-04 9.99746752e-01 -7.28140394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29587156000002 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:243.43, Y:-30.88, Z:-7.28 [[ 9.87802337e-01 1.54084906e-01 2.24584955e-02 2.43425039e+02] [-1.54053557e-01 9.88057542e-01 -3.12976582e-03 -3.08831532e+01] [-2.26725355e-02 -3.68221130e-04 9.99742877e-01 -7.28183255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32587156000002 meters Centerline goodness [0,1] 0.9998290196413687 Centerline is valid? [True, True] Translation: X:243.45, Y:-30.88, Z:-7.28 [[ 9.87458235e-01 1.56186688e-01 2.30641090e-02 2.43454984e+02] [-1.56154197e-01 9.87727460e-01 -3.21424398e-03 -3.08818310e+01] [-2.32830759e-02 -4.27625722e-04 9.99728821e-01 -7.28133204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35587156000003 meters Centerline goodness [0,1] 0.9999574667177066 Centerline is valid? [True, True] Translation: X:243.48, Y:-30.88, Z:-7.28 [[ 9.87206530e-01 1.57704824e-01 2.35043622e-02 2.43484267e+02] [-1.57671513e-01 9.87486185e-01 -3.27545761e-03 -3.08816433e+01] [-2.37267884e-02 -4.72415194e-04 9.99718369e-01 -7.28257897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38587156000003 meters Centerline goodness [0,1] 0.9999574667177066 Centerline is valid? [True, True] Translation: X:243.51, Y:-30.89, Z:-7.28 [[ 9.87210107e-01 1.57682417e-01 2.35044847e-02 2.43513152e+02] [-1.57649121e-01 9.87489763e-01 -3.27457809e-03 -3.08856214e+01] [-2.37267814e-02 -4.72764765e-04 9.99718369e-01 -7.28345882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.54, Y:-30.89, Z:-7.28 [[ 9.87179435e-01 1.57855812e-01 2.36284882e-02 2.43542141e+02] [-1.57822226e-01 9.87462056e-01 -3.29130788e-03 -3.08894540e+01] [-2.38517876e-02 -4.79989146e-04 9.99715390e-01 -7.28311430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.57, Y:-30.89, Z:-7.28 [[ 9.87197766e-01 1.57678202e-01 2.40448636e-02 2.43571749e+02] [-1.57643383e-01 9.87490430e-01 -3.34872384e-03 -3.08929956e+01] [-2.42720935e-02 -4.84660952e-04 9.99705272e-01 -7.28360192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.60, Y:-30.90, Z:-7.28 [[ 9.87404996e-01 1.56344470e-01 2.42441696e-02 2.43601915e+02] [-1.56308687e-01 9.87702485e-01 -3.37576198e-03 -3.08984446e+01] [-2.44738083e-02 -4.56330071e-04 9.99700367e-01 -7.28358958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50587156000003 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:243.63, Y:-30.90, Z:-7.29 [[ 9.87559204e-01 1.55402308e-01 2.40195998e-02 2.43632361e+02] [-1.55366907e-01 9.87851172e-01 -3.34449285e-03 -3.09027866e+01] [-2.42475318e-02 -4.28966229e-04 9.99705893e-01 -7.28513010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53587156000003 meters Centerline goodness [0,1] 0.9999785646917603 Centerline is valid? [True, True] Translation: X:243.66, Y:-30.91, Z:-7.29 [[ 9.88029077e-01 1.52395439e-01 2.39619330e-02 2.43661514e+02] [-1.52359321e-01 9.88319536e-01 -3.33653523e-03 -3.09059266e+01] [-2.41905192e-02 -3.54230013e-04 9.99707304e-01 -7.28776656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.69, Y:-30.91, Z:-7.29 [[ 9.88304116e-01 1.50562325e-01 2.42066158e-02 2.43691303e+02] [-1.50524926e-01 9.88600470e-01 -3.37023844e-03 -3.09141766e+01] [-2.44381027e-02 -3.12878529e-04 9.99701296e-01 -7.28773813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.72, Y:-30.92, Z:-7.29 [[ 9.88841533e-01 1.47055536e-01 2.38136798e-02 2.43722329e+02] [-1.47018337e-01 9.89128212e-01 -3.31496463e-03 -3.09230802e+01] [-2.40422665e-02 -2.23072904e-04 9.99710918e-01 -7.28870449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62587156000004 meters Centerline goodness [0,1] 0.999808065513638 Centerline is valid? [True, True] Translation: X:243.75, Y:-30.93, Z:-7.29 [[ 9.89060740e-01 1.45625476e-01 2.34962541e-02 2.43753146e+02] [-1.45588809e-01 9.89339773e-01 -3.27289956e-03 -3.09271769e+01] [-2.37223962e-02 -1.83695180e-04 9.99718567e-01 -7.28971375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.78, Y:-30.93, Z:-7.29 [[ 9.89382349e-01 1.43428772e-01 2.34681849e-02 2.43783524e+02] [-1.43391508e-01 9.89660634e-01 -3.27179365e-03 -3.09326592e+01] [-2.36948081e-02 -1.28083526e-04 9.99719230e-01 -7.29167807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.82, Y:-30.94, Z:-7.29 [[ 9.89511957e-01 1.42550837e-01 2.33526632e-02 2.43815474e+02] [-1.42513703e-01 9.89787476e-01 -3.25530712e-03 -3.09381558e+01] [-2.35782203e-02 -1.06909185e-04 9.99721989e-01 -7.29283612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.85, Y:-30.94, Z:-7.29 [[ 9.89599998e-01 1.41859875e-01 2.38247744e-02 2.43847515e+02] [-1.41820926e-01 9.89886745e-01 -3.32519418e-03 -3.09436683e+01] [-2.40555400e-02 -8.82394157e-05 9.99710620e-01 -7.29334562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.88, Y:-30.95, Z:-7.30 [[ 9.89832403e-01 1.40309603e-01 2.33458615e-02 2.43880552e+02] [-1.40271686e-01 9.90107678e-01 -3.26203761e-03 -3.09487169e+01] [-2.35726119e-02 -4.58928269e-05 9.99722126e-01 -7.29554571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.91, Y:-30.95, Z:-7.30 [[ 9.90002337e-01 1.39098992e-01 2.33846614e-02 2.43912916e+02] [-1.39060502e-01 9.90278481e-01 -3.27211303e-03 -3.09525933e+01] [-2.36124746e-02 -1.24831987e-05 9.99721187e-01 -7.29595441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80587156000004 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:243.95, Y:-30.96, Z:-7.30 [[ 9.90027326e-01 1.38927880e-01 2.33439054e-02 2.43945086e+02] [-1.38889380e-01 9.90302501e-01 -3.27045047e-03 -3.09559833e+01] [-2.35718846e-02 -4.38521368e-06 9.99722145e-01 -7.29534601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.98, Y:-30.96, Z:-7.30 [[ 9.89982636e-01 1.39185151e-01 2.37038741e-02 2.43976400e+02] [-1.39145427e-01 9.90266375e-01 -3.32513002e-03 -3.09595345e+01] [-2.39359582e-02 -6.46471066e-06 9.99713494e-01 -7.29715180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.01, Y:-30.96, Z:-7.30 [[ 9.89852908e-01 1.40070851e-01 2.39034973e-02 2.44007280e+02] [-1.40030619e-01 9.90141483e-01 -3.35700329e-03 -3.09607524e+01] [-2.41380626e-02 -2.42820624e-05 9.99708634e-01 -7.29944694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.04, Y:-30.96, Z:-7.30 [[ 9.89734232e-01 1.40861234e-01 2.41715314e-02 2.44038824e+02] [-1.40820218e-01 9.90029349e-01 -3.39925140e-03 -3.09636697e+01] [-2.44093483e-02 -3.94848614e-05 9.99702047e-01 -7.29814050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92587156000002 meters Centerline goodness [0,1] 0.9999359275554227 Centerline is valid? [True, True] Translation: X:244.07, Y:-30.96, Z:-7.30 [[ 9.89416067e-01 1.43020114e-01 2.45172071e-02 2.44069804e+02] [-1.42978561e-01 9.89719778e-01 -3.44858973e-03 -3.09605655e+01] [-2.47583825e-02 -9.33449094e-05 9.99693460e-01 -7.29721670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.10, Y:-30.96, Z:-7.30 [[ 9.89170775e-01 1.44595112e-01 2.51680677e-02 2.44100719e+02] [-1.44551833e-01 9.89490897e-01 -3.54013976e-03 -3.09604989e+01] [-2.54154608e-02 -1.36287526e-04 9.99676966e-01 -7.29839620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.13, Y:-30.96, Z:-7.30 [[ 9.88953104e-01 1.46053044e-01 2.53034938e-02 2.44130173e+02] [-1.46009775e-01 9.89276745e-01 -3.55914497e-03 -3.09601008e+01] [-2.55519820e-02 -1.74729991e-04 9.99673480e-01 -7.29945009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.16, Y:-30.96, Z:-7.30 [[ 9.88600514e-01 1.48508734e-01 2.47826366e-02 2.44161542e+02] [-1.48467993e-01 9.88911069e-01 -3.48616304e-03 -3.09568355e+01] [-2.50255493e-02 -2.33005750e-04 9.99686785e-01 -7.30125925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.19, Y:-30.95, Z:-7.30 [[ 9.88372756e-01 1.50043150e-01 2.46241262e-02 2.44190727e+02] [-1.50003401e-01 9.88679412e-01 -3.46401599e-03 -3.09540129e+01] [-2.48651185e-02 -2.69963641e-04 9.99690779e-01 -7.30267515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07587156000002 meters Centerline goodness [0,1] 0.9999353490076073 Centerline is valid? [True, True] Translation: X:244.22, Y:-30.96, Z:-7.30 [[ 9.88343285e-01 1.50305197e-01 2.42053564e-02 2.44220083e+02] [-1.50266885e-01 9.88639607e-01 -3.40440408e-03 -3.09562651e+01] [-2.44420737e-02 -2.72543586e-04 9.99701211e-01 -7.30244059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10587156000003 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:244.25, Y:-30.95, Z:-7.30 [[ 9.88298175e-01 1.50580836e-01 2.43337238e-02 2.44248106e+02] [-1.50542210e-01 9.88597660e-01 -3.42205021e-03 -3.09534962e+01] [-2.45715576e-02 -2.81246567e-04 9.99698034e-01 -7.30461343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.28, Y:-30.95, Z:-7.31 [[ 9.88316955e-01 1.50434258e-01 2.44771595e-02 2.44276474e+02] [-1.50395168e-01 9.88619975e-01 -3.44068820e-03 -3.09515405e+01] [-2.47162062e-02 -2.80756035e-04 9.99694468e-01 -7.30698888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16587156000003 meters Centerline goodness [0,1] 0.9999786893979755 Centerline is valid? [True, True] Translation: X:244.30, Y:-30.95, Z:-7.31 [[ 9.88376808e-01 1.50084977e-01 2.42029867e-02 2.44304740e+02] [-1.50046690e-01 9.88673064e-01 -3.40059327e-03 -3.09546292e+01] [-2.44392190e-02 -2.70510539e-04 9.99701281e-01 -7.30738757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19587156000003 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:244.33, Y:-30.96, Z:-7.31 [[ 9.88624168e-01 1.48442366e-01 2.42305164e-02 2.44333315e+02] [-1.48403528e-01 9.88921033e-01 -3.40332420e-03 -3.09573153e+01] [-2.44672648e-02 -2.31285562e-04 9.99700605e-01 -7.30845225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.36, Y:-30.96, Z:-7.31 [[ 9.89003612e-01 1.46028473e-01 2.33995626e-02 2.44361349e+02] [-1.45991602e-01 9.89280373e-01 -3.28554540e-03 -3.09618850e+01] [-2.36285113e-02 -1.66723380e-04 9.99720794e-01 -7.31009814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.39, Y:-30.97, Z:-7.31 [[ 9.89237198e-01 1.44499461e-01 2.30146142e-02 2.44390471e+02] [-1.44463409e-01 9.89504871e-01 -3.23023351e-03 -3.09664222e+01] [-2.32398398e-02 -1.29302468e-04 9.99729910e-01 -7.31119338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.42, Y:-30.97, Z:-7.31 [[ 9.89453005e-01 1.43017460e-01 2.29946979e-02 2.44418699e+02] [-1.42981082e-01 9.89720161e-01 -3.22694872e-03 -3.09699165e+01] [-2.32198261e-02 -9.48926654e-05 9.99730379e-01 -7.31297085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.45, Y:-30.98, Z:-7.31 [[ 9.89961352e-01 1.39334724e-01 2.37140709e-02 2.44447996e+02] [-1.39295000e-01 9.90245341e-01 -3.32689903e-03 -3.09756438e+01] [-2.39463008e-02 -9.75005001e-06 9.99713246e-01 -7.31275056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.48, Y:-30.98, Z:-7.31 [[ 9.90216711e-01 1.37479665e-01 2.38790140e-02 2.44477540e+02] [-1.37438862e-01 9.90504589e-01 -3.34946709e-03 -3.09812066e+01] [-2.41127566e-02 3.47937784e-05 9.99709245e-01 -7.31301061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.51, Y:-30.99, Z:-7.31 [[ 9.90662701e-01 1.34095524e-01 2.46130683e-02 2.44506855e+02] [-1.34051147e-01 9.90968403e-01 -3.45168011e-03 -3.09892171e+01] [-2.48536278e-02 1.20040717e-04 9.99691094e-01 -7.31270149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.54, Y:-31.00, Z:-7.31 [[ 9.90855817e-01 1.32644801e-01 2.47003340e-02 2.44537180e+02] [-1.32599658e-01 9.91163625e-01 -3.46391805e-03 -3.09954643e+01] [-2.49415433e-02 1.56987527e-04 9.99688899e-01 -7.31338860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.57, Y:-31.00, Z:-7.32 [[ 9.91168421e-01 1.30458959e-01 2.37827840e-02 2.44566646e+02] [-1.30416480e-01 9.91453690e-01 -3.33516828e-03 -3.10035421e+01] [-2.40146316e-02 2.04046507e-04 9.99711586e-01 -7.31651323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46587156000004 meters Centerline goodness [0,1] 0.9998930892918235 Centerline is valid? [True, True] Translation: X:244.60, Y:-31.01, Z:-7.32 [[ 9.91314167e-01 1.29385966e-01 2.35689256e-02 2.44596844e+02] [-1.29343936e-01 9.91594282e-01 -3.30554115e-03 -3.10087899e+01] [-2.37985024e-02 2.28332173e-04 9.99716749e-01 -7.31687955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49587156000004 meters Centerline goodness [0,1] 0.9998937074829932 Centerline is valid? [True, True] Translation: X:244.63, Y:-31.02, Z:-7.32 [[ 9.91539876e-01 1.27739940e-01 2.30473886e-02 2.44626231e+02] [-1.27699307e-01 9.91807662e-01 -3.23231446e-03 -3.10157502e+01] [-2.32714722e-02 2.61833125e-04 9.99729148e-01 -7.31843211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.66, Y:-31.02, Z:-7.32 [[ 9.91657281e-01 1.26847448e-01 2.29251470e-02 2.44657540e+02] [-1.26807002e-01 9.91922197e-01 -3.21535514e-03 -3.10206300e+01] [-2.31478218e-02 2.81461175e-04 9.99732014e-01 -7.32015858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.69, Y:-31.03, Z:-7.32 [[ 9.91730098e-01 1.26237381e-01 2.31416737e-02 2.44686823e+02] [-1.26195986e-01 9.92000017e-01 -3.24637575e-03 -3.10267246e+01] [-2.33663547e-02 2.99142194e-04 9.99726925e-01 -7.32125907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58587156000004 meters Centerline goodness [0,1] 0.9997654134055576 Centerline is valid? [True, True] Translation: X:244.72, Y:-31.03, Z:-7.32 [[ 9.91729701e-01 1.26336897e-01 2.26094903e-02 2.44717441e+02] [-1.26297428e-01 9.91987351e-01 -3.17094992e-03 -3.10328968e+01] [-2.28289364e-02 2.89204750e-04 9.99739344e-01 -7.32114803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.75, Y:-31.04, Z:-7.32 [[ 9.91688809e-01 1.26550907e-01 2.31985918e-02 2.44748133e+02] [-1.26509305e-01 9.91960070e-01 -3.25814202e-03 -3.10367266e+01] [-2.34243975e-02 2.96225251e-04 9.99725567e-01 -7.32249730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.78, Y:-31.04, Z:-7.32 [[ 9.91558421e-01 1.27492177e-01 2.36144796e-02 2.44777965e+02] [-1.27449320e-01 9.91839537e-01 -3.31722367e-03 -3.10408368e+01] [-2.38446946e-02 2.79571680e-04 9.99715636e-01 -7.32249239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.81, Y:-31.05, Z:-7.32 [[ 9.91486404e-01 1.28009185e-01 2.38402948e-02 2.44807660e+02] [-1.27965648e-01 9.91772946e-01 -3.34923981e-03 -3.10453786e+01] [-2.40728929e-02 2.69986962e-04 9.99710169e-01 -7.32343131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.84, Y:-31.05, Z:-7.32 [[ 9.91269145e-01 1.29562428e-01 2.44756970e-02 2.44838363e+02] [-1.29517002e-01 9.91571238e-01 -3.43887744e-03 -3.10471159e+01] [-2.47149465e-02 2.38834190e-04 9.99694511e-01 -7.32235936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.87, Y:-31.05, Z:-7.32 [[ 9.91140909e-01 1.30481146e-01 2.47864766e-02 2.44869412e+02] [-1.30434850e-01 9.91450767e-01 -3.48242014e-03 -3.10502770e+01] [-2.50289614e-02 2.18548711e-04 9.99686703e-01 -7.32303838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.90, Y:-31.05, Z:-7.32 [[ 9.90933263e-01 1.32048889e-01 2.47862875e-02 2.44899177e+02] [-1.32003067e-01 9.91243188e-01 -3.48305177e-03 -3.10535327e+01] [-2.50291717e-02 1.79605883e-04 9.99686705e-01 -7.32477043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.93, Y:-31.06, Z:-7.33 [[ 9.90845008e-01 1.32752965e-01 2.45524001e-02 2.44929618e+02] [-1.32708211e-01 9.91149143e-01 -3.45054057e-03 -3.10566789e+01] [-2.47931598e-02 1.60645807e-04 9.99692589e-01 -7.32596437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.96, Y:-31.06, Z:-7.33 [[ 9.90803027e-01 1.33112643e-01 2.42978713e-02 2.44959483e+02] [-1.33068921e-01 9.91100904e-01 -3.41476964e-03 -3.10598064e+01] [-2.45361912e-02 1.50072597e-04 9.99698931e-01 -7.32730100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.99, Y:-31.06, Z:-7.33 [[ 9.90810424e-01 1.33169519e-01 2.36766313e-02 2.44989168e+02] [-1.33128019e-01 9.91093264e-01 -3.32753508e-03 -3.10626944e+01] [-2.39088761e-02 1.44933425e-04 9.99714131e-01 -7.32936701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.02, Y:-31.07, Z:-7.33 [[ 9.90890677e-01 1.32598410e-01 2.35229028e-02 2.45018871e+02] [-1.32557294e-01 9.91169833e-01 -3.30557939e-03 -3.10675859e+01] [-2.37535062e-02 1.57335454e-04 9.99717833e-01 -7.33114331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.05, Y:-31.07, Z:-7.33 [[ 9.90966389e-01 1.32139260e-01 2.29091991e-02 2.45048158e+02] [-1.32100141e-01 9.91231148e-01 -3.21927225e-03 -3.10728606e+01] [-2.31337040e-02 1.63882164e-04 9.99732367e-01 -7.33329566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.08, Y:-31.08, Z:-7.34 [[ 9.91068186e-01 1.31465734e-01 2.23743539e-02 2.45078624e+02] [-1.31428243e-01 9.91320700e-01 -3.14439007e-03 -3.10779942e+01] [-2.25935397e-02 1.75682949e-04 9.99744718e-01 -7.33505354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97587156000003 meters Centerline goodness [0,1] 0.9998504624981308 Centerline is valid? [True, True] Translation: X:245.11, Y:-31.08, Z:-7.34 [[ 9.91213762e-01 1.30552643e-01 2.12435048e-02 2.45107251e+02] [-1.30518633e-01 9.91441361e-01 -2.98556864e-03 -3.10839185e+01] [-2.14514632e-02 1.86663500e-04 9.99769873e-01 -7.33668166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.14, Y:-31.09, Z:-7.34 [[ 9.91285563e-01 1.30038821e-01 2.10437065e-02 2.45137480e+02] [-1.30005340e-01 9.91508884e-01 -2.95713567e-03 -3.10887541e+01] [-2.12495644e-02 1.95571665e-04 9.99774183e-01 -7.33918693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.17, Y:-31.09, Z:-7.34 [[ 9.91297659e-01 1.29859458e-01 2.15747987e-02 2.45166888e+02] [-1.29824222e-01 9.91532389e-01 -3.03186420e-03 -3.10939643e+01] [-2.17858280e-02 2.04548432e-04 9.99762640e-01 -7.33998647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.20, Y:-31.10, Z:-7.34 [[ 9.91285452e-01 1.29987346e-01 2.13645292e-02 2.45196816e+02] [-1.29952831e-01 9.91515633e-01 -3.00196737e-03 -3.10984373e+01] [-2.15734824e-02 1.99425542e-04 9.99767245e-01 -7.34091779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.23, Y:-31.10, Z:-7.34 [[ 9.91293476e-01 1.30045758e-01 2.06239026e-02 2.45226932e+02] [-1.30013607e-01 9.91507975e-01 -2.89790064e-03 -3.11025241e+01] [-2.08256236e-02 1.91282037e-04 9.99783105e-01 -7.34333054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.26, Y:-31.11, Z:-7.34 [[ 9.91247371e-01 1.30298120e-01 2.12379302e-02 2.45256483e+02] [-1.30264082e-01 9.91474842e-01 -2.98427989e-03 -3.11066540e+01] [-2.14457195e-02 1.91620129e-04 9.99769996e-01 -7.34405866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.29, Y:-31.11, Z:-7.34 [[ 9.91222479e-01 1.30403566e-01 2.17464028e-02 2.45287102e+02] [-1.30367911e-01 9.91460979e-01 -3.05537016e-03 -3.11103305e+01] [-2.19591410e-02 1.93518472e-04 9.99758850e-01 -7.34346982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18587156000004 meters Centerline goodness [0,1] 0.9998722289656935 Centerline is valid? [True, True] Translation: X:245.32, Y:-31.12, Z:-7.34 [[ 9.91216878e-01 1.30461825e-01 2.16520736e-02 2.45315824e+02] [-1.30426490e-01 9.91453315e-01 -3.04221230e-03 -3.11159576e+01] [-2.18639127e-02 1.91488215e-04 9.99760938e-01 -7.34365608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.35, Y:-31.12, Z:-7.35 [[ 9.91223065e-01 1.30384746e-01 2.18324008e-02 2.45346368e+02] [-1.30348809e-01 9.91463454e-01 -3.06719937e-03 -3.11208702e+01] [-2.20459435e-02 1.94451319e-04 9.99756940e-01 -7.34582878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24587156000004 meters Centerline goodness [0,1] 0.9999787559483345 Centerline is valid? [True, True] Translation: X:245.38, Y:-31.13, Z:-7.35 [[ 9.91258203e-01 1.30055323e-01 2.21988349e-02 2.45376725e+02] [-1.30018087e-01 9.91506717e-01 -3.11867911e-03 -3.11265091e+01] [-2.24158947e-02 2.05166199e-04 9.99748711e-01 -7.34531656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.41, Y:-31.13, Z:-7.35 [[ 9.91289678e-01 1.29755298e-01 2.25463491e-02 2.45405768e+02] [-1.29716807e-01 9.91546023e-01 -3.16758563e-03 -3.11330799e+01] [-2.27667539e-02 2.15354510e-04 9.99740781e-01 -7.34664784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.44, Y:-31.14, Z:-7.35 [[ 9.91289678e-01 1.29755287e-01 2.25463968e-02 2.45435465e+02] [-1.29716805e-01 9.91546025e-01 -3.16724644e-03 -3.11372518e+01] [-2.27667571e-02 2.15012153e-04 9.99740781e-01 -7.34755277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33587156000004 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:245.46, Y:-31.14, Z:-7.35 [[ 9.91339254e-01 1.29437444e-01 2.21907977e-02 2.45464970e+02] [-1.29400086e-01 9.91587566e-01 -3.11729300e-03 -3.11447657e+01] [-2.24076135e-02 2.18803786e-04 9.99748894e-01 -7.34819561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.50, Y:-31.15, Z:-7.35 [[ 9.91335699e-01 1.29457075e-01 2.22350381e-02 2.45496104e+02] [-1.29419577e-01 9.91585003e-01 -3.12332714e-03 -3.11499089e+01] [-2.24522671e-02 2.18616475e-04 9.99747892e-01 -7.34836444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.53, Y:-31.16, Z:-7.35 [[ 9.91309080e-01 1.29644100e-01 2.23319161e-02 2.45527227e+02] [-1.29606310e-01 9.91560568e-01 -3.13746667e-03 -3.11556112e+01] [-2.25502015e-02 2.15841953e-04 9.99745689e-01 -7.34904210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.56, Y:-31.16, Z:-7.35 [[ 9.91295093e-01 1.29719293e-01 2.25154112e-02 2.45556646e+02] [-1.29680884e-01 9.91550734e-01 -3.16387308e-03 -3.11614817e+01] [-2.27355879e-02 2.16513420e-04 9.99741490e-01 -7.35024186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.59, Y:-31.17, Z:-7.35 [[ 9.91177317e-01 1.30441168e-01 2.35080464e-02 2.45587742e+02] [-1.30399495e-01 9.91456029e-01 -3.30357436e-03 -3.11668288e+01] [-2.37381164e-02 2.08990598e-04 9.99718189e-01 -7.34870679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.62, Y:-31.17, Z:-7.35 [[ 9.91054702e-01 1.31378767e-01 2.34562774e-02 2.45618694e+02] [-1.31337547e-01 9.91332227e-01 -3.29602120e-03 -3.11728228e+01] [-2.36859909e-02 1.85847372e-04 9.99719430e-01 -7.34999557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.65, Y:-31.18, Z:-7.35 [[ 9.90810943e-01 1.33221017e-01 2.33631257e-02 2.45648674e+02] [-1.33180529e-01 9.91086343e-01 -3.28748608e-03 -3.11778475e+01] [-2.35928371e-02 1.45763754e-04 9.99721640e-01 -7.35122460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.68, Y:-31.18, Z:-7.35 [[ 9.90706279e-01 1.33891324e-01 2.39620865e-02 2.45679647e+02] [-1.33848923e-01 9.90996012e-01 -3.37197928e-03 -3.11813698e+01] [-2.41978109e-02 1.33341591e-04 9.99707181e-01 -7.35001014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.71, Y:-31.19, Z:-7.35 [[ 9.90496578e-01 1.35440651e-01 2.39240086e-02 2.45710825e+02] [-1.35398841e-01 9.90785457e-01 -3.36641111e-03 -3.11866039e+01] [-2.41595087e-02 9.51356396e-05 9.99708112e-01 -7.35094887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.74, Y:-31.19, Z:-7.35 [[ 9.90474654e-01 1.35625481e-01 2.37842019e-02 2.45742574e+02] [-1.35584126e-01 9.90760173e-01 -3.35031774e-03 -3.11922868e+01] [-2.40188284e-02 9.36445791e-05 9.99711502e-01 -7.35164811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63587156000003 meters Centerline goodness [0,1] 0.9998280198637057 Centerline is valid? [True, True] Translation: X:245.77, Y:-31.20, Z:-7.35 [[ 9.90468960e-01 1.35623745e-01 2.40299457e-02 2.45772720e+02] [-1.35581417e-01 9.90760410e-01 -3.38962089e-03 -3.12020610e+01] [-2.42676319e-02 9.93001935e-05 9.99705493e-01 -7.35324658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.80, Y:-31.21, Z:-7.35 [[ 9.90540568e-01 1.35190567e-01 2.35136959e-02 2.45804544e+02] [-1.35149874e-01 9.90819610e-01 -3.31856290e-03 -3.12084964e+01] [-2.37464694e-02 1.09298134e-04 9.99718007e-01 -7.35476682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69587156000003 meters Centerline goodness [0,1] 0.9997870482761558 Centerline is valid? [True, True] Translation: X:245.83, Y:-31.22, Z:-7.36 [[ 9.90571983e-01 1.35054407e-01 2.29663421e-02 2.45834770e+02] [-1.35015462e-01 9.90838178e-01 -3.24512693e-03 -3.12150743e+01] [-2.31941973e-02 1.13720534e-04 9.99730972e-01 -7.35726681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.87, Y:-31.22, Z:-7.36 [[ 9.90748738e-01 1.33954742e-01 2.17500584e-02 2.45865954e+02] [-1.33919482e-01 9.90987441e-01 -3.07626099e-03 -3.12230087e+01] [-2.19661144e-02 1.35045142e-04 9.99758707e-01 -7.36037742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.90, Y:-31.23, Z:-7.36 [[ 9.90740570e-01 1.34034909e-01 2.16279029e-02 2.45897122e+02] [-1.33999985e-01 9.90976601e-01 -3.06258232e-03 -3.12299046e+01] [-2.18432387e-02 1.36085888e-04 9.99761399e-01 -7.36110117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.93, Y:-31.23, Z:-7.36 [[ 9.90663569e-01 1.34621334e-01 2.15125403e-02 2.45928622e+02] [-1.34586842e-01 9.90897109e-01 -3.04983024e-03 -3.12344659e+01] [-2.17272862e-02 1.26050840e-04 9.99763927e-01 -7.36200978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.96, Y:-31.24, Z:-7.36 [[ 9.90455069e-01 1.36099224e-01 2.18118550e-02 2.45959209e+02] [-1.36064039e-01 9.90695206e-01 -3.09612123e-03 -3.12380329e+01] [-2.20302799e-02 9.87598851e-05 9.99757299e-01 -7.36296616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84587156000003 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:245.99, Y:-31.24, Z:-7.36 [[ 9.90322902e-01 1.37013097e-01 2.20898229e-02 2.45990995e+02] [-1.36977159e-01 9.90569233e-01 -3.13900709e-03 -3.12424119e+01] [-2.23115840e-02 8.28294261e-05 9.99751062e-01 -7.36333684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87587156000004 meters Centerline goodness [0,1] 0.9999574042127234 Centerline is valid? [True, True] Translation: X:246.02, Y:-31.25, Z:-7.36 [[ 9.90185045e-01 1.38072838e-01 2.16672306e-02 2.46022485e+02] [-1.38038414e-01 9.90422075e-01 -3.08360880e-03 -3.12455040e+01] [-2.18854661e-02 6.24331657e-05 9.99760483e-01 -7.36408277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.05, Y:-31.25, Z:-7.37 [[ 9.90208596e-01 1.37909884e-01 2.16286716e-02 2.46052821e+02] [-1.37875556e-01 9.90444779e-01 -3.07755907e-03 -3.12505788e+01] [-2.18464307e-02 6.53603143e-05 9.99761336e-01 -7.36717243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.08, Y:-31.26, Z:-7.37 [[ 9.90272424e-01 1.37470660e-01 2.15021739e-02 2.46084810e+02] [-1.37436560e-01 9.90505836e-01 -3.06275331e-03 -3.12556926e+01] [-2.17190675e-02 7.77753214e-05 9.99764110e-01 -7.36715971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.12, Y:-31.26, Z:-7.37 [[ 9.90477157e-01 1.36002485e-01 2.14085565e-02 2.46116319e+02] [-1.35968260e-01 9.90708490e-01 -3.05302293e-03 -3.12627782e+01] [-2.16248574e-02 1.13065298e-04 9.99766149e-01 -7.36853340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.15, Y:-31.27, Z:-7.37 [[ 9.90571343e-01 1.35355563e-01 2.11491373e-02 2.46146419e+02] [-1.35321926e-01 9.90797080e-01 -3.02021789e-03 -3.12691130e+01] [-2.13633068e-02 1.29799311e-04 9.99771770e-01 -7.37046857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.18, Y:-31.28, Z:-7.37 [[ 9.90730099e-01 1.34139019e-01 2.14614896e-02 2.46178341e+02] [-1.34104064e-01 9.90962511e-01 -3.06623957e-03 -3.12765254e+01] [-2.16788339e-02 1.59742857e-04 9.99764974e-01 -7.37063798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05587156000004 meters Centerline goodness [0,1] 0.9999358371118146 Centerline is valid? [True, True] Translation: X:246.21, Y:-31.28, Z:-7.37 [[ 9.90772845e-01 1.33792978e-01 2.16473727e-02 2.46210450e+02] [-1.33757253e-01 9.91009288e-01 -3.09643625e-03 -3.12819739e+01] [-2.18670289e-02 1.72371848e-04 9.99760873e-01 -7.37029660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.24, Y:-31.29, Z:-7.37 [[ 9.90911057e-01 1.32661962e-01 2.22728542e-02 2.46243176e+02] [-1.32623774e-01 9.91161319e-01 -3.18960148e-03 -3.12879334e+01] [-2.24991303e-02 2.06701400e-04 9.99746841e-01 -7.36982979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.27, Y:-31.29, Z:-7.37 [[ 9.90920576e-01 1.32574427e-01 2.23703752e-02 2.46274675e+02] [-1.32535778e-01 9.91173030e-01 -3.20808828e-03 -3.12940907e+01] [-2.25982231e-02 2.14085589e-04 9.99744605e-01 -7.37142584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.31, Y:-31.30, Z:-7.37 [[ 9.91057352e-01 1.31454443e-01 2.29140803e-02 2.46306645e+02] [-1.31413492e-01 9.91322181e-01 -3.29046430e-03 -3.12999554e+01] [-2.31477822e-02 2.49819529e-04 9.99732023e-01 -7.36999650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17587156000005 meters Centerline goodness [0,1] 0.9998722779232391 Centerline is valid? [True, True] Translation: X:246.34, Y:-31.31, Z:-7.37 [[ 9.91066293e-01 1.31297002e-01 2.34243535e-02 2.46338063e+02] [-1.31254065e-01 9.91343042e-01 -3.36785969e-03 -3.13079893e+01] [-2.36637598e-02 2.63230595e-04 9.99719939e-01 -7.37051016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.37, Y:-31.31, Z:-7.37 [[ 9.91153220e-01 1.30594637e-01 2.36713823e-02 2.46369543e+02] [-1.30550479e-01 9.91435806e-01 -3.40798196e-03 -3.13143537e+01] [-2.39137202e-02 2.87521987e-04 9.99713985e-01 -7.37130618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23587156000002 meters Centerline goodness [0,1] 0.999871514840036 Centerline is valid? [True, True] Translation: X:246.40, Y:-31.32, Z:-7.37 [[ 9.91338015e-01 1.29242441e-01 2.33523214e-02 2.46401378e+02] [-1.29199001e-01 9.91612974e-01 -3.36581526e-03 -3.13206075e+01] [-2.35914711e-02 3.19564006e-04 9.99721631e-01 -7.37173382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.43, Y:-31.33, Z:-7.38 [[ 9.91504854e-01 1.28065803e-01 2.27436813e-02 2.46431555e+02] [-1.28024200e-01 9.91765614e-01 -3.28194844e-03 -3.13290418e+01] [-2.29767064e-02 3.42326193e-04 9.99735942e-01 -7.37548530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.46, Y:-31.33, Z:-7.38 [[ 9.91511015e-01 1.28073273e-01 2.24308830e-02 2.46464143e+02] [-1.28032737e-01 9.91764650e-01 -3.23999488e-03 -3.13331776e+01] [-2.26611136e-02 3.40603273e-04 9.99743146e-01 -7.37591784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.49, Y:-31.34, Z:-7.38 [[ 9.91509908e-01 1.28165562e-01 2.19474634e-02 2.46494962e+02] [-1.28126682e-01 9.91752729e-01 -3.17447210e-03 -3.13410228e+01] [-2.21733148e-02 3.35464882e-04 9.99754086e-01 -7.37928221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.53, Y:-31.34, Z:-7.38 [[ 9.91407193e-01 1.29043500e-01 2.14372051e-02 2.46526855e+02] [-1.29006527e-01 9.91638885e-01 -3.10458128e-03 -3.13449742e+01] [-2.16585922e-02 3.12364834e-04 9.99765376e-01 -7.38055286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.56, Y:-31.35, Z:-7.38 [[ 9.91296317e-01 1.29935666e-01 2.11739225e-02 2.46557755e+02] [-1.29899720e-01 9.91522384e-01 -3.07011780e-03 -3.13511107e+01] [-2.13933359e-02 2.92909851e-04 9.99771093e-01 -7.38336472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.59, Y:-31.35, Z:-7.38 [[ 9.91047435e-01 1.31927100e-01 2.04993207e-02 2.46590352e+02] [-1.31893773e-01 9.91259391e-01 -2.97525812e-03 -3.13514473e+01] [-2.07126613e-02 2.44889172e-04 9.99785440e-01 -7.38338517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.62, Y:-31.36, Z:-7.39 [[ 9.90878653e-01 1.33200597e-01 2.04229375e-02 2.46621101e+02] [-1.33167715e-01 9.91089074e-01 -2.96777178e-03 -3.13568660e+01] [-2.06362592e-02 2.21025797e-04 9.99787025e-01 -7.38649324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.65, Y:-31.36, Z:-7.39 [[ 9.90674274e-01 1.34698518e-01 2.05132069e-02 2.46652895e+02] [-1.34665598e-01 9.90886609e-01 -2.98413880e-03 -3.13618313e+01] [-2.07282211e-02 1.93886261e-04 9.99785129e-01 -7.38808055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.68, Y:-31.37, Z:-7.39 [[ 9.90625074e-01 1.35047162e-01 2.05967519e-02 2.46684446e+02] [-1.35013960e-01 9.90839153e-01 -3.00056924e-03 -3.13660877e+01] [-2.08132866e-02 1.91590091e-04 9.99783362e-01 -7.38730719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.72, Y:-31.37, Z:-7.39 [[ 9.90449154e-01 1.36188348e-01 2.15222492e-02 2.46715395e+02] [-1.36152351e-01 9.90682948e-01 -3.13596760e-03 -3.13707397e+01] [-2.17488076e-02 1.75711632e-04 9.99763451e-01 -7.38700437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56587156000003 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:246.75, Y:-31.37, Z:-7.39 [[ 9.90401427e-01 1.36530197e-01 2.15526797e-02 2.46748215e+02] [-1.36494114e-01 9.90635895e-01 -3.14338832e-03 -3.13738853e+01] [-2.17800255e-02 1.71402366e-04 9.99762772e-01 -7.38564234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.78, Y:-31.38, Z:-7.39 [[ 9.90343111e-01 1.36909874e-01 2.18221997e-02 2.46780113e+02] [-1.36872878e-01 9.90583494e-01 -3.18710824e-03 -3.13801495e+01] [-2.20530575e-02 1.69463411e-04 9.99756787e-01 -7.38791299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.81, Y:-31.39, Z:-7.39 [[ 9.90357960e-01 1.36825162e-01 2.16791837e-02 2.46812508e+02] [-1.36788535e-01 9.90595197e-01 -3.17048646e-03 -3.13861037e+01] [-2.19090976e-02 1.74452716e-04 9.99759952e-01 -7.38871648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.84, Y:-31.40, Z:-7.39 [[ 9.90458495e-01 1.36021555e-01 2.21383468e-02 2.46843882e+02] [-1.35983058e-01 9.90705858e-01 -3.24218726e-03 -3.13955533e+01] [-2.23735973e-02 2.00811824e-04 9.99749660e-01 -7.38972909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.88, Y:-31.40, Z:-7.39 [[ 9.90543749e-01 1.35376188e-01 2.22793222e-02 2.46875242e+02] [-1.35336943e-01 9.90794246e-01 -3.26696132e-03 -3.14038646e+01] [-2.25164930e-02 2.20852759e-04 9.99746447e-01 -7.39077371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.91, Y:-31.42, Z:-7.39 [[ 9.90841865e-01 1.33288980e-01 2.15973773e-02 2.46906114e+02] [-1.33251523e-01 9.91077181e-01 -3.17073469e-03 -3.14159381e+01] [-2.18272918e-02 2.63813267e-04 9.99761721e-01 -7.39253458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.94, Y:-31.42, Z:-7.39 [[ 9.90959316e-01 1.32381631e-01 2.17884634e-02 2.46937977e+02] [-1.32343209e-01 9.91198779e-01 -3.20240749e-03 -3.14225800e+01] [-2.20206383e-02 2.89900377e-04 9.99757474e-01 -7.39249263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77587156000004 meters Centerline goodness [0,1] 0.9998289062834167 Centerline is valid? [True, True] Translation: X:246.97, Y:-31.43, Z:-7.39 [[ 9.91126472e-01 1.31097436e-01 2.19494528e-02 2.46968295e+02] [-1.31058042e-01 9.91369435e-01 -3.22995768e-03 -3.14336074e+01] [-2.21834558e-02 3.24644245e-04 9.99753864e-01 -7.39309150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80587156000004 meters Centerline goodness [0,1] 0.999978453383896 Centerline is valid? [True, True] Translation: X:247.00, Y:-31.44, Z:-7.40 [[ 9.91203970e-01 1.30564153e-01 2.16261939e-02 2.46998714e+02] [-1.30525710e-01 9.91439806e-01 -3.18578985e-03 -3.14428533e+01] [-2.18570195e-02 3.34993231e-04 9.99761051e-01 -7.39575653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83587156000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.03, Y:-31.45, Z:-7.40 [[ 9.91161949e-01 1.30936578e-01 2.12979745e-02 2.47030633e+02] [-1.30899318e-01 9.91390694e-01 -3.14030465e-03 -3.14511643e+01] [-2.15257945e-02 3.24660145e-04 9.99768241e-01 -7.39669370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86587156000004 meters Centerline goodness [0,1] 0.9998704523372558 Centerline is valid? [True, True] Translation: X:247.06, Y:-31.46, Z:-7.40 [[ 9.91103200e-01 1.31461973e-01 2.07893467e-02 2.47062648e+02] [-1.31426509e-01 9.91321166e-01 -3.06905459e-03 -3.14571893e+01] [-2.10123834e-02 3.09478572e-04 9.99779168e-01 -7.39756914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89587156000005 meters Centerline goodness [0,1] 0.9999354574987629 Centerline is valid? [True, True] Translation: X:247.09, Y:-31.47, Z:-7.40 [[ 9.90960654e-01 1.32688101e-01 1.97699297e-02 2.47093017e+02] [-1.32656195e-01 9.91157804e-01 -2.92244941e-03 -3.14666701e+01] [-1.99828944e-02 2.73428726e-04 9.99800285e-01 -7.40089220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92587156000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.12, Y:-31.47, Z:-7.40 [[ 9.90801240e-01 1.33893475e-01 1.96326279e-02 2.47124910e+02] [-1.33862190e-01 9.90995699e-01 -2.90505169e-03 -3.14726989e+01] [-1.98448172e-02 2.50262261e-04 9.99803041e-01 -7.40259749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.16, Y:-31.48, Z:-7.40 [[ 9.90606960e-01 1.35359656e-01 1.93807617e-02 2.47156317e+02] [-1.35329387e-01 9.90796505e-01 -2.87094957e-03 -3.14775768e+01] [-1.95910017e-02 2.21196027e-04 9.99808053e-01 -7.40356465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98587156000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.19, Y:-31.48, Z:-7.41 [[ 9.90065432e-01 1.39196375e-01 1.98698277e-02 2.47187833e+02] [-1.39165263e-01 9.90264786e-01 -2.94682886e-03 -3.14799568e+01] [-2.00865785e-02 1.52363599e-04 9.99798233e-01 -7.40504968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01587156 meters Centerline goodness [0,1] 0.999978526026456 Centerline is valid? [True, True] Translation: X:247.22, Y:-31.48, Z:-7.40 [[ 9.89410636e-01 1.43625731e-01 2.09342465e-02 2.47220629e+02] [-1.43592108e-01 9.89632075e-01 -3.10835086e-03 -3.14796974e+01] [-2.11636410e-02 6.94428134e-05 9.99776023e-01 -7.40112573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.25, Y:-31.48, Z:-7.40 [[ 9.89075688e-01 1.45850399e-01 2.13762530e-02 2.47251939e+02] [-1.45815777e-01 9.89306656e-01 -3.17784535e-03 -3.14829685e+01] [-2.16111594e-02 2.61346357e-05 9.99766451e-01 -7.40198135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.28, Y:-31.49, Z:-7.40 [[ 9.88775953e-01 1.47889463e-01 2.12325466e-02 2.47284903e+02] [-1.47855711e-01 9.89003896e-01 -3.15948757e-03 -3.14867162e+01] [-2.14663262e-02 -1.53279303e-05 9.99769572e-01 -7.40300952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.32, Y:-31.49, Z:-7.40 [[ 9.88169970e-01 1.51897667e-01 2.11473443e-02 2.47316567e+02] [-1.51865008e-01 9.88396221e-01 -3.15121061e-03 -3.14877812e+01] [-2.13806168e-02 -9.76099182e-05 9.99771404e-01 -7.40410834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.35, Y:-31.49, Z:-7.41 [[ 9.87613062e-01 1.55481092e-01 2.11203549e-02 2.47348848e+02] [-1.55449266e-01 9.87838854e-01 -3.15038772e-03 -3.14888212e+01] [-2.13533329e-02 -1.71779610e-04 9.99771977e-01 -7.40556811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.38, Y:-31.49, Z:-7.41 [[ 9.87386924e-01 1.56942568e-01 2.08828430e-02 2.47379769e+02] [-1.56911694e-01 9.87607711e-01 -3.11907089e-03 -3.14917922e+01] [-2.11135717e-02 -1.97032461e-04 9.99777064e-01 -7.40735507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.41, Y:-31.50, Z:-7.41 [[ 9.87362136e-01 1.57098464e-01 2.08826462e-02 2.47411063e+02] [-1.57067598e-01 9.87582925e-01 -3.12038796e-03 -3.14966290e+01] [-2.11135529e-02 -1.99034151e-04 9.99777064e-01 -7.40831067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22587156000003 meters Centerline goodness [0,1] 0.9999573205864152 Centerline is valid? [True, True] Translation: X:247.44, Y:-31.50, Z:-7.41 [[ 9.87192129e-01 1.58201358e-01 2.05919983e-02 2.47441491e+02] [-1.58171510e-01 9.87406848e-01 -3.08053685e-03 -3.15005955e+01] [-2.08200252e-02 -2.15985729e-04 9.99783216e-01 -7.40996164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25587156 meters Centerline goodness [0,1] 0.9999356692541922 Centerline is valid? [True, True] Translation: X:247.47, Y:-31.50, Z:-7.41 [[ 9.87001748e-01 1.59397199e-01 2.04958902e-02 2.47471658e+02] [-1.59367811e-01 9.87214504e-01 -3.06981364e-03 -3.15038995e+01] [-2.07231597e-02 -2.36473719e-04 9.99785224e-01 -7.41056033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.50, Y:-31.51, Z:-7.41 [[ 9.86910182e-01 1.59957819e-01 2.05374934e-02 2.47503765e+02] [-1.59928464e-01 9.87123819e-01 -3.07458049e-03 -3.15116528e+01] [-2.07648521e-02 -2.50194982e-04 9.99784356e-01 -7.41003083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31587156 meters Centerline goodness [0,1] 0.9999572402882004 Centerline is valid? [True, True] Translation: X:247.54, Y:-31.52, Z:-7.41 [[ 9.86863626e-01 1.60277657e-01 2.02794643e-02 2.47535835e+02] [-1.60249022e-01 9.87071938e-01 -3.03981943e-03 -3.15180128e+01] [-2.05045052e-02 -2.49877101e-04 9.99789729e-01 -7.41123865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34587156 meters Centerline goodness [0,1] 0.9999787107212808 Centerline is valid? [True, True] Translation: X:247.57, Y:-31.52, Z:-7.41 [[ 9.86827886e-01 1.60477794e-01 2.04353056e-02 2.47567767e+02] [-1.60448675e-01 9.87039419e-01 -3.06730789e-03 -3.15209526e+01] [-2.06626870e-02 -2.51912755e-04 9.99786472e-01 -7.41376473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37587156 meters Centerline goodness [0,1] 0.9999787717324389 Centerline is valid? [True, True] Translation: X:247.60, Y:-31.53, Z:-7.41 [[ 9.86814024e-01 1.60500691e-01 2.09191550e-02 2.47599671e+02] [-1.60470097e-01 9.87035695e-01 -3.14395594e-03 -3.15280922e+01] [-2.11525598e-02 -2.54399014e-04 9.99776227e-01 -7.41268936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.63, Y:-31.53, Z:-7.41 [[ 9.86856420e-01 1.60223635e-01 2.10426463e-02 2.47630974e+02] [-1.60192539e-01 9.87080709e-01 -3.16610433e-03 -3.15336860e+01] [-2.12780750e-02 -2.46384569e-04 9.99773566e-01 -7.41343346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.66, Y:-31.54, Z:-7.41 [[ 9.86870685e-01 1.60202770e-01 2.05261569e-02 2.47662979e+02] [-1.60173114e-01 9.87084098e-01 -3.09146805e-03 -3.15402872e+01] [-2.07563048e-02 -2.36859263e-04 9.99784537e-01 -7.41427344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46587156 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:247.69, Y:-31.54, Z:-7.42 [[ 9.86838340e-01 1.60380359e-01 2.06937672e-02 2.47694762e+02] [-1.60350154e-01 9.87055259e-01 -3.12157510e-03 -3.15443576e+01] [-2.09265310e-02 -2.37758766e-04 9.99780988e-01 -7.41616940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.73, Y:-31.55, Z:-7.42 [[ 9.86812150e-01 1.60572817e-01 2.04487376e-02 2.47727504e+02] [-1.60543326e-01 9.87023968e-01 -3.08646121e-03 -3.15494345e+01] [-2.06789959e-02 -2.37150919e-04 9.99786139e-01 -7.41697318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.76, Y:-31.55, Z:-7.42 [[ 9.86753635e-01 1.60934704e-01 2.04275506e-02 2.47759930e+02] [-1.60905271e-01 9.86965026e-01 -3.08716568e-03 -3.15543112e+01] [-2.06581101e-02 -2.40628620e-04 9.99786570e-01 -7.41752473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55587156 meters Centerline goodness [0,1] 0.9999572027732603 Centerline is valid? [True, True] Translation: X:247.79, Y:-31.56, Z:-7.42 [[ 9.86692012e-01 1.61294520e-01 2.05657583e-02 2.47792467e+02] [-1.61264682e-01 9.86906286e-01 -3.11206987e-03 -3.15601864e+01] [-2.07984359e-02 -2.45875992e-04 9.99783659e-01 -7.41701800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.82, Y:-31.56, Z:-7.42 [[ 9.86614259e-01 1.61784958e-01 2.04433868e-02 2.47824352e+02] [-1.61755494e-01 9.86826005e-01 -3.09770880e-03 -3.15595355e+01] [-2.06752284e-02 -2.50586447e-04 9.99786213e-01 -7.42269248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.86, Y:-31.57, Z:-7.42 [[ 9.86635195e-01 1.61738622e-01 1.97891380e-02 2.47855246e+02] [-1.61710915e-01 9.86833604e-01 -3.00299621e-03 -3.15672489e+01] [-2.00142868e-02 -2.37257866e-04 9.99799666e-01 -7.42270746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.89, Y:-31.57, Z:-7.42 [[ 9.86680714e-01 1.61488844e-01 1.95581711e-02 2.47887125e+02] [-1.61461718e-01 9.86874511e-01 -2.96864118e-03 -3.15746572e+01] [-1.97808630e-02 -2.28794897e-04 9.99804313e-01 -7.42317064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.92, Y:-31.58, Z:-7.43 [[ 9.86682269e-01 1.61494630e-01 1.94315546e-02 2.47918619e+02] [-1.61467778e-01 9.86873566e-01 -2.95333255e-03 -3.15793816e+01] [-1.96534349e-02 -2.23569080e-04 9.99806828e-01 -7.42502971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.95, Y:-31.59, Z:-7.43 [[ 9.86804443e-01 1.60834255e-01 1.86904589e-02 2.47950671e+02] [-1.60809236e-01 9.86981409e-01 -2.84376765e-03 -3.15863293e+01] [-1.89045107e-02 -1.99355857e-04 9.99821274e-01 -7.42754894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.98, Y:-31.59, Z:-7.43 [[ 9.86848525e-01 1.60552967e-01 1.87812032e-02 2.47981227e+02] [-1.60527576e-01 9.87027207e-01 -2.86165736e-03 -3.15918334e+01] [-1.89970061e-02 -1.90878674e-04 9.99819522e-01 -7.42871867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.01, Y:-31.60, Z:-7.43 [[ 9.86865057e-01 1.60456682e-01 1.87353504e-02 2.48011520e+02] [-1.60431342e-01 9.87042866e-01 -2.85759735e-03 -3.15971072e+01] [-1.89511146e-02 -1.85674438e-04 9.99820394e-01 -7.42926327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79587156 meters Centerline goodness [0,1] 0.9998932741360541 Centerline is valid? [True, True] Translation: X:248.04, Y:-31.60, Z:-7.43 [[ 9.86738530e-01 1.61180488e-01 1.91813641e-02 2.48043202e+02] [-1.61154006e-01 9.86924926e-01 -2.92859157e-03 -3.16007753e+01] [-1.94025982e-02 -2.01399521e-04 9.99811732e-01 -7.42810741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.08, Y:-31.60, Z:-7.43 [[ 9.86638085e-01 1.61744753e-01 1.95939871e-02 2.48075241e+02] [-1.61717163e-01 9.86832604e-01 -2.99499925e-03 -3.16043354e+01] [-1.98204107e-02 -2.13703672e-04 9.99803534e-01 -7.42912456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.11, Y:-31.61, Z:-7.43 [[ 9.86407358e-01 1.63102065e-01 1.99559777e-02 2.48106928e+02] [-1.63073625e-01 9.86609172e-01 -3.05522510e-03 -3.16057845e+01] [-2.01870641e-02 -2.40597108e-04 9.99796192e-01 -7.42902688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88587156 meters Centerline goodness [0,1] 0.9998710315327902 Centerline is valid? [True, True] Translation: X:248.14, Y:-31.61, Z:-7.43 [[ 9.86237456e-01 1.64126863e-01 1.99512504e-02 2.48138246e+02] [-1.64098636e-01 9.86439205e-01 -3.05498368e-03 -3.16081824e+01] [-2.01821004e-02 -2.61033633e-04 9.99796287e-01 -7.42953539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91587156 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:248.17, Y:-31.61, Z:-7.43 [[ 9.86015374e-01 1.65464987e-01 1.98751253e-02 2.48170026e+02] [-1.65437238e-01 9.86215623e-01 -3.04380191e-03 -3.16093833e+01] [-2.01048017e-02 -2.86850348e-04 9.99797837e-01 -7.43067037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.20, Y:-31.61, Z:-7.43 [[ 9.85941904e-01 1.65902535e-01 1.98723455e-02 2.48200268e+02] [-1.65874869e-01 9.86142110e-01 -3.04398256e-03 -3.16114108e+01] [-2.01019612e-02 -2.95132758e-04 9.99797892e-01 -7.43264228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.23, Y:-31.61, Z:-7.43 [[ 9.85894931e-01 1.66209426e-01 1.96369925e-02 2.48230702e+02] [-1.66182466e-01 9.86090431e-01 -3.00828810e-03 -3.16125825e+01] [-1.98638562e-02 -2.97467854e-04 9.99802650e-01 -7.43395010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00587156 meters Centerline goodness [0,1] 0.9999786844012448 Centerline is valid? [True, True] Translation: X:248.26, Y:-31.62, Z:-7.44 [[ 9.85930511e-01 1.66013394e-01 1.95084744e-02 2.48260568e+02] [-1.65986747e-01 9.86123455e-01 -2.98859978e-03 -3.16163504e+01] [-1.97339118e-02 -2.91596511e-04 9.99805225e-01 -7.43512414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.29, Y:-31.62, Z:-7.43 [[ 9.86192451e-01 1.64310150e-01 2.06548656e-02 2.48289568e+02] [-1.64279904e-01 9.86408688e-01 -3.16433080e-03 -3.16204413e+01] [-2.08940706e-02 -2.72540196e-04 9.99781658e-01 -7.43443767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06587156 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:248.32, Y:-31.63, Z:-7.43 [[ 9.86383155e-01 1.63088191e-01 2.12253259e-02 2.48320123e+02] [-1.63055976e-01 9.86611462e-01 -3.25132627e-03 -3.16260736e+01] [-2.14714028e-02 -2.53862773e-04 9.99769431e-01 -7.43362203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.35, Y:-31.63, Z:-7.43 [[ 9.86922808e-01 1.59706126e-01 2.18477473e-02 2.48351040e+02] [-1.59671169e-01 9.87164585e-01 -3.34650044e-03 -3.16342443e+01] [-2.21017790e-02 -1.85717735e-04 9.99755709e-01 -7.43444584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.38, Y:-31.64, Z:-7.44 [[ 9.87230973e-01 1.57765168e-01 2.20262964e-02 2.48382049e+02] [-1.57729159e-01 9.87476648e-01 -3.37363171e-03 -3.16413562e+01] [-2.22826950e-02 -1.43635496e-04 9.99751700e-01 -7.43537304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.41, Y:-31.65, Z:-7.44 [[ 9.87760396e-01 1.54446409e-01 2.18107217e-02 2.48412685e+02] [-1.54410211e-01 9.88001165e-01 -3.34428057e-03 -3.16496107e+01] [-2.20655306e-02 -6.44502415e-05 9.99756524e-01 -7.43712741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.45, Y:-31.66, Z:-7.44 [[ 9.87950490e-01 1.53299067e-01 2.12890782e-02 2.48445290e+02] [-1.53264252e-01 9.88179839e-01 -3.26712121e-03 -3.16565844e+01] [-2.15382845e-02 -3.51006457e-05 9.99768024e-01 -7.43827316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.48, Y:-31.66, Z:-7.44 [[ 9.88260808e-01 1.51332473e-01 2.09537289e-02 2.48477541e+02] [-1.51298221e-01 9.88482920e-01 -3.21963019e-03 -3.16637652e+01] [-2.11996377e-02 1.15724316e-05 9.99775262e-01 -7.44031860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.51, Y:-31.67, Z:-7.44 [[ 9.88311576e-01 1.51063457e-01 2.04953746e-02 2.48508935e+02] [-1.51030547e-01 9.88524067e-01 -3.15315720e-03 -3.16690071e+01] [-2.07364979e-02 2.08741208e-05 9.99784975e-01 -7.44215278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.54, Y:-31.67, Z:-7.44 [[ 9.88332443e-01 1.50953799e-01 2.02961153e-02 2.48540898e+02] [-1.50921427e-01 9.88540819e-01 -3.12615429e-03 -3.16741867e+01] [-2.05354433e-02 2.65610085e-05 9.99789125e-01 -7.44388790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.57, Y:-31.68, Z:-7.44 [[ 9.88132607e-01 1.52226711e-01 2.05177944e-02 2.48573016e+02] [-1.52193824e-01 9.88345602e-01 -3.16407672e-03 -3.16766688e+01] [-2.07603289e-02 3.84577407e-06 9.99784481e-01 -7.44444497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.60, Y:-31.68, Z:-7.44 [[ 9.87707090e-01 1.54885523e-01 2.10992628e-02 2.48603714e+02] [-1.54851247e-01 9.87932423e-01 -3.25862211e-03 -3.16753198e+01] [-2.13493592e-02 -4.86830035e-05 9.99772075e-01 -7.44434057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.63, Y:-31.68, Z:-7.44 [[ 9.87434302e-01 1.56606606e-01 2.11629490e-02 2.48634541e+02] [-1.56572511e-01 9.87661057e-01 -3.26880434e-03 -3.16760416e+01] [-2.14137369e-02 -8.58065400e-05 9.99770696e-01 -7.44470623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.66, Y:-31.68, Z:-7.45 [[ 9.87146791e-01 1.58372574e-01 2.14322537e-02 2.48664093e+02] [-1.58338020e-01 9.87379417e-01 -3.31049664e-03 -3.16762771e+01] [-2.16860580e-02 -1.25594476e-04 9.99764822e-01 -7.44525045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.69, Y:-31.67, Z:-7.45 [[ 9.86621557e-01 1.61604223e-01 2.14937004e-02 2.48694119e+02] [-1.61570238e-01 9.86855631e-01 -3.31992779e-03 -3.16728736e+01] [-2.17476936e-02 -1.97229972e-04 9.99763471e-01 -7.44591742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.72, Y:-31.67, Z:-7.45 [[ 9.86427957e-01 1.62789597e-01 2.14343756e-02 2.48723688e+02] [-1.62756097e-01 9.86660781e-01 -3.30994561e-03 -3.16739431e+01] [-2.16872825e-02 -2.23552420e-04 9.99764778e-01 -7.44761296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.75, Y:-31.67, Z:-7.45 [[ 9.86068066e-01 1.65032708e-01 2.08320613e-02 2.48753674e+02] [-1.65001574e-01 9.86288059e-01 -3.21649757e-03 -3.16740592e+01] [-2.10772406e-02 -2.65637368e-04 9.99777815e-01 -7.44715971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.78, Y:-31.67, Z:-7.45 [[ 9.85945737e-01 1.65764485e-01 2.08120066e-02 2.48782302e+02] [-1.65733580e-01 9.86165329e-01 -3.21311379e-03 -3.16726862e+01] [-2.10566995e-02 -2.81292512e-04 9.99778244e-01 -7.44974313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54587156 meters Centerline goodness [0,1] 0.9999369469724038 Centerline is valid? [True, True] Translation: X:248.81, Y:-31.67, Z:-7.45 [[ 9.85681739e-01 1.67249083e-01 2.14302063e-02 2.48810731e+02] [-1.67216687e-01 9.85914621e-01 -3.30755715e-03 -3.16701354e+01] [-2.16815396e-02 -3.23289403e-04 9.99764876e-01 -7.44918807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57587156 meters Centerline goodness [0,1] 0.9999786857642219 Centerline is valid? [True, True] Translation: X:248.84, Y:-31.67, Z:-7.45 [[ 9.85544201e-01 1.68006344e-01 2.18288149e-02 2.48839550e+02] [-1.67972946e-01 9.85785853e-01 -3.36775736e-03 -3.16746146e+01] [-2.20843415e-02 -3.47576622e-04 9.99756051e-01 -7.44763361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.87, Y:-31.67, Z:-7.45 [[ 9.85411118e-01 1.68727781e-01 2.22680237e-02 2.48868659e+02] [-1.68693235e-01 9.85662618e-01 -3.43443546e-03 -3.16746152e+01] [-2.25282432e-02 -3.72134054e-04 9.99746138e-01 -7.44794945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63587156 meters Centerline goodness [0,1] 0.999957033599725 Centerline is valid? [True, True] Translation: X:248.90, Y:-31.68, Z:-7.45 [[ 9.85407430e-01 1.68749142e-01 2.22693472e-02 2.48897088e+02] [-1.68714621e-01 9.85658961e-01 -3.43354998e-03 -3.16767830e+01] [-2.25293902e-02 -3.73718809e-04 9.99746111e-01 -7.44846779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66587156 meters Centerline goodness [0,1] 0.9999572713483026 Centerline is valid? [True, True] Translation: X:248.93, Y:-31.67, Z:-7.45 [[ 9.85525570e-01 1.68117834e-01 2.18115946e-02 2.48926155e+02] [-1.68084584e-01 9.85766843e-01 -3.36202400e-03 -3.16711603e+01] [-2.20663629e-02 -3.52832179e-04 9.99756446e-01 -7.45265352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.95, Y:-31.68, Z:-7.45 [[ 9.85649648e-01 1.67419071e-01 2.15783843e-02 2.48954736e+02] [-1.67386387e-01 9.85885765e-01 -3.32490985e-03 -3.16784599e+01] [-2.18304753e-02 -3.34731562e-04 9.99761631e-01 -7.45230031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72587156000003 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:248.98, Y:-31.68, Z:-7.46 [[ 9.85846794e-01 1.66275662e-01 2.14126670e-02 2.48983020e+02] [-1.66243247e-01 9.86079261e-01 -3.29756747e-03 -3.16783419e+01] [-2.16628921e-02 -3.08814981e-04 9.99765284e-01 -7.45594845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.01, Y:-31.68, Z:-7.46 [[ 9.86239615e-01 1.63878636e-01 2.17994226e-02 2.49011296e+02] [-1.63844486e-01 9.86480473e-01 -3.35567991e-03 -3.16821358e+01] [-2.20546289e-02 -2.62210718e-04 9.99756733e-01 -7.45556654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.04, Y:-31.69, Z:-7.45 [[ 9.86499996e-01 1.62270614e-01 2.20455229e-02 2.49039655e+02] [-1.62235307e-01 9.86746267e-01 -3.39263686e-03 -3.16901859e+01] [-2.23038627e-02 -2.29725932e-04 9.99751212e-01 -7.45330086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.07, Y:-31.70, Z:-7.46 [[ 9.87093220e-01 1.58704045e-01 2.14476246e-02 2.49068308e+02] [-1.58669811e-01 9.87326190e-01 -3.29942843e-03 -3.16966095e+01] [-2.16994341e-02 -1.46247105e-04 9.99764529e-01 -7.45505870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84587156 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:249.10, Y:-31.70, Z:-7.46 [[ 9.87417745e-01 1.56677164e-01 2.14117551e-02 2.49096114e+02] [-1.56642577e-01 9.87649865e-01 -3.29349680e-03 -3.17007607e+01] [-2.16633327e-02 -1.01935303e-04 9.99765317e-01 -7.45943664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.12, Y:-31.71, Z:-7.46 [[ 9.88063797e-01 1.52521617e-01 2.16122664e-02 2.49123950e+02] [-1.52485400e-01 9.88300135e-01 -3.32361243e-03 -3.17104111e+01] [-2.18663286e-02 -1.16139865e-05 9.99760903e-01 -7.46016954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90587156 meters Centerline goodness [0,1] 0.9998281233215168 Centerline is valid? [True, True] Translation: X:249.15, Y:-31.72, Z:-7.46 [[ 9.88380399e-01 1.50443846e-01 2.16987733e-02 2.49151590e+02] [-1.50406859e-01 9.88618555e-01 -3.33598413e-03 -3.17173522e+01] [-2.19536882e-02 3.35769912e-05 9.99758988e-01 -7.45944354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.18, Y:-31.72, Z:-7.46 [[ 9.88682016e-01 1.48368600e-01 2.22402724e-02 2.49180535e+02] [-1.48329244e-01 9.88932127e-01 -3.41809289e-03 -3.17242371e+01] [-2.25012575e-02 8.05241794e-05 9.99746811e-01 -7.46033086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96587156 meters Centerline goodness [0,1] 0.9999786957540638 Centerline is valid? [True, True] Translation: X:249.21, Y:-31.73, Z:-7.46 [[ 9.89183439e-01 1.44980465e-01 2.22887804e-02 2.49210072e+02] [-1.44940091e-01 9.89434505e-01 -3.42491045e-03 -3.17310649e+01] [-2.25498335e-02 1.57326855e-04 9.99745708e-01 -7.45771378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99587156 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:249.24, Y:-31.74, Z:-7.46 [[ 9.89620429e-01 1.42003530e-01 2.20545612e-02 2.49240266e+02] [-1.41963265e-01 9.89866126e-01 -3.38873245e-03 -3.17400796e+01] [-2.23122751e-02 2.22621338e-04 9.99751025e-01 -7.45889101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.27, Y:-31.75, Z:-7.46 [[ 9.89763890e-01 1.41055224e-01 2.16994236e-02 2.49271870e+02] [-1.41016032e-01 9.90001700e-01 -3.33350529e-03 -3.17467840e+01] [-2.19526746e-02 2.39416558e-04 9.99758982e-01 -7.46077458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.30, Y:-31.75, Z:-7.46 [[ 9.89861297e-01 1.40479993e-01 2.09757868e-02 2.49302206e+02] [-1.40443156e-01 9.90083487e-01 -3.22639352e-03 -3.17543400e+01] [-2.12210239e-02 2.47776371e-04 9.99774778e-01 -7.46407428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.33, Y:-31.76, Z:-7.47 [[ 9.89858182e-01 1.40502002e-01 2.09754058e-02 2.49332665e+02] [-1.40465118e-01 9.90080363e-01 -3.22886852e-03 -3.17590740e+01] [-2.12209999e-02 2.49809073e-04 9.99774778e-01 -7.46500443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.36, Y:-31.76, Z:-7.47 [[ 9.89856366e-01 1.40630729e-01 2.01835015e-02 2.49363639e+02] [-1.40596595e-01 9.90062090e-01 -3.10739376e-03 -3.17615903e+01] [-2.04199147e-02 2.38141899e-04 9.99791463e-01 -7.46695450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.39, Y:-31.77, Z:-7.47 [[ 9.89769474e-01 1.41227611e-01 2.02768290e-02 2.49393963e+02] [-1.41193275e-01 9.89977126e-01 -3.12234646e-03 -3.17650153e+01] [-2.05145584e-02 2.27451320e-04 9.99789528e-01 -7.46786358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.42, Y:-31.76, Z:-7.47 [[ 9.89350971e-01 1.44074888e-01 2.06659824e-02 2.49424171e+02] [-1.44039832e-01 9.89566772e-01 -3.18272468e-03 -3.17636748e+01] [-2.09089202e-02 1.72107117e-04 9.99781370e-01 -7.46760186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20587156 meters Centerline goodness [0,1] 0.9998288184191381 Centerline is valid? [True, True] Translation: X:249.45, Y:-31.76, Z:-7.47 [[ 9.89076560e-01 1.45943875e-01 2.06867905e-02 2.49453885e+02] [-1.45909159e-01 9.89292863e-01 -3.18580019e-03 -3.17641470e+01] [-2.09302422e-02 1.32608084e-04 9.99780930e-01 -7.46712007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23587156 meters Centerline goodness [0,1] 0.9999356098817368 Centerline is valid? [True, True] Translation: X:249.48, Y:-31.76, Z:-7.47 [[ 9.88545471e-01 1.49396894e-01 2.14107492e-02 2.49482995e+02] [-1.49360524e-01 9.88777308e-01 -3.29687388e-03 -3.17607921e+01] [-2.16630056e-02 6.11890138e-05 9.99765328e-01 -7.46719410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.51, Y:-31.76, Z:-7.47 [[ 9.88328743e-01 1.50748625e-01 2.19350973e-02 2.49513334e+02] [-1.50710804e-01 9.88572127e-01 -3.37676056e-03 -3.17611318e+01] [-2.21934678e-02 3.14933695e-05 9.99753694e-01 -7.46713054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.54, Y:-31.76, Z:-7.47 [[ 9.88046326e-01 1.52491963e-01 2.25977762e-02 2.49541439e+02] [-1.52452284e-01 9.88304711e-01 -3.47847520e-03 -3.17602207e+01] [-2.28639282e-02 -8.18795508e-06 9.99738586e-01 -7.46724553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.57, Y:-31.76, Z:-7.47 [[ 9.88007844e-01 1.52730642e-01 2.26682926e-02 2.49570608e+02] [-1.52690811e-01 9.88267854e-01 -3.48791670e-03 -3.17632403e+01] [-2.29350566e-02 -1.51509116e-05 9.99736957e-01 -7.46812074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.60, Y:-31.77, Z:-7.47 [[ 9.88026717e-01 1.52747278e-01 2.17134774e-02 2.49599071e+02] [-1.52710756e-01 9.88265283e-01 -3.34005164e-03 -3.17653355e+01] [-2.19688597e-02 -1.58213017e-05 9.99758655e-01 -7.47113466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38587156 meters Centerline goodness [0,1] 0.9999786653012459 Centerline is valid? [True, True] Translation: X:249.63, Y:-31.77, Z:-7.47 [[ 9.88089277e-01 1.52462541e-01 2.08507373e-02 2.49626199e+02] [-1.52428818e-01 9.88309250e-01 -3.20653976e-03 -3.17688828e+01] [-2.10958538e-02 -9.90569738e-06 9.99777458e-01 -7.47338841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.65, Y:-31.77, Z:-7.48 [[ 9.88147851e-01 1.52205034e-01 1.99361979e-02 2.49653936e+02] [-1.52174175e-01 9.88348940e-01 -3.06482424e-03 -3.17728216e+01] [-2.01704017e-02 -5.27496827e-06 9.99796557e-01 -7.47670205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.68, Y:-31.78, Z:-7.48 [[ 9.88140199e-01 1.52275483e-01 1.97768707e-02 2.49681673e+02] [-1.52245151e-01 9.88338089e-01 -3.03921260e-03 -3.17760101e+01] [-2.00090321e-02 -7.76451900e-06 9.99799799e-01 -7.47902844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.71, Y:-31.78, Z:-7.48 [[ 9.88009415e-01 1.53124392e-01 1.97564434e-02 2.49711158e+02] [-1.53094316e-01 9.88206922e-01 -3.03487075e-03 -3.17762263e+01] [-1.99881669e-02 -2.61183259e-05 9.99800216e-01 -7.47696172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50587156 meters Centerline goodness [0,1] 0.999806746687853 Centerline is valid? [True, True] Translation: X:249.74, Y:-31.78, Z:-7.48 [[ 9.87919368e-01 1.53718217e-01 1.96476894e-02 2.49738475e+02] [-1.53688603e-01 9.88114724e-01 -3.01747243e-03 -3.17779873e+01] [-1.98780117e-02 -3.86064855e-05 9.99802412e-01 -7.47919497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53587156000003 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:249.77, Y:-31.78, Z:-7.48 [[ 9.87802857e-01 1.54488436e-01 1.94637749e-02 2.49766457e+02] [-1.54459553e-01 9.87994595e-01 -2.98768540e-03 -3.17783695e+01] [-1.96916672e-02 -5.51217954e-05 9.99806099e-01 -7.48157956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.80, Y:-31.78, Z:-7.48 [[ 9.87768630e-01 1.54716166e-01 1.93918051e-02 2.49795158e+02] [-1.54687564e-01 9.87958959e-01 -2.97543480e-03 -3.17805372e+01] [-1.96186555e-02 -6.06299420e-05 9.99807534e-01 -7.48335904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.82, Y:-31.78, Z:-7.48 [[ 9.87647727e-01 1.55478322e-01 1.94540269e-02 2.49823807e+02] [-1.55449699e-01 9.87839301e-01 -2.98422486e-03 -3.17798244e+01] [-1.96814346e-02 -7.67597280e-05 9.99806299e-01 -7.48464059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.85, Y:-31.78, Z:-7.49 [[ 9.87633751e-01 1.55598150e-01 1.92038847e-02 2.49851908e+02] [-1.55570301e-01 9.87820434e-01 -2.94480701e-03 -3.17820234e+01] [-1.94281963e-02 -7.91633368e-05 9.99811252e-01 -7.48560688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.88, Y:-31.78, Z:-7.49 [[ 9.87658417e-01 1.55375727e-01 1.97290246e-02 2.49880527e+02] [-1.55346314e-01 9.87855444e-01 -3.02409208e-03 -3.17828016e+01] [-1.99592949e-02 -7.80612656e-05 9.99800790e-01 -7.48586050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68587156 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:249.91, Y:-31.79, Z:-7.48 [[ 9.87696976e-01 1.55158649e-01 1.95058030e-02 2.49909582e+02] [-1.55129872e-01 9.87889563e-01 -2.98907247e-03 -3.17871998e+01] [-1.97333597e-02 -7.36348881e-05 9.99805276e-01 -7.48361169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.94, Y:-31.79, Z:-7.49 [[ 9.87844829e-01 1.54228878e-01 1.93919512e-02 2.49937613e+02] [-1.54200273e-01 9.88035146e-01 -2.97082677e-03 -3.17892807e+01] [-1.96181166e-02 -5.55283011e-05 9.99807545e-01 -7.48860080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.96, Y:-31.79, Z:-7.49 [[ 9.87972253e-01 1.53386844e-01 1.95781472e-02 2.49964972e+02] [-1.53357546e-01 9.88166218e-01 -2.99811461e-03 -3.17928494e+01] [-1.98063350e-02 -4.04025651e-05 9.99803834e-01 -7.48917783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77587156 meters Centerline goodness [0,1] 0.9998502577705521 Centerline is valid? [True, True] Translation: X:249.99, Y:-31.79, Z:-7.48 [[ 9.88181084e-01 1.52020120e-01 1.96984291e-02 2.49993822e+02] [-1.51990212e-01 9.88377399e-01 -3.01539980e-03 -3.17949297e+01] [-1.99278836e-02 -1.42073764e-05 9.99801420e-01 -7.48485102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80587156 meters Centerline goodness [0,1] 0.999829026949627 Centerline is valid? [True, True] Translation: X:250.02, Y:-31.80, Z:-7.49 [[ 9.88258940e-01 1.51469867e-01 2.00286406e-02 2.50021311e+02] [-1.51438852e-01 9.88461875e-01 -3.06507635e-03 -3.17980336e+01] [-2.02618143e-02 -4.02523264e-06 9.99794708e-01 -7.48531530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.05, Y:-31.80, Z:-7.49 [[ 9.88326678e-01 1.50926348e-01 2.07753317e-02 2.50050460e+02] [-1.50892886e-01 9.88545010e-01 -3.17794041e-03 -3.18012370e+01] [-2.10169855e-02 5.99352509e-06 9.99779119e-01 -7.48588956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.08, Y:-31.80, Z:-7.49 [[ 9.88461934e-01 1.49976458e-01 2.12147680e-02 2.50079206e+02] [-1.49941369e-01 9.88689568e-01 -3.24413035e-03 -3.18035423e+01] [-2.14613630e-02 2.57280014e-05 9.99769678e-01 -7.48575564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.11, Y:-31.81, Z:-7.49 [[ 9.88591106e-01 1.49160060e-01 2.09499870e-02 2.50108368e+02] [-1.49125680e-01 9.88813064e-01 -3.20264824e-03 -3.18060744e+01] [-2.11933280e-02 4.19285237e-05 9.99775395e-01 -7.48684150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92587156 meters Centerline goodness [0,1] 0.9998933424347789 Centerline is valid? [True, True] Translation: X:250.14, Y:-31.81, Z:-7.49 [[ 9.88650386e-01 1.48738042e-01 2.11520506e-02 2.50136067e+02] [-1.48702918e-01 9.88876631e-01 -3.23260377e-03 -3.18094033e+01] [-2.13975797e-02 5.05433099e-05 9.99771044e-01 -7.48756316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.16, Y:-31.81, Z:-7.49 [[ 9.88702736e-01 1.48413946e-01 2.09809810e-02 2.50164769e+02] [-1.48379343e-01 9.88925325e-01 -3.20511675e-03 -3.18120357e+01] [-2.12243075e-02 5.57635139e-05 9.99774737e-01 -7.48876898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.19, Y:-31.81, Z:-7.49 [[ 9.88780386e-01 1.47940107e-01 2.06657671e-02 2.50192914e+02] [-1.47906451e-01 9.88996320e-01 -3.15614438e-03 -3.18129344e+01] [-2.09052880e-02 6.41333887e-05 9.99781459e-01 -7.49073295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.22, Y:-31.82, Z:-7.49 [[ 9.88806937e-01 1.47740610e-01 2.08219387e-02 2.50221325e+02] [-1.47706431e-01 9.89026141e-01 -3.17844681e-03 -3.18156024e+01] [-2.10630274e-02 6.73359918e-05 9.99778148e-01 -7.49083428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.25, Y:-31.82, Z:-7.49 [[ 9.88775018e-01 1.47951890e-01 2.08375286e-02 2.50250236e+02] [-1.47917728e-01 9.88994557e-01 -3.17984490e-03 -3.18173491e+01] [-2.10786664e-02 6.19113179e-05 9.99777818e-01 -7.49100144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.28, Y:-31.82, Z:-7.49 [[ 9.88767773e-01 1.48002088e-01 2.08248261e-02 2.50278270e+02] [-1.47967998e-01 9.88987047e-01 -3.17702480e-03 -3.18197740e+01] [-2.10656895e-02 5.99319246e-05 9.99778092e-01 -7.49215550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.31, Y:-31.82, Z:-7.49 [[ 9.88737728e-01 1.48147547e-01 2.12134376e-02 2.50306501e+02] [-1.48112233e-01 9.88965268e-01 -3.23501732e-03 -3.18209066e+01] [-2.14586129e-02 5.66140661e-05 9.99769736e-01 -7.49325506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.33, Y:-31.82, Z:-7.49 [[ 9.88761729e-01 1.47992354e-01 2.11779555e-02 2.50334486e+02] [-1.47957147e-01 9.88988503e-01 -3.22848680e-03 -3.18236200e+01] [-2.14225459e-02 5.87743317e-05 9.99770509e-01 -7.49304203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16587156 meters Centerline goodness [0,1] 0.9999142936727304 Centerline is valid? [True, True] Translation: X:250.36, Y:-31.83, Z:-7.49 [[ 9.88774464e-01 1.47918255e-01 2.11009141e-02 2.50362888e+02] [-1.47883322e-01 9.88999589e-01 -3.21506370e-03 -3.18262968e+01] [-2.13443620e-02 5.84996051e-05 9.99772181e-01 -7.49205232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.39, Y:-31.83, Z:-7.50 [[ 9.88785342e-01 1.47854287e-01 2.10394221e-02 2.50390400e+02] [-1.47819563e-01 9.89009154e-01 -3.20477236e-03 -3.18277671e+01] [-2.12820204e-02 5.87937658e-05 9.99773510e-01 -7.49634080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.42, Y:-31.83, Z:-7.50 [[ 9.88804244e-01 1.47792048e-01 2.05834488e-02 2.50419164e+02] [-1.47758827e-01 9.89018456e-01 -3.13398942e-03 -3.18310890e+01] [-2.08205894e-02 5.75158037e-05 9.99783226e-01 -7.49637937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25587156 meters Centerline goodness [0,1] 0.9999146593842675 Centerline is valid? [True, True] Translation: X:250.45, Y:-31.84, Z:-7.50 [[ 9.88927508e-01 1.47081353e-01 1.97347369e-02 2.50447704e+02] [-1.47050691e-01 9.89124396e-01 -3.00389188e-03 -3.18350689e+01] [-1.99619262e-02 6.86246139e-05 9.99800739e-01 -7.49739314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.48, Y:-31.84, Z:-7.50 [[ 9.88997619e-01 1.46628261e-01 1.95924093e-02 2.50476069e+02] [-1.46597969e-01 9.89191664e-01 -2.98128563e-03 -3.18384916e+01] [-1.98177887e-02 7.62769708e-05 9.99803605e-01 -7.49929894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.50, Y:-31.84, Z:-7.50 [[ 9.88980645e-01 1.46706619e-01 1.98608379e-02 2.50504102e+02] [-1.46675524e-01 9.89180046e-01 -3.02127321e-03 -3.18399429e+01] [-2.00891853e-02 7.48819189e-05 9.99798189e-01 -7.49930492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.53, Y:-31.84, Z:-7.50 [[ 9.88896612e-01 1.47255289e-01 1.99842607e-02 2.50533027e+02] [-1.47223946e-01 9.89098517e-01 -3.03871254e-03 -3.18418394e+01] [-2.02138691e-02 6.28108167e-05 9.99795677e-01 -7.49924776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37587156 meters Centerline goodness [0,1] 0.9999786416061512 Centerline is valid? [True, True] Translation: X:250.56, Y:-31.84, Z:-7.50 [[ 9.88706279e-01 1.48400461e-01 2.09092404e-02 2.50561423e+02] [-1.48366425e-01 9.88927349e-01 -3.17839855e-03 -3.18417679e+01] [-2.11493955e-02 4.02733443e-05 9.99776326e-01 -7.49826688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.59, Y:-31.85, Z:-7.50 [[ 9.88663600e-01 1.48638335e-01 2.12351607e-02 2.50589830e+02] [-1.48603315e-01 9.88891624e-01 -3.22654735e-03 -3.18455469e+01] [-2.14788612e-02 3.43546458e-05 9.99769302e-01 -7.49896441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.62, Y:-31.85, Z:-7.50 [[ 9.88624386e-01 1.48878458e-01 2.13782053e-02 2.50616264e+02] [-1.48843037e-01 9.88855502e-01 -3.24754731e-03 -3.18495967e+01] [-2.16234458e-02 2.86074621e-05 9.99766186e-01 -7.50047759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.65, Y:-31.85, Z:-7.50 [[ 9.88596805e-01 1.49099145e-01 2.11140437e-02 2.50645173e+02] [-1.49064688e-01 9.88822251e-01 -3.20536153e-03 -3.18526419e+01] [-2.13559529e-02 2.14518300e-05 9.99771935e-01 -7.50169476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.67, Y:-31.85, Z:-7.50 [[ 9.88552988e-01 1.49458964e-01 2.06157405e-02 2.50674224e+02] [-1.49426212e-01 9.88767929e-01 -3.12876856e-03 -3.18543443e+01] [-2.08518056e-02 1.24215016e-05 9.99782577e-01 -7.50324810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.70, Y:-31.86, Z:-7.50 [[ 9.88573244e-01 1.49337779e-01 2.05224181e-02 2.50702159e+02] [-1.49305313e-01 9.88786240e-01 -3.11384098e-03 -3.18576542e+01] [-2.07572987e-02 1.41538252e-05 9.99784544e-01 -7.50394936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.73, Y:-31.86, Z:-7.50 [[ 9.88708813e-01 1.48502659e-01 2.00460369e-02 2.50731056e+02] [-1.48471544e-01 9.88912008e-01 -3.03991965e-03 -3.18610543e+01] [-2.02752027e-02 2.93293044e-05 9.99794437e-01 -7.50497191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.76, Y:-31.87, Z:-7.51 [[ 9.88817779e-01 1.47800098e-01 1.98627915e-02 2.50759119e+02] [-1.47769427e-01 9.89017254e-01 -3.01116890e-03 -3.18658054e+01] [-2.00896946e-02 4.23840154e-05 9.99798181e-01 -7.50619686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.79, Y:-31.87, Z:-7.51 [[ 9.89141081e-01 1.45683800e-01 1.93946595e-02 2.50786350e+02] [-1.45654167e-01 9.89331200e-01 -2.93940291e-03 -3.18732272e+01] [-1.96159652e-02 8.25712035e-05 9.99807585e-01 -7.50848603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.82, Y:-31.88, Z:-7.51 [[ 9.89345342e-01 1.44248276e-01 1.97035451e-02 2.50815064e+02] [-1.44217434e-01 9.89541521e-01 -2.98483545e-03 -3.18793271e+01] [-1.99280334e-02 1.11438329e-04 9.99801411e-01 -7.50869408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.84, Y:-31.89, Z:-7.51 [[ 9.89810598e-01 1.40873185e-01 2.07298411e-02 2.50843254e+02] [-1.40838328e-01 9.90027631e-01 -3.13925291e-03 -3.18868838e+01] [-2.09653520e-02 1.87709641e-04 9.99780185e-01 -7.50675148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.87, Y:-31.90, Z:-7.51 [[ 9.90092083e-01 1.38882483e-01 2.07201049e-02 2.50870332e+02] [-1.38847242e-01 9.90308843e-01 -3.13686310e-03 -3.18950747e+01] [-2.09549585e-02 2.28853908e-04 9.99780395e-01 -7.50813647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.90, Y:-31.91, Z:-7.51 [[ 9.90702957e-01 1.34488382e-01 2.05067481e-02 2.50898430e+02] [-1.34452954e-01 9.90915120e-01 -3.10297461e-03 -3.19072103e+01] [-2.07377608e-02 3.16933265e-04 9.99784899e-01 -7.50924031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.93, Y:-31.92, Z:-7.51 [[ 9.91199169e-01 1.30829034e-01 2.01983064e-02 2.50926930e+02] [-1.30793914e-01 9.91404869e-01 -3.05582802e-03 -3.19184076e+01] [-2.04244903e-02 3.87118645e-04 9.99791323e-01 -7.51041699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79587156 meters Centerline goodness [0,1] 0.9998709927110881 Centerline is valid? [True, True] Translation: X:250.95, Y:-31.93, Z:-7.51 [[ 9.91359587e-01 1.29662771e-01 1.98427772e-02 2.50954283e+02] [-1.29628650e-01 9.91558068e-01 -3.00168473e-03 -3.19288727e+01] [-2.00644726e-02 4.03556499e-04 9.99798607e-01 -7.51255845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.98, Y:-31.94, Z:-7.51 [[ 9.91477585e-01 1.28758555e-01 1.98351505e-02 2.50982602e+02] [-1.28724292e-01 9.91675883e-01 -2.99991160e-03 -3.19354927e+01] [-2.00563047e-02 4.21079406e-04 9.99798763e-01 -7.51408055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.01, Y:-31.94, Z:-7.51 [[ 9.91532145e-01 1.28372223e-01 1.96106545e-02 2.51010381e+02] [-1.28338673e-01 9.91725967e-01 -2.96505316e-03 -3.19429110e+01] [-1.98290258e-02 4.23140134e-04 9.99803296e-01 -7.51446810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88587156 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:251.04, Y:-31.95, Z:-7.51 [[ 9.91461214e-01 1.28839907e-01 2.01231072e-02 2.51039151e+02] [-1.28804697e-01 9.91665316e-01 -3.04155032e-03 -3.19471674e+01] [-2.03472605e-02 4.23628451e-04 9.99792883e-01 -7.51412138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.07, Y:-31.95, Z:-7.51 [[ 9.91258417e-01 1.30283801e-01 2.08058136e-02 2.51067268e+02] [-1.30246504e-01 9.91476659e-01 -3.14357220e-03 -3.19535047e+01] [-2.10380351e-02 4.06207927e-04 9.99778594e-01 -7.51397200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.10, Y:-31.96, Z:-7.51 [[ 9.91068450e-01 1.31661389e-01 2.11803068e-02 2.51096341e+02] [-1.31623069e-01 9.91294675e-01 -3.19936475e-03 -3.19577261e+01] [-2.14171581e-02 3.82972494e-04 9.99770553e-01 -7.51397870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.13, Y:-31.96, Z:-7.51 [[ 9.90607994e-01 1.35029179e-01 2.15156656e-02 2.51125592e+02] [-1.34990443e-01 9.90841573e-01 -3.24935160e-03 -3.19587279e+01] [-2.17573732e-02 3.14424431e-04 9.99763231e-01 -7.51339867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.15, Y:-31.96, Z:-7.51 [[ 9.90614448e-01 1.34981797e-01 2.15158205e-02 2.51153605e+02] [-1.34943073e-01 9.90848028e-01 -3.24832581e-03 -3.19628707e+01] [-2.17573731e-02 3.14427559e-04 9.99763231e-01 -7.51425324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.18, Y:-31.97, Z:-7.52 [[ 9.90411877e-01 1.36493790e-01 2.13016280e-02 2.51182196e+02] [-1.36456206e-01 9.90640888e-01 -3.21485524e-03 -3.19679856e+01] [-2.15410714e-02 2.77291474e-04 9.99767926e-01 -7.51673093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.21, Y:-31.97, Z:-7.52 [[ 9.90094114e-01 1.38903910e-01 2.04780252e-02 2.51211305e+02] [-1.38869707e-01 9.90305840e-01 -3.08984277e-03 -3.19714949e+01] [-2.07086992e-02 2.15457791e-04 9.99785529e-01 -7.51929479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.24, Y:-31.98, Z:-7.52 [[ 9.89989091e-01 1.39691223e-01 2.01980661e-02 2.51239022e+02] [-1.39658123e-01 9.90195094e-01 -3.04712486e-03 -3.19765142e+01] [-2.04256826e-02 1.95796374e-04 9.99791355e-01 -7.52133506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12587156 meters Centerline goodness [0,1] 0.9998274076630997 Centerline is valid? [True, True] Translation: X:251.27, Y:-31.98, Z:-7.52 [[ 9.89796945e-01 1.41120165e-01 1.96750329e-02 2.51267152e+02] [-1.41089063e-01 9.89992461e-01 -2.96699892e-03 -3.19803819e+01] [-1.98968376e-02 1.60794518e-04 9.99802025e-01 -7.52019491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.29, Y:-31.99, Z:-7.52 [[ 9.89716387e-01 1.41656116e-01 1.98750749e-02 2.51293978e+02] [-1.41624504e-01 9.89915917e-01 -2.99628686e-03 -3.19858780e+01] [-2.00990953e-02 1.50676574e-04 9.99797981e-01 -7.52326756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.32, Y:-31.99, Z:-7.52 [[ 9.89479673e-01 1.43268623e-01 2.01017108e-02 2.51322557e+02] [-1.43236647e-01 9.89683832e-01 -3.02906771e-03 -3.19898633e+01] [-2.03283086e-02 1.17899267e-04 9.99793352e-01 -7.52323475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.35, Y:-31.99, Z:-7.52 [[ 9.89335643e-01 1.44256755e-01 2.01239488e-02 2.51351667e+02] [-1.44224932e-01 9.89540287e-01 -3.03146153e-03 -3.19929550e+01] [-2.03507669e-02 9.67577991e-05 9.99792897e-01 -7.52361662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.38, Y:-31.99, Z:-7.52 [[ 9.88963660e-01 1.46731655e-01 2.05109761e-02 2.51380637e+02] [-1.46699149e-01 9.89176334e-01 -3.08874583e-03 -3.19938003e+01] [-2.07421889e-02 4.57146542e-05 9.99784857e-01 -7.52305541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.41, Y:-32.00, Z:-7.52 [[ 9.88774359e-01 1.47947388e-01 2.09006389e-02 2.51409009e+02] [-1.47913929e-01 9.88995233e-01 -3.14638543e-03 -3.19968474e+01] [-2.11361317e-02 1.95696300e-05 9.99776607e-01 -7.52331365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.44, Y:-32.00, Z:-7.52 [[ 9.88648887e-01 1.48716520e-01 2.13722973e-02 2.51436469e+02] [-1.48681733e-01 9.88879870e-01 -3.21642028e-03 -3.20000474e+01] [-2.16129694e-02 2.24011387e-06 9.99766412e-01 -7.52415837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.46, Y:-32.00, Z:-7.52 [[ 9.88484576e-01 1.49650830e-01 2.24247910e-02 2.51464204e+02] [-1.49612806e-01 9.88738908e-01 -3.37340191e-03 -3.20025270e+01] [-2.26770958e-02 -2.04801393e-05 9.99742841e-01 -7.52328578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36587156 meters Centerline goodness [0,1] 0.9999147412396624 Centerline is valid? [True, True] Translation: X:251.49, Y:-32.01, Z:-7.52 [[ 9.88584099e-01 1.48937628e-01 2.27829291e-02 2.51492496e+02] [-1.48898227e-01 9.88846592e-01 -3.42564821e-03 -3.20090003e+01] [-2.30390297e-02 -5.79638519e-06 9.99734566e-01 -7.52284719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.52, Y:-32.01, Z:-7.52 [[ 9.88740420e-01 1.47888469e-01 2.28338157e-02 2.51520467e+02] [-1.47848637e-01 9.89004045e-01 -3.43220770e-03 -3.20149908e+01] [-2.30903200e-02 1.76139603e-05 9.99733383e-01 -7.52395981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.55, Y:-32.02, Z:-7.52 [[ 9.88938830e-01 1.46511700e-01 2.31152052e-02 2.51548705e+02] [-1.46470531e-01 9.89208936e-01 -3.47337051e-03 -3.20212412e+01] [-2.33746570e-02 4.92545887e-05 9.99726774e-01 -7.52408639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.58, Y:-32.03, Z:-7.52 [[ 9.89362772e-01 1.43530218e-01 2.36723812e-02 2.51576728e+02] [-1.43486214e-01 9.89645927e-01 -3.55593129e-03 -3.20293351e+01] [-2.39376593e-02 1.21445678e-04 9.99713446e-01 -7.52300813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.60, Y:-32.04, Z:-7.53 [[ 9.89780454e-01 1.40753684e-01 2.28703685e-02 2.51603881e+02] [-1.40711897e-01 9.90044629e-01 -3.43427635e-03 -3.20410965e+01] [-2.31260726e-02 1.81046655e-04 9.99732540e-01 -7.52648102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.63, Y:-32.05, Z:-7.53 [[ 9.89959015e-01 1.39591953e-01 2.22538782e-02 2.51632976e+02] [-1.39552116e-01 9.90209092e-01 -3.34081230e-03 -3.20482293e+01] [-2.25023430e-02 2.01691467e-04 9.99746770e-01 -7.52784532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.66, Y:-32.06, Z:-7.53 [[ 9.90104634e-01 1.38668129e-01 2.15398323e-02 2.51660794e+02] [-1.38630598e-01 9.90338883e-01 -3.23320670e-03 -3.20564520e+01] [-2.17800762e-02 2.15133096e-04 9.99762763e-01 -7.53083620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.69, Y:-32.06, Z:-7.53 [[ 9.90250014e-01 1.37749650e-01 2.07350828e-02 2.51689722e+02] [-1.37714690e-01 9.90467053e-01 -3.11145386e-03 -3.20638922e+01] [-2.09660181e-02 2.25591725e-04 9.99780163e-01 -7.53295286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.72, Y:-32.07, Z:-7.53 [[ 9.90290744e-01 1.37500605e-01 2.04407788e-02 2.51717641e+02] [-1.37466576e-01 9.90501657e-01 -3.06739956e-03 -3.20689297e+01] [-2.06683945e-02 2.27693532e-04 9.99786360e-01 -7.53363956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.75, Y:-32.08, Z:-7.54 [[ 9.90223175e-01 1.37961881e-01 2.06054330e-02 2.51745162e+02] [-1.37927424e-01 9.90437515e-01 -3.09096367e-03 -3.20764544e+01] [-2.08348290e-02 2.18689559e-04 9.99782907e-01 -7.53515186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.77, Y:-32.08, Z:-7.54 [[ 9.90144271e-01 1.38537122e-01 2.05375083e-02 2.51773826e+02] [-1.38503029e-01 9.90357220e-01 -3.08013012e-03 -3.20811929e+01] [-2.07661820e-02 2.05266076e-04 9.99784339e-01 -7.53623030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.80, Y:-32.09, Z:-7.54 [[ 9.90014637e-01 1.39548705e-01 1.99292858e-02 2.51801709e+02] [-1.39516825e-01 9.90215192e-01 -2.98800654e-03 -3.20870748e+01] [-2.01512540e-02 1.77699516e-04 9.99796927e-01 -7.53819314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.83, Y:-32.09, Z:-7.54 [[ 9.89952843e-01 1.40013666e-01 1.97368136e-02 2.51829895e+02] [-1.39982510e-01 9.90149557e-01 -2.95822103e-03 -3.20921645e+01] [-1.99565886e-02 1.65690612e-04 9.99800834e-01 -7.53966288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.86, Y:-32.10, Z:-7.54 [[ 9.89748767e-01 1.41522346e-01 1.92042425e-02 2.51858138e+02] [-1.41493149e-01 9.89935053e-01 -2.87752150e-03 -3.20959101e+01] [-1.94181864e-02 1.30754598e-04 9.99811441e-01 -7.54161095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.89, Y:-32.10, Z:-7.54 [[ 9.89630687e-01 1.42385954e-01 1.89035187e-02 2.51887151e+02] [-1.42357839e-01 9.89811208e-01 -2.83159840e-03 -3.20993076e+01] [-1.91140945e-02 1.11172607e-04 9.99817303e-01 -7.54237154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.92, Y:-32.10, Z:-7.54 [[ 9.89291283e-01 1.44668868e-01 1.93307069e-02 2.51915766e+02] [-1.44639922e-01 9.89480123e-01 -2.89462975e-03 -3.21020602e+01] [-1.95461131e-02 6.76400379e-05 9.99808954e-01 -7.54198012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.94, Y:-32.11, Z:-7.54 [[ 9.89147502e-01 1.45673547e-01 1.91425472e-02 2.51943600e+02] [-1.45645366e-01 9.89332712e-01 -2.86564881e-03 -3.21051376e+01] [-1.93557974e-02 4.65260698e-05 9.99812658e-01 -7.54352612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.97, Y:-32.11, Z:-7.54 [[ 9.88920837e-01 1.47240106e-01 1.88660823e-02 2.51971995e+02] [-1.47213042e-01 9.89100779e-01 -2.82299311e-03 -3.21081845e+01] [-1.90761145e-02 1.43833628e-05 9.99818034e-01 -7.54456570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.00, Y:-32.11, Z:-7.55 [[ 9.88852202e-01 1.47674254e-01 1.90692681e-02 2.51999544e+02] [-1.47646699e-01 9.89036053e-01 -2.85262087e-03 -3.21124149e+01] [-1.92814523e-02 5.30593452e-06 9.99814096e-01 -7.54614907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.03, Y:-32.12, Z:-7.55 [[ 9.88756432e-01 1.48324435e-01 1.89889305e-02 2.52028330e+02] [-1.48297260e-01 9.88938755e-01 -2.83916292e-03 -3.21168850e+01] [-1.92000065e-02 -8.76576530e-06 9.99815663e-01 -7.54729890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.06, Y:-32.12, Z:-7.55 [[ 9.88818195e-01 1.47864264e-01 1.93580952e-02 2.52056883e+02] [-1.47835952e-01 9.89007664e-01 -2.89339301e-03 -3.21221626e+01] [-1.95731339e-02 -7.82775378e-07 9.99808428e-01 -7.54774226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.08, Y:-32.13, Z:-7.55 [[ 9.89078032e-01 1.46005898e-01 2.01723400e-02 2.52083543e+02] [-1.45974787e-01 9.89283719e-01 -3.01416504e-03 -3.21298540e+01] [-2.03962534e-02 3.65913870e-05 9.99791974e-01 -7.54745553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02587156 meters Centerline goodness [0,1] 0.9998284255903233 Centerline is valid? [True, True] Translation: X:252.11, Y:-32.14, Z:-7.55 [[ 9.89235370e-01 1.44938711e-01 2.01532441e-02 2.52111939e+02] [-1.44907465e-01 9.89440633e-01 -3.00998599e-03 -3.21362626e+01] [-2.03767021e-02 5.72290962e-05 9.99792372e-01 -7.54694155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.14, Y:-32.15, Z:-7.55 [[ 9.89584893e-01 1.42604058e-01 1.96423445e-02 2.52138931e+02] [-1.42573937e-01 9.89779810e-01 -2.93261915e-03 -3.21463723e+01] [-1.98597994e-02 1.01589231e-04 9.99802770e-01 -7.55034223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.17, Y:-32.16, Z:-7.55 [[ 9.89822634e-01 1.40970269e-01 1.94560197e-02 2.52167382e+02] [-1.40940417e-01 9.90013821e-01 -2.90395583e-03 -3.21552915e+01] [-1.96710999e-02 1.32261662e-04 9.99806496e-01 -7.55128250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.20, Y:-32.16, Z:-7.55 [[ 9.89837419e-01 1.40877282e-01 1.93772017e-02 2.52196924e+02] [-1.40847663e-01 9.90027057e-01 -2.89172885e-03 -3.21605542e+01] [-1.95913329e-02 1.33107838e-04 9.99808063e-01 -7.55231961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.22, Y:-32.17, Z:-7.55 [[ 9.89833380e-01 1.40882522e-01 1.95447029e-02 2.52224850e+02] [-1.40852397e-01 9.90026311e-01 -2.91637202e-03 -3.21652601e+01] [-1.97606360e-02 1.33804128e-04 9.99804731e-01 -7.55285706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.25, Y:-32.17, Z:-7.55 [[ 9.89706849e-01 1.41735689e-01 1.97825109e-02 2.52253681e+02] [-1.41705011e-01 9.89904531e-01 -2.95112921e-03 -3.21688080e+01] [-2.00010775e-02 1.17471858e-04 9.99799952e-01 -7.55405216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.28, Y:-32.17, Z:-7.55 [[ 9.89655659e-01 1.42155050e-01 1.93291976e-02 2.52283567e+02] [-1.42125858e-01 9.89844397e-01 -2.88272066e-03 -3.21724401e+01] [-1.95426912e-02 1.05722021e-04 9.99809018e-01 -7.55477725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.31, Y:-32.18, Z:-7.56 [[ 9.89589983e-01 1.42671128e-01 1.88842606e-02 2.52311286e+02] [-1.42643366e-01 9.89770145e-01 -2.81594295e-03 -3.21779002e+01] [-1.90928311e-02 9.29144373e-05 9.99817711e-01 -7.55780910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.34, Y:-32.18, Z:-7.56 [[ 9.89556121e-01 1.42919302e-01 1.87818222e-02 2.52339902e+02] [-1.42891893e-01 9.89734341e-01 -2.80027858e-03 -3.21824502e+01] [-1.89892283e-02 8.72626912e-05 9.99819685e-01 -7.55911430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.37, Y:-32.19, Z:-7.56 [[ 9.89412184e-01 1.43896613e-01 1.89022572e-02 2.52369717e+02] [-1.43869045e-01 9.89592724e-01 -2.81742564e-03 -3.21860160e+01] [-1.91109542e-02 6.81455671e-05 9.99817367e-01 -7.55918996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.40, Y:-32.19, Z:-7.56 [[ 9.89325650e-01 1.44496035e-01 1.88587863e-02 2.52397917e+02] [-1.44468706e-01 9.89505378e-01 -2.81077613e-03 -3.21891792e+01] [-1.90670165e-02 5.62684746e-05 9.99818206e-01 -7.55900266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.43, Y:-32.19, Z:-7.56 [[ 9.89047714e-01 1.46335359e-01 1.92505239e-02 2.52426109e+02] [-1.46307247e-01 9.89235039e-01 -2.86831049e-03 -3.21901056e+01] [-1.94630280e-02 2.04047891e-05 9.99810577e-01 -7.56031489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.45, Y:-32.19, Z:-7.56 [[ 9.88888235e-01 1.47425971e-01 1.91217619e-02 2.52453892e+02] [-1.47398461e-01 9.89073093e-01 -2.84795130e-03 -3.21916014e+01] [-1.93326822e-02 -2.21273574e-06 9.99813106e-01 -7.56176787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.48, Y:-32.19, Z:-7.56 [[ 9.88503362e-01 1.50031188e-01 1.87549065e-02 2.52482685e+02] [-1.50005214e-01 9.88681263e-01 -2.79210549e-03 -3.21913698e+01] [-1.89615275e-02 -5.33280983e-05 9.99820213e-01 -7.56319447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44587156 meters Centerline goodness [0,1] 0.9999784696206347 Centerline is valid? [True, True] Translation: X:252.51, Y:-32.19, Z:-7.56 [[ 9.88184494e-01 1.52004370e-01 1.96488474e-02 2.52512133e+02] [-1.51976271e-01 9.88379817e-01 -2.92420456e-03 -3.21912022e+01] [-1.98650161e-02 -9.65049484e-05 9.99802666e-01 -7.56189132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.54, Y:-32.19, Z:-7.56 [[ 9.88134846e-01 1.52306899e-01 1.98024095e-02 2.52540375e+02] [-1.52278436e-01 9.88333242e-01 -2.94620266e-03 -3.21930820e+01] [-2.00201066e-02 -1.04234454e-04 9.99799572e-01 -7.56321779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.57, Y:-32.19, Z:-7.56 [[ 9.88127293e-01 1.52179146e-01 2.11177967e-02 2.52568046e+02] [-1.52146777e-01 9.88352921e-01 -3.14049583e-03 -3.21934893e+01] [-2.13497540e-02 -1.09795064e-04 9.99772062e-01 -7.56316856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.60, Y:-32.20, Z:-7.56 [[ 9.88220597e-01 1.51546487e-01 2.13005740e-02 2.52596322e+02] [-1.51513438e-01 9.88450127e-01 -3.16631014e-03 -3.21976528e+01] [-2.15343983e-02 -9.83103011e-05 9.99768103e-01 -7.56204084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.62, Y:-32.20, Z:-7.57 [[ 9.88501812e-01 1.49829428e-01 2.03791606e-02 2.52624067e+02] [-1.49798828e-01 9.88711859e-01 -3.02852735e-03 -3.22025854e+01] [-2.06028803e-02 -5.90695939e-05 9.99787736e-01 -7.56555780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.65, Y:-32.21, Z:-7.57 [[ 9.88644303e-01 1.48961110e-01 1.98250017e-02 2.52651578e+02] [-1.48932000e-01 9.88843054e-01 -2.94501736e-03 -3.22070742e+01] [-2.00425083e-02 -4.10025371e-05 9.99799128e-01 -7.56890458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.68, Y:-32.21, Z:-7.57 [[ 9.88782699e-01 1.48055728e-01 1.97047102e-02 2.52680244e+02] [-1.48026817e-01 9.88979019e-01 -2.92587283e-03 -3.22122389e+01] [-1.99207372e-02 -2.37730956e-05 9.99801562e-01 -7.56826858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.71, Y:-32.22, Z:-7.57 [[ 9.89120492e-01 1.45842802e-01 1.92491325e-02 2.52707315e+02] [-1.45814808e-01 9.89307777e-01 -2.85745557e-03 -3.22172303e+01] [-1.94600558e-02 1.95593060e-05 9.99810635e-01 -7.57014958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.74, Y:-32.22, Z:-7.57 [[ 9.89351479e-01 1.44245409e-01 1.94142322e-02 2.52735595e+02] [-1.44216650e-01 9.89541944e-01 -2.88066675e-03 -3.22224538e+01] [-1.96267201e-02 5.01363704e-05 9.99807376e-01 -7.57050774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.76, Y:-32.23, Z:-7.57 [[ 9.89820970e-01 1.40916101e-01 1.99273855e-02 2.52764552e+02] [-1.40885152e-01 9.90021534e-01 -2.95558697e-03 -3.22308758e+01] [-2.01450306e-02 1.18029225e-04 9.99797061e-01 -7.57082173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.79, Y:-32.24, Z:-7.57 [[ 9.90068239e-01 1.39172910e-01 1.98943300e-02 2.52793611e+02] [-1.39141720e-01 9.90268084e-01 -2.95020930e-03 -3.22381513e+01] [-2.01113092e-02 1.52777224e-04 9.99797735e-01 -7.57132368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.82, Y:-32.25, Z:-7.57 [[ 9.90537492e-01 1.35697653e-01 2.05334675e-02 2.52822890e+02] [-1.35663696e-01 9.90750268e-01 -3.04425022e-03 -3.22481639e+01] [-2.07566360e-02 2.29797886e-04 9.99784531e-01 -7.57078402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80587156 meters Centerline goodness [0,1] 0.9999141980737467 Centerline is valid? [True, True] Translation: X:252.85, Y:-32.26, Z:-7.57 [[ 9.90913136e-01 1.32849182e-01 2.10297984e-02 2.52851830e+02] [-1.32812924e-01 9.91136220e-01 -3.11772718e-03 -3.22595716e+01] [-2.12575824e-02 2.96367797e-04 9.99773988e-01 -7.57069740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83587156 meters Centerline goodness [0,1] 0.9999573624405739 Centerline is valid? [True, True] Translation: X:252.88, Y:-32.27, Z:-7.57 [[ 9.91091851e-01 1.31430519e-01 2.15165493e-02 2.52882088e+02] [-1.31392225e-01 9.91325328e-01 -3.19006497e-03 -3.22665614e+01] [-2.17491722e-02 3.34540107e-04 9.99763403e-01 -7.57118276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86587156 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:252.91, Y:-32.28, Z:-7.57 [[ 9.91319445e-01 1.29577747e-01 2.22568069e-02 2.52911253e+02] [-1.29536315e-01 9.91569189e-01 -3.29938938e-03 -3.22804814e+01] [-2.24966914e-02 3.87684106e-04 9.99746842e-01 -7.57317668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89587156 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:252.94, Y:-32.29, Z:-7.57 [[ 9.91316723e-01 1.29598678e-01 2.22561642e-02 2.52941740e+02] [-1.29557153e-01 9.91566452e-01 -3.30371925e-03 -3.22850520e+01] [-2.24966234e-02 3.91586867e-04 9.99746842e-01 -7.57410687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.97, Y:-32.29, Z:-7.57 [[ 9.91414933e-01 1.28843553e-01 2.22658848e-02 2.52973977e+02] [-1.28801817e-01 9.91664849e-01 -3.30453636e-03 -3.22871173e+01] [-2.25060635e-02 4.08280275e-04 9.99746623e-01 -7.57283227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95587156 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:253.00, Y:-32.30, Z:-7.58 [[ 9.91495829e-01 1.28282215e-01 2.19019164e-02 2.53002957e+02] [-1.28241614e-01 9.91737616e-01 -3.25420267e-03 -3.23006625e+01] [-2.21384107e-02 4.17791272e-04 9.99754828e-01 -7.57710333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98587156 meters Centerline goodness [0,1] 0.9999355157663952 Centerline is valid? [True, True] Translation: X:253.04, Y:-32.30, Z:-7.58 [[ 9.91645394e-01 1.27183708e-01 2.15340846e-02 2.53035252e+02] [-1.27144133e-01 9.91879082e-01 -3.20266639e-03 -3.23023107e+01] [-2.17665351e-02 4.37976867e-04 9.99762985e-01 -7.57538776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.07, Y:-32.31, Z:-7.58 [[ 9.91743937e-01 1.26489231e-01 2.10817097e-02 2.53065299e+02] [-1.26451067e-01 9.91967880e-01 -3.13900505e-03 -3.23131640e+01] [-2.13094292e-02 4.47284544e-04 9.99772828e-01 -7.57785330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04587156 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:253.10, Y:-32.32, Z:-7.58 [[ 9.91767730e-01 1.26327929e-01 2.09290400e-02 2.53097520e+02] [-1.26290214e-01 9.91988433e-01 -3.11939312e-03 -3.23173509e+01] [-2.11554321e-02 4.50580497e-04 9.99776097e-01 -7.57823212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07587156 meters Centerline goodness [0,1] 0.9997861420017109 Centerline is valid? [True, True] Translation: X:253.13, Y:-32.34, Z:-7.58 [[ 9.91877163e-01 1.25536272e-01 2.05021352e-02 2.53125421e+02] [-1.25499823e-01 9.92088923e-01 -3.05997775e-03 -3.23369651e+01] [-2.07240794e-02 4.62107712e-04 9.99785126e-01 -7.58481171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10587156 meters Centerline goodness [0,1] 0.9998083312036801 Centerline is valid? [True, True] Translation: X:253.16, Y:-32.33, Z:-7.58 [[ 9.91926937e-01 1.25144267e-01 2.04905931e-02 2.53158381e+02] [-1.25107756e-01 9.92138443e-01 -3.05922679e-03 -3.23349904e+01] [-2.07123499e-02 4.70997340e-04 9.99785365e-01 -7.58213479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13587156 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:253.19, Y:-32.35, Z:-7.58 [[ 9.92081959e-01 1.23808098e-01 2.10936273e-02 2.53188387e+02] [-1.23769023e-01 9.92306045e-01 -3.15305323e-03 -3.23464262e+01] [-2.13217074e-02 5.17349571e-04 9.99772533e-01 -7.58281288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16587156 meters Centerline goodness [0,1] 0.9998721227621483 Centerline is valid? [True, True] Translation: X:253.22, Y:-32.35, Z:-7.58 [[ 9.92206882e-01 1.22745290e-01 2.14265536e-02 2.53219292e+02] [-1.22704651e-01 9.92438053e-01 -3.20622694e-03 -3.23544884e+01] [-2.16580764e-02 5.52102661e-04 9.99765284e-01 -7.58311525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19587156 meters Centerline goodness [0,1] 0.9998930229572733 Centerline is valid? [True, True] Translation: X:253.25, Y:-32.37, Z:-7.58 [[ 9.92464210e-01 1.20609489e-01 2.16366021e-02 2.53249490e+02] [-1.20567467e-01 9.92699845e-01 -3.24101778e-03 -3.23668970e+01] [-2.18695491e-02 6.07923829e-04 9.99760648e-01 -7.58431429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22587156000003 meters Centerline goodness [0,1] 0.999763816721776 Centerline is valid? [True, True] Translation: X:253.28, Y:-32.38, Z:-7.59 [[ 9.92642401e-01 1.19209156e-01 2.12188978e-02 2.53280129e+02] [-1.19168354e-01 9.92868965e-01 -3.18163341e-03 -3.23762072e+01] [-2.14468649e-02 6.29603108e-04 9.99769791e-01 -7.58602655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25587156 meters Centerline goodness [0,1] 0.9996801978509295 Centerline is valid? [True, True] Translation: X:253.31, Y:-32.39, Z:-7.59 [[ 9.92857365e-01 1.17481903e-01 2.07907568e-02 2.53310807e+02] [-1.17442267e-01 9.93074806e-01 -3.12148371e-03 -3.23878534e+01] [-2.10134946e-02 6.57474470e-04 9.99778976e-01 -7.58809721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28587156000003 meters Centerline goodness [0,1] 0.9996798019041113 Centerline is valid? [True, True] Translation: X:253.34, Y:-32.40, Z:-7.59 [[ 9.92871549e-01 1.17466416e-01 2.01922840e-02 2.53340330e+02] [-1.17429029e-01 9.93076650e-01 -3.03152560e-03 -3.24001591e+01] [-2.04085882e-02 6.38755222e-04 9.99791519e-01 -7.59097367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31587156 meters Centerline goodness [0,1] 0.9996347855976626 Centerline is valid? [True, True] Translation: X:253.37, Y:-32.40, Z:-7.59 [[ 9.92760331e-01 1.18515252e-01 1.95207860e-02 2.53372251e+02] [-1.18480460e-01 9.92952051e-01 -2.93339526e-03 -3.24018955e+01] [-1.97308566e-02 5.99326754e-04 9.99805148e-01 -7.58913812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34587156 meters Centerline goodness [0,1] 0.9999144092095691 Centerline is valid? [True, True] Translation: X:253.40, Y:-32.41, Z:-7.59 [[ 9.92657851e-01 1.19274206e-01 2.01010885e-02 2.53402266e+02] [-1.19237381e-01 9.92861167e-01 -3.02493571e-03 -3.24114240e+01] [-2.03183870e-02 6.05925026e-04 9.99793377e-01 -7.59185338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37587156 meters Centerline goodness [0,1] 0.9997009249962615 Centerline is valid? [True, True] Translation: X:253.43, Y:-32.42, Z:-7.59 [[ 9.92342871e-01 1.21809966e-01 2.04440211e-02 2.53431435e+02] [-1.21772352e-01 9.92553279e-01 -3.07940993e-03 -3.24200988e+01] [-2.06668830e-02 5.66313959e-04 9.99786257e-01 -7.59070302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40587156 meters Centerline goodness [0,1] 0.9996576734632748 Centerline is valid? [True, True] Translation: X:253.46, Y:-32.43, Z:-7.59 [[ 9.92164619e-01 1.23181509e-01 2.08730575e-02 2.53463672e+02] [-1.23142612e-01 9.92384006e-01 -3.14358558e-03 -3.24256039e+01] [-2.11013200e-02 5.48591570e-04 9.99777192e-01 -7.59201217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43587156 meters Centerline goodness [0,1] 0.9997659524670738 Centerline is valid? [True, True] Translation: X:253.49, Y:-32.43, Z:-7.59 [[ 9.91676777e-01 1.26944945e-01 2.14976962e-02 2.53494098e+02] [-1.26904512e-01 9.91909646e-01 -3.24024504e-03 -3.24310580e+01] [-2.17351049e-02 4.85121120e-04 9.99763647e-01 -7.59077776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46587156 meters Centerline goodness [0,1] 0.9998708177238083 Centerline is valid? [True, True] Translation: X:253.53, Y:-32.44, Z:-7.59 [[ 9.91180479e-01 1.30742860e-01 2.16232046e-02 2.53525444e+02] [-1.30702847e-01 9.91416230e-01 -3.25957631e-03 -3.24355431e+01] [-2.18637623e-02 4.04614001e-04 9.99760878e-01 -7.59221330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49587156 meters Centerline goodness [0,1] 0.9997203880154002 Centerline is valid? [True, True] Translation: X:253.56, Y:-32.44, Z:-7.59 [[ 9.90872547e-01 1.33128060e-01 2.11781722e-02 2.53556811e+02] [-1.33090231e-01 9.91098785e-01 -3.19208602e-03 -3.24409766e+01] [-2.14146169e-02 3.44342587e-04 9.99770621e-01 -7.59339387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52587156 meters Centerline goodness [0,1] 0.9998700567418893 Centerline is valid? [True, True] Translation: X:253.59, Y:-32.45, Z:-7.59 [[ 9.90290580e-01 1.37444507e-01 2.08224415e-02 2.53588401e+02] [-1.37408820e-01 9.90509437e-01 -3.14185294e-03 -3.24460789e+01] [-2.10566553e-02 2.50160246e-04 9.99778253e-01 -7.59451280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.62, Y:-32.45, Z:-7.60 [[ 9.89939939e-01 1.39898619e-01 2.11493009e-02 2.53619405e+02] [-1.39862281e-01 9.90165812e-01 -3.19497069e-03 -3.24501694e+01] [-2.13882867e-02 2.04839617e-04 9.99771223e-01 -7.59645467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58587156 meters Centerline goodness [0,1] 0.9999787093614938 Centerline is valid? [True, True] Translation: X:253.65, Y:-32.45, Z:-7.60 [[ 9.89527424e-01 1.42772380e-01 2.12491038e-02 2.53650324e+02] [-1.42736287e-01 9.89755539e-01 -3.21344962e-03 -3.24536108e+01] [-2.14902101e-02 1.46778336e-04 9.99769048e-01 -7.59759569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61587156 meters Centerline goodness [0,1] 0.9998699807138058 Centerline is valid? [True, True] Translation: X:253.68, Y:-32.46, Z:-7.60 [[ 9.88766564e-01 1.48016494e-01 2.07797899e-02 2.53682065e+02] [-1.47983072e-01 9.88984892e-01 -3.14547131e-03 -3.24560830e+01] [-2.10164799e-02 3.50797089e-05 9.99779129e-01 -7.59745189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.71, Y:-32.46, Z:-7.60 [[ 9.87954812e-01 1.53370640e-01 2.05605364e-02 2.53713906e+02] [-1.53339010e-01 9.88168731e-01 -3.11560445e-03 -3.24574737e+01] [-2.07951214e-02 -7.46558730e-05 9.99783755e-01 -7.60070586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67587156 meters Centerline goodness [0,1] 0.9999358439725412 Centerline is valid? [True, True] Translation: X:253.75, Y:-32.46, Z:-7.60 [[ 9.87544629e-01 1.56014231e-01 2.03756224e-02 2.53745885e+02] [-1.55983651e-01 9.87754800e-01 -3.09136050e-03 -3.24609603e+01] [-2.06084151e-02 -1.25407518e-04 9.99787616e-01 -7.60089987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.78, Y:-32.47, Z:-7.60 [[ 9.87201150e-01 1.58135372e-01 2.06662296e-02 2.53777191e+02] [-1.58104291e-01 9.87417427e-01 -3.13965213e-03 -3.24655225e+01] [-2.09026853e-02 -1.67951377e-04 9.99781501e-01 -7.60198907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73587156 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:253.81, Y:-32.47, Z:-7.60 [[ 9.86610523e-01 1.61778454e-01 2.06738530e-02 2.53807614e+02] [-1.61748095e-01 9.86827073e-01 -3.14341512e-03 -3.24690487e+01] [-2.09100547e-02 -2.42629895e-04 9.99781331e-01 -7.60219827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76587156 meters Centerline goodness [0,1] 0.9999787527886965 Centerline is valid? [True, True] Translation: X:253.84, Y:-32.47, Z:-7.60 [[ 9.86312090e-01 1.63549139e-01 2.09795385e-02 2.53837985e+02] [-1.63518284e-01 9.86535148e-01 -3.18947294e-03 -3.24730568e+01] [-2.12186877e-02 -2.84722418e-04 9.99774818e-01 -7.60355926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79587156 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:253.87, Y:-32.48, Z:-7.60 [[ 9.85802158e-01 1.66541587e-01 2.14010527e-02 2.53869577e+02] [-1.66510128e-01 9.86034368e-01 -3.25615688e-03 -3.24779825e+01] [-2.16444590e-02 -3.53565549e-04 9.99765669e-01 -7.60392272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.90, Y:-32.48, Z:-7.61 [[ 9.85508555e-01 1.68248259e-01 2.15733757e-02 2.53900928e+02] [-1.68216617e-01 9.85744577e-01 -3.28615485e-03 -3.24790567e+01] [-2.18187280e-02 -3.90466566e-04 9.99761867e-01 -7.60607465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85587156 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:253.93, Y:-32.48, Z:-7.60 [[ 9.84932251e-01 1.71507814e-01 2.22155403e-02 2.53931361e+02] [-1.71474984e-01 9.85182647e-01 -3.38865792e-03 -3.24841940e+01] [-2.24675461e-02 -4.71810940e-04 9.99747461e-01 -7.60430304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88587156 meters Centerline goodness [0,1] 0.9999360327512313 Centerline is valid? [True, True] Translation: X:253.96, Y:-32.49, Z:-7.60 [[ 9.84612438e-01 1.73331695e-01 2.22366979e-02 2.53962332e+02] [-1.73299262e-01 9.84863371e-01 -3.39206035e-03 -3.24870745e+01] [-2.24880609e-02 -5.13738542e-04 9.99746980e-01 -7.60476241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91587156 meters Centerline goodness [0,1] 0.9999359631147541 Centerline is valid? [True, True] Translation: X:253.99, Y:-32.49, Z:-7.61 [[ 9.84263062e-01 1.75300441e-01 2.22706019e-02 2.53992507e+02] [-1.75268407e-01 9.84514826e-01 -3.39749749e-03 -3.24878761e+01] [-2.25213205e-02 -5.59301630e-04 9.99746206e-01 -7.60610015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94587156 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:254.02, Y:-32.49, Z:-7.61 [[ 9.83622293e-01 1.78894677e-01 2.19972470e-02 2.54023915e+02] [-1.78864286e-01 9.83868027e-01 -3.35736853e-03 -3.24902147e+01] [-2.22430034e-02 -6.32139362e-04 9.99752394e-01 -7.60706662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97587156000003 meters Centerline goodness [0,1] 0.9998924430485943 Centerline is valid? [True, True] Translation: X:254.06, Y:-32.49, Z:-7.61 [[ 9.83109648e-01 1.81792563e-01 2.11396179e-02 2.54055050e+02] [-1.81765153e-01 9.83336674e-01 -3.22706592e-03 -3.24915460e+01] [-2.13740182e-02 -6.69886238e-04 9.99771325e-01 -7.60881401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00587156 meters Centerline goodness [0,1] 0.9998083148747657 Centerline is valid? [True, True] Translation: X:254.08, Y:-32.49, Z:-7.61 [[ 9.82902648e-01 1.82940415e-01 2.08611728e-02 2.54084700e+02] [-1.82913970e-01 9.83123764e-01 -3.18503214e-03 -3.24899915e+01] [-2.10917859e-02 -6.85223424e-04 9.99777309e-01 -7.61154758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03587156000003 meters Centerline goodness [0,1] 0.9999354810959611 Centerline is valid? [True, True] Translation: X:254.11, Y:-32.49, Z:-7.61 [[ 9.82743481e-01 1.83741115e-01 2.13179302e-02 2.54113940e+02] [-1.83713691e-01 9.82974408e-01 -3.25460151e-03 -3.24934845e+01] [-2.15529839e-02 -7.17957228e-04 9.99767450e-01 -7.61154251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06587156 meters Centerline goodness [0,1] 0.999872242568776 Centerline is valid? [True, True] Translation: X:254.14, Y:-32.50, Z:-7.61 [[ 9.82723343e-01 1.83833490e-01 2.14494333e-02 2.54143109e+02] [-1.83805761e-01 9.82957131e-01 -3.27415563e-03 -3.24965381e+01] [-2.16857729e-02 -7.24940237e-04 9.99764573e-01 -7.61187392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09587156 meters Centerline goodness [0,1] 0.999829056176414 Centerline is valid? [True, True] Translation: X:254.17, Y:-32.50, Z:-7.61 [[ 9.82812409e-01 1.83278679e-01 2.21064395e-02 2.54171582e+02] [-1.83249094e-01 9.83060723e-01 -3.37397958e-03 -3.24996514e+01] [-2.23503510e-02 -7.34996027e-04 9.99749930e-01 -7.61159499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12587156 meters Centerline goodness [0,1] 0.9998931806528798 Centerline is valid? [True, True] Translation: X:254.20, Y:-32.50, Z:-7.61 [[ 9.82931718e-01 1.82642840e-01 2.20642506e-02 2.54200205e+02] [-1.82613226e-01 9.83179065e-01 -3.36674406e-03 -3.25030989e+01] [-2.23080210e-02 -7.19944464e-04 9.99750886e-01 -7.61290546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15587156 meters Centerline goodness [0,1] 0.9998704159647531 Centerline is valid? [True, True] Translation: X:254.23, Y:-32.51, Z:-7.61 [[ 9.83125136e-01 1.81648808e-01 2.16489715e-02 2.54229376e+02] [-1.81620076e-01 9.83363230e-01 -3.30253014e-03 -3.25086863e+01] [-2.18887032e-02 -6.85087446e-04 9.99760179e-01 -7.61456111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18587156 meters Centerline goodness [0,1] 0.9998495561907628 Centerline is valid? [True, True] Translation: X:254.26, Y:-32.51, Z:-7.62 [[ 9.83429949e-01 1.80115921e-01 2.05861915e-02 2.54257854e+02] [-1.80089616e-01 9.83645196e-01 -3.13987463e-03 -3.25108855e+01] [-2.08150498e-02 -6.19512574e-04 9.99783151e-01 -7.61781501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21587156 meters Centerline goodness [0,1] 0.9998500364197266 Centerline is valid? [True, True] Translation: X:254.29, Y:-32.51, Z:-7.62 [[ 9.83542558e-01 1.79499979e-01 2.05862650e-02 2.54287581e+02] [-1.79473546e-01 9.83757790e-01 -3.13960660e-03 -3.25134661e+01] [-2.08154579e-02 -6.06753261e-04 9.99783151e-01 -7.61886274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24587156 meters Centerline goodness [0,1] 0.9999144403328271 Centerline is valid? [True, True] Translation: X:254.32, Y:-32.51, Z:-7.62 [[ 9.83639087e-01 1.78981732e-01 2.04862574e-02 2.54316883e+02] [-1.78955448e-01 9.83852218e-01 -3.12408987e-03 -3.25134026e+01] [-2.07146048e-02 -5.93150464e-04 9.99785254e-01 -7.61940152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27587156 meters Centerline goodness [0,1] 0.9998933378842503 Centerline is valid? [True, True] Translation: X:254.35, Y:-32.52, Z:-7.62 [[ 9.83691830e-01 1.78732782e-01 2.01240353e-02 2.54345957e+02] [-1.78707386e-01 9.83897483e-01 -3.06791201e-03 -3.25153105e+01] [-2.03483241e-02 -5.78433775e-04 9.99792784e-01 -7.62092582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30587156 meters Centerline goodness [0,1] 0.9998508861622358 Centerline is valid? [True, True] Translation: X:254.37, Y:-32.52, Z:-7.62 [[ 9.83721882e-01 1.78547900e-01 2.02954849e-02 2.54374337e+02] [-1.78522047e-01 9.83931050e-01 -3.09322170e-03 -3.25152076e+01] [-2.05216460e-02 -5.80321629e-04 9.99789240e-01 -7.62058879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33587156 meters Centerline goodness [0,1] 0.9998505040150351 Centerline is valid? [True, True] Translation: X:254.40, Y:-32.52, Z:-7.62 [[ 9.83763280e-01 1.78256272e-01 2.08449306e-02 2.54402806e+02] [-1.78228967e-01 9.83983918e-01 -3.17545954e-03 -3.25181294e+01] [-2.10771221e-02 -5.91269953e-04 9.99777678e-01 -7.62006213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36587156 meters Centerline goodness [0,1] 0.9998927981818572 Centerline is valid? [True, True] Translation: X:254.43, Y:-32.52, Z:-7.62 [[ 9.83876918e-01 1.77542536e-01 2.15605759e-02 2.54431687e+02] [-1.77513173e-01 9.84112947e-01 -3.28350956e-03 -3.25153000e+01] [-2.18010045e-02 -5.96716983e-04 9.99762152e-01 -7.62130337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39587156 meters Centerline goodness [0,1] 0.9999145171286303 Centerline is valid? [True, True] Translation: X:254.46, Y:-32.52, Z:-7.62 [[ 9.83954429e-01 1.77088473e-01 2.17567260e-02 2.54460828e+02] [-1.77058493e-01 9.84194757e-01 -3.31199774e-03 -3.25170421e+01] [-2.19993723e-02 -5.93358288e-04 9.99757808e-01 -7.62231387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42587156 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:254.49, Y:-32.52, Z:-7.62 [[ 9.84221387e-01 1.75548111e-01 2.21612632e-02 2.54489472e+02] [-1.75516640e-01 9.84470688e-01 -3.37248248e-03 -3.25247235e+01] [-2.24091469e-02 -5.70401077e-04 9.99748721e-01 -7.62033924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45587156 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:254.52, Y:-32.52, Z:-7.62 [[ 9.84432292e-01 1.74327075e-01 2.24306352e-02 2.54517929e+02] [-1.74294533e-01 9.84687650e-01 -3.41280913e-03 -3.25235267e+01] [-2.26821145e-02 -5.49857579e-04 9.99742577e-01 -7.62188346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48587156 meters Centerline goodness [0,1] 0.9998929771613262 Centerline is valid? [True, True] Translation: X:254.55, Y:-32.53, Z:-7.62 [[ 9.84961305e-01 1.71204258e-01 2.32450121e-02 2.54547385e+02] [-1.71168481e-01 9.85235431e-01 -3.53497051e-03 -3.25277066e+01] [-2.35070115e-02 -4.97004237e-04 9.99723548e-01 -7.61961829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.58, Y:-32.53, Z:-7.62 [[ 9.85215028e-01 1.69750123e-01 2.31569539e-02 2.54576538e+02] [-1.69714228e-01 9.85487028e-01 -3.52103993e-03 -3.25331498e+01] [-2.34185746e-02 -4.61083090e-04 9.99725641e-01 -7.62151541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.61, Y:-32.54, Z:-7.62 [[ 9.85816245e-01 1.66321519e-01 2.24384232e-02 2.54605047e+02] [-1.66286941e-01 9.86071507e-01 -3.41126124e-03 -3.25382717e+01] [-2.26932559e-02 -3.68340003e-04 9.99742407e-01 -7.62363838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.63, Y:-32.54, Z:-7.62 [[ 9.86073099e-01 1.64832816e-01 2.21356491e-02 2.54633954e+02] [-1.64798801e-01 9.86321466e-01 -3.36471190e-03 -3.25443690e+01] [-2.23874808e-02 -3.30076559e-04 9.99749314e-01 -7.62472783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.66, Y:-32.55, Z:-7.63 [[ 9.86517005e-01 1.62327225e-01 2.08343555e-02 2.54662971e+02] [-1.62296543e-01 9.86736949e-01 -3.16643307e-03 -3.25472058e+01] [-2.10720267e-02 -2.57603811e-04 9.99777927e-01 -7.62781363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.69, Y:-32.55, Z:-7.63 [[ 9.86699366e-01 1.61251092e-01 2.05534896e-02 2.54691090e+02] [-1.61221007e-01 9.86913386e-01 -3.12335149e-03 -3.25498250e+01] [-2.07881579e-02 -2.31845359e-04 9.99783876e-01 -7.63030625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.72, Y:-32.55, Z:-7.63 [[ 9.86948898e-01 1.59720821e-01 2.05215291e-02 2.54720494e+02] [-1.59690516e-01 9.87162205e-01 -3.11764273e-03 -3.25542704e+01] [-2.07560304e-02 -2.00139514e-04 9.99784550e-01 -7.63038377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.75, Y:-32.56, Z:-7.63 [[ 9.87129939e-01 1.58631737e-01 2.02597080e-02 2.54749650e+02] [-1.58601982e-01 9.87337805e-01 -3.07735889e-03 -3.25554158e+01] [-2.04913424e-02 -1.75476752e-04 9.99790015e-01 -7.63180540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.78, Y:-32.56, Z:-7.63 [[ 9.87204179e-01 1.58158065e-01 2.03453877e-02 2.54779084e+02] [-1.58127967e-01 9.87413793e-01 -3.08988546e-03 -3.25590776e+01] [-2.05780067e-02 -1.66826947e-04 9.99788236e-01 -7.63273368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.81, Y:-32.56, Z:-7.63 [[ 9.87265378e-01 1.57773313e-01 2.03630860e-02 2.54807615e+02] [-1.57743091e-01 9.87475345e-01 -3.09207233e-03 -3.25623601e+01] [-2.05958919e-02 -1.59440183e-04 9.99787869e-01 -7.63366106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78587156000003 meters Centerline goodness [0,1] 0.9998076429853808 Centerline is valid? [True, True] Translation: X:254.84, Y:-32.56, Z:-7.64 [[ 9.87255040e-01 1.57832119e-01 2.04085322e-02 2.54835910e+02] [-1.57801778e-01 9.87465947e-01 -3.09879573e-03 -3.25606054e+01] [-2.06418201e-02 -1.61200976e-04 9.99786922e-01 -7.63533428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81587156 meters Centerline goodness [0,1] 0.9998076429853808 Centerline is valid? [True, True] Translation: X:254.86, Y:-32.56, Z:-7.64 [[ 9.87261811e-01 1.57789734e-01 2.04087391e-02 2.54863922e+02] [-1.57759412e-01 9.87472721e-01 -3.09743275e-03 -3.25647595e+01] [-2.06418162e-02 -1.61693617e-04 9.99786922e-01 -7.63618881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.89, Y:-32.57, Z:-7.64 [[ 9.87189802e-01 1.58208021e-01 2.06522619e-02 2.54892450e+02] [-1.58177082e-01 9.87405789e-01 -3.13351389e-03 -3.25684261e+01] [-2.08879099e-02 -1.73341554e-04 9.99781809e-01 -7.63564904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87587156 meters Centerline goodness [0,1] 0.9998288001027199 Centerline is valid? [True, True] Translation: X:254.92, Y:-32.57, Z:-7.64 [[ 9.87144214e-01 1.58514627e-01 2.04795981e-02 2.54920584e+02] [-1.58484287e-01 9.87356613e-01 -3.10644374e-03 -3.25679121e+01] [-2.07130834e-02 -1.79186533e-04 9.99785445e-01 -7.63533335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90587156 meters Centerline goodness [0,1] 0.99991412439082 Centerline is valid? [True, True] Translation: X:254.95, Y:-32.57, Z:-7.64 [[ 9.87113636e-01 1.58712899e-01 2.04177855e-02 2.54949471e+02] [-1.58682812e-01 9.87324760e-01 -3.09571744e-03 -3.25705465e+01] [-2.06503154e-02 -1.84126711e-04 9.99786743e-01 -7.63644738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93587156 meters Centerline goodness [0,1] 0.9999356913183279 Centerline is valid? [True, True] Translation: X:254.98, Y:-32.57, Z:-7.64 [[ 9.87167583e-01 1.58432223e-01 1.99848615e-02 2.54978855e+02] [-1.58403360e-01 9.87369839e-01 -3.02914208e-03 -3.25719806e+01] [-2.02123632e-02 -1.75398340e-04 9.99795694e-01 -7.63796730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96587156 meters Centerline goodness [0,1] 0.9999152793662897 Centerline is valid? [True, True] Translation: X:255.01, Y:-32.58, Z:-7.64 [[ 9.87270637e-01 1.57810191e-01 1.98149776e-02 2.55006906e+02] [-1.57781707e-01 9.87469451e-01 -3.00256265e-03 -3.25750199e+01] [-2.00405200e-02 -1.62099049e-04 9.99799155e-01 -7.63926142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99587156 meters Centerline goodness [0,1] 0.999893148694277 Centerline is valid? [True, True] Translation: X:255.04, Y:-32.58, Z:-7.64 [[ 9.87390791e-01 1.57059593e-01 1.97916519e-02 2.55035153e+02] [-1.57031052e-01 9.87589116e-01 -2.99771348e-03 -3.25789319e+01] [-2.00168396e-02 -1.47989235e-04 9.99799632e-01 -7.63986583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.06, Y:-32.58, Z:-7.64 [[ 9.87616701e-01 1.55643363e-01 1.97077709e-02 2.55063732e+02] [-1.55614801e-01 9.87813307e-01 -2.98407506e-03 -3.25823604e+01] [-1.99320498e-02 -1.19698464e-04 9.99801330e-01 -7.64138753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.09, Y:-32.59, Z:-7.64 [[ 9.87726435e-01 1.54959757e-01 1.95950028e-02 2.55092139e+02] [-1.54931404e-01 9.87920777e-01 -2.96606988e-03 -3.25868717e+01] [-1.98179319e-02 -1.06215677e-04 9.99803600e-01 -7.64176096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.12, Y:-32.59, Z:-7.64 [[ 9.88001382e-01 1.53149237e-01 1.99644727e-02 2.55120339e+02] [-1.53119456e-01 9.88203069e-01 -3.02096415e-03 -3.25920036e+01] [-2.01916115e-02 -7.22324465e-05 9.99796126e-01 -7.64227656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.15, Y:-32.60, Z:-7.64 [[ 9.88129667e-01 1.52276519e-01 2.02884806e-02 2.55147981e+02] [-1.52245598e-01 9.88337927e-01 -3.06907601e-03 -3.25961779e+01] [-2.05192231e-02 -5.61868134e-05 9.99789457e-01 -7.64485593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.18, Y:-32.60, Z:-7.65 [[ 9.88272409e-01 1.51322024e-01 2.04765782e-02 2.55176302e+02] [-1.51290352e-01 9.88484519e-01 -3.09609112e-03 -3.26014075e+01] [-2.07092874e-02 -3.81272916e-05 9.99785539e-01 -7.64539954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17587156 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:255.20, Y:-32.61, Z:-7.64 [[ 9.88550238e-01 1.49494742e-01 2.04877823e-02 2.55204303e+02] [-1.49462662e-01 9.88762521e-01 -3.09685330e-03 -3.26078982e+01] [-2.07205146e-02 -7.63422287e-07 9.99785307e-01 -7.64416811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.23, Y:-32.61, Z:-7.65 [[ 9.88716731e-01 1.48497713e-01 1.96889411e-02 2.55231749e+02] [-1.48467907e-01 9.88912751e-01 -2.97520615e-03 -3.26137761e+01] [-1.99124562e-02 1.84602299e-05 9.99801727e-01 -7.64877026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.26, Y:-32.62, Z:-7.65 [[ 9.88760304e-01 1.48246105e-01 1.93946864e-02 2.55260534e+02] [-1.48217152e-01 9.88950500e-01 -2.92983563e-03 -3.26186566e+01] [-1.96147215e-02 2.22799844e-05 9.99807613e-01 -7.64848744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.29, Y:-32.62, Z:-7.65 [[ 9.88755352e-01 1.48262816e-01 1.95190020e-02 2.55289383e+02] [-1.48233513e-01 9.88947995e-01 -2.94767697e-03 -3.26231390e+01] [-1.97403088e-02 2.11611367e-05 9.99805141e-01 -7.64889098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.32, Y:-32.63, Z:-7.65 [[ 9.88655324e-01 1.48919002e-01 1.95903389e-02 2.55317040e+02] [-1.48889628e-01 9.88849397e-01 -2.95766320e-03 -3.26253699e+01] [-1.98123470e-02 7.31119131e-06 9.99803716e-01 -7.65142264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.35, Y:-32.63, Z:-7.65 [[ 9.88541795e-01 1.49665474e-01 1.96307087e-02 2.55345615e+02] [-1.49636155e-01 9.88736692e-01 -2.96231384e-03 -3.26279105e+01] [-1.98529581e-02 -9.09274347e-06 9.99802911e-01 -7.65058714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.37, Y:-32.63, Z:-7.65 [[ 9.88320140e-01 1.51008577e-01 2.04868401e-02 2.55374230e+02] [-1.50976955e-01 9.88532452e-01 -3.09046063e-03 -3.26293541e+01] [-2.07185923e-02 -3.86762436e-05 9.99785346e-01 -7.65009147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38587156 meters Centerline goodness [0,1] 0.999893185216834 Centerline is valid? [True, True] Translation: X:255.40, Y:-32.63, Z:-7.65 [[ 9.88065131e-01 1.52711669e-01 2.01604189e-02 2.55402489e+02] [-1.52681417e-01 9.88270783e-01 -3.04039315e-03 -3.26302654e+01] [-2.03882565e-02 -7.40148748e-05 9.99792135e-01 -7.65012146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.43, Y:-32.63, Z:-7.65 [[ 9.87929711e-01 1.53571748e-01 2.02633507e-02 2.55430698e+02] [-1.53541393e-01 9.88137495e-01 -3.05469533e-03 -3.26327850e+01] [-2.04920915e-02 -9.34388207e-05 9.99790011e-01 -7.65221965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.46, Y:-32.64, Z:-7.65 [[ 9.87795857e-01 1.54426051e-01 2.02963105e-02 2.55459307e+02] [-1.54395804e-01 9.88004343e-01 -3.05836420e-03 -3.26354750e+01] [-2.05251340e-02 -1.12625693e-04 9.99789331e-01 -7.65187472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47587156000003 meters Centerline goodness [0,1] 0.9999567099567099 Centerline is valid? [True, True] Translation: X:255.49, Y:-32.63, Z:-7.65 [[ 9.87576454e-01 1.55820946e-01 2.03120895e-02 2.55488056e+02] [-1.55790965e-01 9.87785307e-01 -3.05986166e-03 -3.26343319e+01] [-2.05407741e-02 -1.42592696e-04 9.99789006e-01 -7.65277106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.52, Y:-32.64, Z:-7.65 [[ 9.87410586e-01 1.56863965e-01 2.03477444e-02 2.55516135e+02] [-1.56834129e-01 9.87620205e-01 -3.06384841e-03 -3.26360017e+01] [-2.05764509e-02 -1.65944417e-04 9.99788269e-01 -7.65485796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.54, Y:-32.64, Z:-7.66 [[ 9.87115257e-01 1.58683600e-01 2.05665843e-02 2.55544509e+02] [-1.58653529e-01 9.87329465e-01 -3.09601368e-03 -3.26361572e+01] [-2.07972813e-02 -2.06838851e-04 9.99783692e-01 -7.65562604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.57, Y:-32.64, Z:-7.66 [[ 9.86977341e-01 1.59552047e-01 2.04663888e-02 2.55573403e+02] [-1.59522488e-01 9.87189492e-01 -3.07937344e-03 -3.26378808e+01] [-2.06955243e-02 -2.25577461e-04 9.99785799e-01 -7.65656060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.60, Y:-32.64, Z:-7.66 [[ 9.86775028e-01 1.60869740e-01 1.98989987e-02 2.55602234e+02] [-1.60842081e-01 9.86975616e-01 -2.99323437e-03 -3.26358622e+01] [-2.01213473e-02 -2.46947411e-04 9.99797515e-01 -7.65821093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62587156 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:255.63, Y:-32.64, Z:-7.66 [[ 9.86754163e-01 1.61028775e-01 1.96457595e-02 2.55631297e+02] [-1.61001871e-01 9.86949681e-01 -2.95390743e-03 -3.26375172e+01] [-1.98650402e-02 -2.48223582e-04 9.99802640e-01 -7.65987184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65587156 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:255.66, Y:-32.64, Z:-7.66 [[ 9.86947238e-01 1.60009955e-01 1.82198423e-02 2.55658760e+02] [-1.59986653e-01 9.87115378e-01 -2.73890343e-03 -3.26400028e+01] [-1.84233383e-02 -2.11778404e-04 9.99830253e-01 -7.66416604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68587156 meters Centerline goodness [0,1] 0.9999786256278722 Centerline is valid? [True, True] Translation: X:255.69, Y:-32.64, Z:-7.67 [[ 9.87100761e-01 1.59104033e-01 1.78323877e-02 2.55687464e+02] [-1.59081584e-01 9.87261804e-01 -2.67952885e-03 -3.26443749e+01] [-1.80315591e-02 -1.91839514e-04 9.99837400e-01 -7.66580531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.71, Y:-32.65, Z:-7.67 [[ 9.87503443e-01 1.56630647e-01 1.74295690e-02 2.55714839e+02] [-1.56608826e-01 9.87657238e-01 -2.61837803e-03 -3.26507254e+01] [-1.76245582e-02 -1.43967011e-04 9.99844665e-01 -7.66894505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.74, Y:-32.66, Z:-7.67 [[ 9.87980207e-01 1.53503054e-01 1.82187685e-02 2.55741702e+02] [-1.53478699e-01 9.88148169e-01 -2.73589099e-03 -3.26580319e+01] [-1.84228103e-02 -9.31867368e-05 9.99830281e-01 -7.66792814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77587156 meters Centerline goodness [0,1] 0.999870870547724 Centerline is valid? [True, True] Translation: X:255.77, Y:-32.67, Z:-7.66 [[ 9.88237598e-01 1.51777027e-01 1.87132216e-02 2.55770342e+02] [-1.51751050e-01 9.88414756e-01 -2.80868209e-03 -3.26659301e+01] [-1.89227177e-02 -6.41057763e-05 9.99820947e-01 -7.66276434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.80, Y:-32.67, Z:-7.66 [[ 9.88762366e-01 1.48160370e-01 1.99370963e-02 2.55797295e+02] [-1.48130160e-01 9.88963349e-01 -2.99179853e-03 -3.26734902e+01] [-2.01603235e-02 4.89252398e-06 9.99796760e-01 -7.66333341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.82, Y:-32.68, Z:-7.67 [[ 9.89019536e-01 1.46416782e-01 2.00619649e-02 2.55824301e+02] [-1.46385859e-01 9.89222990e-01 -3.00932431e-03 -3.26801557e+01] [-2.02863724e-02 3.94925797e-05 9.99794210e-01 -7.66697177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.85, Y:-32.69, Z:-7.67 [[ 9.89279419e-01 1.44635922e-01 2.01663439e-02 2.55850997e+02] [-1.44604335e-01 9.89484939e-01 -3.02356015e-03 -3.26867286e+01] [-2.03916090e-02 7.50050859e-05 9.99792067e-01 -7.66778144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89587156 meters Centerline goodness [0,1] 0.9997440327638062 Centerline is valid? [True, True] Translation: X:255.88, Y:-32.69, Z:-7.66 [[ 9.89739028e-01 1.41405905e-01 2.05189484e-02 2.55878939e+02] [-1.41372537e-01 9.89951691e-01 -3.07506548e-03 -3.26944912e+01] [-2.07476000e-02 1.42696526e-04 9.99784735e-01 -7.66384884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.91, Y:-32.70, Z:-7.67 [[ 9.89923439e-01 1.40081169e-01 2.07087444e-02 2.55907436e+02] [-1.40046911e-01 9.90140009e-01 -3.10252473e-03 -3.26995387e+01] [-2.09391616e-02 1.71066261e-04 9.99780737e-01 -7.66529012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95587156 meters Centerline goodness [0,1] 0.9998496983230627 Centerline is valid? [True, True] Translation: X:255.94, Y:-32.71, Z:-7.67 [[ 9.90199970e-01 1.38164520e-01 2.03613739e-02 2.55935112e+02] [-1.38131020e-01 9.90409270e-01 -3.04939125e-03 -3.27060358e+01] [-2.05874112e-02 2.06969772e-04 9.99788035e-01 -7.66515232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.96, Y:-32.71, Z:-7.67 [[ 9.90257248e-01 1.37771459e-01 2.02387902e-02 2.55962898e+02] [-1.37738294e-01 9.90464022e-01 -3.03029623e-03 -3.27111192e+01] [-2.04632819e-02 2.13116358e-04 9.99790582e-01 -7.66841154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01587156 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:255.99, Y:-32.71, Z:-7.67 [[ 9.90217439e-01 1.38139540e-01 1.96695592e-02 2.55991073e+02] [-1.38108301e-01 9.90412756e-01 -2.94437407e-03 -3.27148851e+01] [-1.98877168e-02 1.99041149e-04 9.99802200e-01 -7.66911642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04587156 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:256.02, Y:-32.72, Z:-7.67 [[ 9.90169512e-01 1.38524713e-01 1.93711273e-02 2.56018297e+02] [-1.38494497e-01 9.90358959e-01 -2.89927412e-03 -3.27187770e+01] [-1.95859906e-02 1.87978310e-04 9.99808158e-01 -7.67022760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.05, Y:-32.72, Z:-7.67 [[ 9.90085492e-01 1.39126607e-01 1.93521255e-02 2.56047073e+02] [-1.39096590e-01 9.90274586e-01 -2.89517168e-03 -3.27219071e+01] [-1.95667135e-02 1.74652810e-04 9.99808538e-01 -7.67127650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.07, Y:-32.73, Z:-7.67 [[ 9.89874000e-01 1.40711605e-01 1.87005144e-02 2.56074933e+02] [-1.40683875e-01 9.90050618e-01 -2.79680861e-03 -3.27257569e+01] [-1.89079993e-02 1.37627297e-04 9.99821218e-01 -7.67476589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.10, Y:-32.73, Z:-7.68 [[ 9.89593198e-01 1.42661797e-01 1.87860228e-02 2.56102656e+02] [-1.42634179e-01 9.89771490e-01 -2.80877973e-03 -3.27265257e+01] [-1.89945754e-02 1.00020379e-04 9.99819582e-01 -7.67591809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.13, Y:-32.73, Z:-7.68 [[ 9.89474387e-01 1.43462055e-01 1.89493022e-02 2.56130101e+02] [-1.43434124e-01 9.89655815e-01 -2.83203579e-03 -3.27299489e+01] [-1.91595767e-02 8.42503114e-05 9.99816435e-01 -7.67714955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.16, Y:-32.73, Z:-7.68 [[ 9.89406309e-01 1.43898291e-01 1.91947064e-02 2.56158578e+02] [-1.43869739e-01 9.89592480e-01 -2.86743793e-03 -3.27344136e+01] [-1.94075566e-02 7.55237732e-05 9.99811653e-01 -7.67721730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22587156000003 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:256.19, Y:-32.74, Z:-7.68 [[ 9.89368205e-01 1.44142028e-01 1.93295559e-02 2.56187088e+02] [-1.44113137e-01 9.89557007e-01 -2.88665649e-03 -3.27401163e+01] [-1.95437860e-02 7.03232109e-05 9.99809000e-01 -7.67639085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25587156 meters Centerline goodness [0,1] 0.9998069829287124 Centerline is valid? [True, True] Translation: X:256.22, Y:-32.75, Z:-7.68 [[ 9.89386575e-01 1.43961742e-01 1.97287220e-02 2.56215913e+02] [-1.43931629e-01 9.89583251e-01 -2.94529109e-03 -3.27453797e+01] [-1.99472221e-02 7.44443642e-05 9.99801032e-01 -7.67616924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28587156000003 meters Centerline goodness [0,1] 0.9998072640054823 Centerline is valid? [True, True] Translation: X:256.24, Y:-32.75, Z:-7.68 [[ 9.89503684e-01 1.43170502e-01 1.96129164e-02 2.56243868e+02] [-1.43140605e-01 9.89698034e-01 -2.92708009e-03 -3.27533477e+01] [-1.98299363e-02 8.89518161e-05 9.99803364e-01 -7.67734779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.27, Y:-32.76, Z:-7.68 [[ 9.89561070e-01 1.42852277e-01 1.90293605e-02 2.56271479e+02] [-1.42824091e-01 9.89744017e-01 -2.83911976e-03 -3.27608281e+01] [-1.92397704e-02 9.16312844e-05 9.99814894e-01 -7.68066627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34587156 meters Centerline goodness [0,1] 0.9998294352173634 Centerline is valid? [True, True] Translation: X:256.30, Y:-32.77, Z:-7.68 [[ 9.89551798e-01 1.42920197e-01 1.90014637e-02 2.56299013e+02] [-1.42892121e-01 9.89734211e-01 -2.83415519e-03 -3.27666266e+01] [-1.92114568e-02 8.93839154e-05 9.99815439e-01 -7.68099911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.33, Y:-32.77, Z:-7.69 [[ 9.89454190e-01 1.43633541e-01 1.87032807e-02 2.56326632e+02] [-1.43606491e-01 9.89630942e-01 -2.78840906e-03 -3.27716200e+01] [-1.89098544e-02 7.30905211e-05 9.99821190e-01 -7.68524346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.36, Y:-32.77, Z:-7.69 [[ 9.89149117e-01 1.45754813e-01 1.84271099e-02 2.56355575e+02] [-1.45728940e-01 9.89320743e-01 -2.74640516e-03 -3.27744125e+01] [-1.86306238e-02 3.12410502e-05 9.99826434e-01 -7.68541142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43587156 meters Centerline goodness [0,1] 0.9998493035671998 Centerline is valid? [True, True] Translation: X:256.38, Y:-32.78, Z:-7.68 [[ 9.88785718e-01 1.48217703e-01 1.82843202e-02 2.56384248e+02] [-1.48192665e-01 9.88954757e-01 -2.72429190e-03 -3.27763984e+01] [-1.84861537e-02 -1.58612113e-05 9.99829116e-01 -7.68303140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.41, Y:-32.78, Z:-7.69 [[ 9.88666790e-01 1.48962972e-01 1.86550425e-02 2.56411669e+02] [-1.48937057e-01 9.88842774e-01 -2.77870173e-03 -3.27796219e+01] [-1.88608276e-02 -3.12170061e-05 9.99822118e-01 -7.68630967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.44, Y:-32.78, Z:-7.69 [[ 9.88407330e-01 1.50582177e-01 1.93896260e-02 2.56440718e+02] [-1.50554519e-01 9.88597493e-01 -2.88671720e-03 -3.27836036e+01] [-1.96032238e-02 -6.59433721e-05 9.99807836e-01 -7.68545834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.47, Y:-32.79, Z:-7.69 [[ 9.88322758e-01 1.51104068e-01 1.96389251e-02 2.56468739e+02] [-1.51075816e-01 9.88517858e-01 -2.92286177e-03 -3.27882188e+01] [-1.98550845e-02 -7.82358356e-05 9.99802865e-01 -7.68622796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.50, Y:-32.79, Z:-7.69 [[ 9.88259088e-01 1.51509924e-01 1.97159446e-02 2.56496118e+02] [-1.51481547e-01 9.88455733e-01 -2.93353184e-03 -3.27920215e+01] [-1.99327976e-02 -8.75122933e-05 9.99801318e-01 -7.68718412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.53, Y:-32.80, Z:-7.69 [[ 9.88110085e-01 1.52391026e-01 2.03822003e-02 2.56525177e+02] [-1.52360919e-01 9.88320273e-01 -3.03110012e-03 -3.27955402e+01] [-2.06060542e-02 -1.10390159e-04 9.99787667e-01 -7.68629882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.55, Y:-32.80, Z:-7.69 [[ 9.88045478e-01 1.52748941e-01 2.08301555e-02 2.56553277e+02] [-1.52717596e-01 9.88265018e-01 -3.09668219e-03 -3.27999608e+01] [-2.10587289e-02 -1.21468438e-04 9.99778233e-01 -7.68621717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64587156 meters Centerline goodness [0,1] 0.9998505486997736 Centerline is valid? [True, True] Translation: X:256.58, Y:-32.80, Z:-7.69 [[ 9.87997639e-01 1.53021849e-01 2.10945163e-02 2.56580294e+02] [-1.52989787e-01 9.88222797e-01 -3.13502380e-03 -3.28048466e+01] [-2.13258091e-02 -1.29849448e-04 9.99772571e-01 -7.68706190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67587156 meters Centerline goodness [0,1] 0.9997865938240252 Centerline is valid? [True, True] Translation: X:256.61, Y:-32.81, Z:-7.69 [[ 9.88056500e-01 1.52718873e-01 2.05255815e-02 2.56608544e+02] [-1.52688479e-01 9.88269665e-01 -3.04910704e-03 -3.28101122e+01] [-2.07504658e-02 -1.21329810e-04 9.99784679e-01 -7.68858239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70587156 meters Centerline goodness [0,1] 0.9997865938240252 Centerline is valid? [True, True] Translation: X:256.64, Y:-32.81, Z:-7.69 [[ 9.88063355e-01 1.52674493e-01 2.05257183e-02 2.56636567e+02] [-1.52644110e-01 9.88276522e-01 -3.04818610e-03 -3.28141794e+01] [-2.07504658e-02 -1.21329008e-04 9.99784679e-01 -7.68943690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.66, Y:-32.82, Z:-7.69 [[ 9.88301320e-01 1.51251566e-01 1.95822396e-02 2.56664964e+02] [-1.51223648e-01 9.88495299e-01 -2.90727189e-03 -3.28219050e+01] [-1.97966812e-02 -8.80370437e-05 9.99804023e-01 -7.69227796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.69, Y:-32.83, Z:-7.69 [[ 9.88460898e-01 1.50203538e-01 1.95946354e-02 2.56694442e+02] [-1.50175403e-01 9.88655093e-01 -2.90789642e-03 -3.28284496e+01] [-1.98091124e-02 -6.82903518e-05 9.99803778e-01 -7.69361989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.72, Y:-32.84, Z:-7.69 [[ 9.88789633e-01 1.48014302e-01 1.96679273e-02 2.56723307e+02] [-1.47985532e-01 9.88985220e-01 -2.91828700e-03 -3.28366700e+01] [-1.98832376e-02 -2.49967517e-05 9.99802309e-01 -7.69398659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.75, Y:-32.84, Z:-7.70 [[ 9.88954631e-01 1.46920604e-01 1.95722745e-02 2.56751438e+02] [-1.46891909e-01 9.89148288e-01 -2.90363033e-03 -3.28427129e+01] [-1.97864850e-02 -3.45010556e-06 9.99804228e-01 -7.69553168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.78, Y:-32.85, Z:-7.70 [[ 9.89332177e-01 1.44436107e-01 1.89751267e-02 2.56779809e+02] [-1.44408696e-01 9.89514128e-01 -2.81417416e-03 -3.28543840e+01] [-1.91826243e-02 4.39797477e-05 9.99815996e-01 -7.69963372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.81, Y:-32.86, Z:-7.70 [[ 9.89517919e-01 1.43190495e-01 1.87288658e-02 2.56809388e+02] [-1.43163561e-01 9.89695144e-01 -2.77794662e-03 -3.28621673e+01] [-1.89336430e-02 6.75368332e-05 9.99820740e-01 -7.69875295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.84, Y:-32.87, Z:-7.70 [[ 9.89731308e-01 1.41616049e-01 1.94121767e-02 2.56837444e+02] [-1.41586809e-01 9.89921656e-01 -2.87942676e-03 -3.28726735e+01] [-1.96243072e-02 1.01350665e-04 9.99807420e-01 -7.70051034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.87, Y:-32.88, Z:-7.70 [[ 9.89756225e-01 1.41444524e-01 1.93922874e-02 2.56867153e+02] [-1.41415318e-01 9.89946178e-01 -2.87610909e-03 -3.28776324e+01] [-1.96041307e-02 1.04280384e-04 9.99807815e-01 -7.69952453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.90, Y:-32.89, Z:-7.70 [[ 9.89708823e-01 1.41722924e-01 1.97751922e-02 2.56896150e+02] [-1.41692611e-01 9.89906361e-01 -2.93277588e-03 -3.28857857e+01] [-1.99912301e-02 1.00595553e-04 9.99800150e-01 -7.70014615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.93, Y:-32.89, Z:-7.70 [[ 9.89628170e-01 1.42224197e-01 2.02079826e-02 2.56926385e+02] [-1.42192640e-01 9.89834465e-01 -2.99733275e-03 -3.28915206e+01] [-2.04288509e-02 9.28185283e-05 9.99791305e-01 -7.69992095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.96, Y:-32.90, Z:-7.70 [[ 9.89293243e-01 1.44404988e-01 2.11205961e-02 2.56956888e+02] [-1.44371012e-01 9.89518669e-01 -3.13269542e-03 -3.28959946e+01] [-2.13516010e-02 4.99525707e-05 9.99772027e-01 -7.69913079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.99, Y:-32.90, Z:-7.70 [[ 9.88861365e-01 1.47326264e-01 2.11700895e-02 2.56985874e+02] [-1.47292796e-01 9.89087949e-01 -3.14014085e-03 -3.28996624e+01] [-2.14017057e-02 -1.30377076e-05 9.99770957e-01 -7.70026774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.02, Y:-32.90, Z:-7.70 [[ 9.88588510e-01 1.49200173e-01 2.07861864e-02 2.57016434e+02] [-1.49168329e-01 9.88807011e-01 -3.08284398e-03 -3.29030970e+01] [-2.10134877e-02 -5.29765564e-05 9.99779191e-01 -7.70169263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.05, Y:-32.91, Z:-7.70 [[ 9.88325454e-01 1.50990387e-01 2.03641633e-02 2.57046616e+02] [-1.50960203e-01 9.88535227e-01 -3.02025283e-03 -3.29060462e+01] [-2.05867220e-02 -8.91854810e-05 9.99788067e-01 -7.70319410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.08, Y:-32.91, Z:-7.70 [[ 9.87733680e-01 1.54787884e-01 2.05642716e-02 2.57076080e+02] [-1.54757919e-01 9.87947712e-01 -3.05026243e-03 -3.29054910e+01] [-2.07885688e-02 -1.69636958e-04 9.99783880e-01 -7.70465277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.11, Y:-32.91, Z:-7.70 [[ 9.87475969e-01 1.56442986e-01 2.04157592e-02 2.57105887e+02] [-1.56413823e-01 9.87686970e-01 -3.02740332e-03 -3.29094005e+01] [-2.06379954e-02 -2.03818929e-04 9.99786993e-01 -7.70454959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.14, Y:-32.91, Z:-7.70 [[ 9.86917845e-01 1.59925213e-01 2.04228851e-02 2.57135793e+02] [-1.59896785e-01 9.87129095e-01 -3.02797271e-03 -3.29107434e+01] [-2.06442732e-02 -2.77193365e-04 9.99786846e-01 -7.70487812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.17, Y:-32.91, Z:-7.71 [[ 9.86253517e-01 1.64017674e-01 2.00549816e-02 2.57165546e+02] [-1.63991114e-01 9.86457336e-01 -2.97305598e-03 -3.29063565e+01] [-2.02710174e-02 -3.56651847e-04 9.99794458e-01 -7.70800905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.19, Y:-32.91, Z:-7.71 [[ 9.85901966e-01 1.66157766e-01 1.97208199e-02 2.57193862e+02] [-1.66132521e-01 9.86099103e-01 -2.92305518e-03 -3.29089886e+01] [-1.99323711e-02 -3.94423679e-04 9.99801253e-01 -7.70849174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30587156 meters Centerline goodness [0,1] 0.9999146047266284 Centerline is valid? [True, True] Translation: X:257.22, Y:-32.91, Z:-7.71 [[ 9.85542845e-01 1.68299236e-01 1.95107115e-02 2.57221880e+02] [-1.68274968e-01 9.85735856e-01 -2.89075636e-03 -3.29073908e+01] [-1.97189200e-02 -4.34200098e-04 9.99805469e-01 -7.71099238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33587156 meters Centerline goodness [0,1] 0.9999359166061434 Centerline is valid? [True, True] Translation: X:257.25, Y:-32.91, Z:-7.71 [[ 9.84980414e-01 1.71576013e-01 1.93715431e-02 2.57252073e+02] [-1.71552753e-01 9.85170759e-01 -2.86862378e-03 -3.29075084e+01] [-1.95764649e-02 -4.97703307e-04 9.99808239e-01 -7.71151496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36587156 meters Centerline goodness [0,1] 0.9999573642584578 Centerline is valid? [True, True] Translation: X:257.28, Y:-32.91, Z:-7.71 [[ 9.84814805e-01 1.72511462e-01 1.94832279e-02 2.57280938e+02] [-1.72488120e-01 9.85007373e-01 -2.88494896e-03 -3.29104189e+01] [-1.96888099e-02 -5.19484907e-04 9.99806022e-01 -7.71224078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39587156 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:257.31, Y:-32.91, Z:-7.71 [[ 9.84851535e-01 1.72269817e-01 1.97626770e-02 2.57310069e+02] [-1.72245771e-01 9.85049662e-01 -2.92536168e-03 -3.29134993e+01] [-1.99711698e-02 -5.22990579e-04 9.99800420e-01 -7.71251358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.34, Y:-32.91, Z:-7.71 [[ 9.84949900e-01 1.71686279e-01 1.99378074e-02 2.57338174e+02] [-1.71661703e-01 9.85151539e-01 -2.95043369e-03 -3.29143584e+01] [-2.01483106e-02 -5.16528600e-04 9.99796869e-01 -7.71437622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45587156 meters Centerline goodness [0,1] 0.9999784510623626 Centerline is valid? [True, True] Translation: X:257.37, Y:-32.92, Z:-7.71 [[ 9.85248765e-01 1.69985257e-01 1.97454607e-02 2.57365686e+02] [-1.69960836e-01 9.85446489e-01 -2.92071856e-03 -3.29239183e+01] [-1.99545740e-02 -4.78320653e-04 9.99800773e-01 -7.71410059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48587156 meters Centerline goodness [0,1] 0.9999568547082299 Centerline is valid? [True, True] Translation: X:257.39, Y:-32.93, Z:-7.72 [[ 9.85442951e-01 1.68849528e-01 1.97996918e-02 2.57393836e+02] [-1.68824763e-01 9.85641734e-01 -2.92776291e-03 -3.29269007e+01] [-2.00097539e-02 -4.57534950e-04 9.99799680e-01 -7.71600050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51587156 meters Centerline goodness [0,1] 0.9999784964734216 Centerline is valid? [True, True] Translation: X:257.42, Y:-32.93, Z:-7.72 [[ 9.85703785e-01 1.67352851e-01 1.95210378e-02 2.57421742e+02] [-1.67328503e-01 9.85896975e-01 -2.88562335e-03 -3.29327713e+01] [-1.97286494e-02 -4.22056182e-04 9.99805282e-01 -7.71630114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.45, Y:-32.94, Z:-7.72 [[ 9.86336073e-01 1.63632763e-01 1.91172702e-02 2.57450160e+02] [-1.63608727e-01 9.86521263e-01 -2.82521034e-03 -3.29410204e+01] [-1.93218905e-02 -3.41145376e-04 9.99813257e-01 -7.71714332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57587156 meters Centerline goodness [0,1] 0.9999570437509396 Centerline is valid? [True, True] Translation: X:257.48, Y:-32.95, Z:-7.72 [[ 9.86660812e-01 1.61690429e-01 1.88851288e-02 2.57477226e+02] [-1.61666642e-01 9.86841484e-01 -2.78964180e-03 -3.29463670e+01] [-1.90876869e-02 -3.00665110e-04 9.99817768e-01 -7.71719207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60587156 meters Centerline goodness [0,1] 0.99989154954017 Centerline is valid? [True, True] Translation: X:257.51, Y:-32.95, Z:-7.72 [[ 9.86955602e-01 1.59879136e-01 1.89024146e-02 2.57505744e+02] [-1.59854999e-01 9.87136561e-01 -2.79087254e-03 -3.29516044e+01] [-1.91054668e-02 -2.67178170e-04 9.99817438e-01 -7.71736653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.53, Y:-32.96, Z:-7.72 [[ 9.87647276e-01 1.55522469e-01 1.91211824e-02 2.57533420e+02] [-1.55496971e-01 9.87832338e-01 -2.82219671e-03 -3.29567649e+01] [-1.93274373e-02 -1.85951054e-04 9.99813190e-01 -7.72226933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.56, Y:-32.96, Z:-7.72 [[ 9.88018440e-01 1.53137965e-01 1.91918135e-02 2.57561202e+02] [-1.53111853e-01 9.88204809e-01 -2.83133679e-03 -3.29626763e+01] [-1.93990276e-02 -1.41081173e-04 9.99811811e-01 -7.72415021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69587156 meters Centerline goodness [0,1] 0.9999357367778421 Centerline is valid? [True, True] Translation: X:257.59, Y:-32.97, Z:-7.72 [[ 9.88748310e-01 1.48344358e-01 1.92543566e-02 2.57589466e+02] [-1.48317173e-01 9.88935766e-01 -2.84023055e-03 -3.29747062e+01] [-1.94626541e-02 -4.74785958e-05 9.99810583e-01 -7.72119984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.62, Y:-32.98, Z:-7.72 [[ 9.89096870e-01 1.45942256e-01 1.97037860e-02 2.57619460e+02] [-1.45913325e-01 9.89293110e-01 -2.90578205e-03 -3.29822735e+01] [-1.99168961e-02 -9.44998630e-07 9.99801639e-01 -7.72260556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.65, Y:-32.99, Z:-7.72 [[ 9.89750649e-01 1.41279433e-01 2.08272752e-02 2.57648723e+02] [-1.41246078e-01 9.89969753e-01 -3.07135662e-03 -3.29930888e+01] [-2.10522920e-02 9.81062725e-05 9.99778371e-01 -7.72245668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78587156000003 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:257.68, Y:-33.00, Z:-7.72 [[ 9.90044093e-01 1.39170342e-01 2.10786821e-02 2.57679899e+02] [-1.39135722e-01 9.90268446e-01 -3.10731465e-03 -3.30010761e+01] [-2.13059998e-02 1.43580857e-04 9.99772991e-01 -7.72172794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81587156 meters Centerline goodness [0,1] 0.9999568677349091 Centerline is valid? [True, True] Translation: X:257.71, Y:-33.01, Z:-7.72 [[ 9.90310073e-01 1.37219309e-01 2.13733599e-02 2.57711066e+02] [-1.37183180e-01 9.90540673e-01 -3.15444731e-03 -3.30086618e+01] [-2.16040334e-02 1.91815471e-04 9.99766587e-01 -7.72124029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.74, Y:-33.02, Z:-7.72 [[ 9.90856124e-01 1.33213214e-01 2.14098354e-02 2.57740961e+02] [-1.33175946e-01 9.91087362e-01 -3.16358607e-03 -3.30195923e+01] [-2.16404488e-02 2.83383554e-04 9.99765778e-01 -7.72456809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.77, Y:-33.03, Z:-7.73 [[ 9.91100378e-01 1.31462140e-01 2.09224044e-02 2.57772346e+02] [-1.31426093e-01 9.91321141e-01 -3.09466280e-03 -3.30280039e+01] [-2.11476528e-02 3.17371596e-04 9.99776313e-01 -7.72662396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.80, Y:-33.04, Z:-7.73 [[ 9.91592758e-01 1.27784750e-01 2.03681131e-02 2.57803564e+02] [-1.27749723e-01 9.91801848e-01 -3.01701210e-03 -3.30385321e+01] [-2.05866604e-02 3.89626529e-04 9.99787996e-01 -7.72716462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93587156 meters Centerline goodness [0,1] 0.9998495497238162 Centerline is valid? [True, True] Translation: X:257.83, Y:-33.05, Z:-7.73 [[ 9.91783315e-01 1.26347836e-01 2.00519341e-02 2.57833076e+02] [-1.26313596e-01 9.91985914e-01 -2.97007393e-03 -3.30500528e+01] [-2.02664986e-02 4.12837856e-04 9.99794528e-01 -7.72793627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.86, Y:-33.06, Z:-7.73 [[ 9.92140963e-01 1.23510036e-01 2.00394885e-02 2.57863409e+02] [-1.23475174e-01 9.92343210e-01 -2.97254706e-03 -3.30624273e+01] [-2.02531897e-02 4.74806386e-04 9.99794770e-01 -7.73100143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.89, Y:-33.07, Z:-7.73 [[ 9.92223558e-01 1.22858602e-01 1.99543031e-02 2.57894619e+02] [-1.22823908e-01 9.92424067e-01 -2.95968089e-03 -3.30695485e+01] [-2.01667529e-02 4.85799626e-04 9.99796512e-01 -7.73169482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02587156 meters Centerline goodness [0,1] 0.9999572348023179 Centerline is valid? [True, True] Translation: X:257.93, Y:-33.08, Z:-7.73 [[ 9.92219532e-01 1.22816187e-01 2.04104184e-02 2.57925311e+02] [-1.22779810e-01 9.92429309e-01 -3.03069378e-03 -3.30780914e+01] [-2.06281157e-02 5.01126269e-04 9.99787092e-01 -7.73265025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05587156 meters Centerline goodness [0,1] 0.9998700285937094 Centerline is valid? [True, True] Translation: X:257.96, Y:-33.08, Z:-7.73 [[ 9.92105629e-01 1.23667562e-01 2.08027568e-02 2.57956849e+02] [-1.23629881e-01 9.92323580e-01 -3.09274212e-03 -3.30835780e+01] [-2.10255380e-02 4.96484530e-04 9.99778816e-01 -7.72993799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.99, Y:-33.09, Z:-7.73 [[ 9.91976617e-01 1.24647847e-01 2.11022484e-02 2.57987026e+02] [-1.24609215e-01 9.92200926e-01 -3.14098294e-03 -3.30920899e+01] [-2.13291871e-02 4.86247035e-04 9.99772389e-01 -7.73360268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.02, Y:-33.09, Z:-7.73 [[ 9.91646772e-01 1.27229531e-01 2.11973360e-02 2.58018953e+02] [-1.27191046e-01 9.91873205e-01 -3.15947764e-03 -3.30948118e+01] [-2.14270484e-02 4.36974465e-04 9.99770319e-01 -7.73306573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.05, Y:-33.10, Z:-7.73 [[ 9.91417062e-01 1.28974527e-01 2.13958237e-02 2.58051163e+02] [-1.28935732e-01 9.91647825e-01 -3.18869817e-03 -3.30975713e+01] [-2.16283829e-02 4.02643582e-04 9.99765998e-01 -7.73340550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.08, Y:-33.10, Z:-7.74 [[ 9.90921514e-01 1.32802048e-01 2.09325091e-02 2.58080892e+02] [-1.32765665e-01 9.91142530e-01 -3.12453358e-03 -3.31043304e+01] [-2.11620445e-02 3.17049058e-04 9.99776009e-01 -7.73743097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20587156 meters Centerline goodness [0,1] 0.9998715918332406 Centerline is valid? [True, True] Translation: X:258.11, Y:-33.11, Z:-7.74 [[ 9.90636423e-01 1.35037199e-01 2.01105133e-02 2.58113145e+02] [-1.35004104e-01 9.90840496e-01 -3.00056445e-03 -3.31065135e+01] [-2.03314988e-02 2.57466603e-04 9.99793261e-01 -7.73635257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.14, Y:-33.11, Z:-7.74 [[ 9.90051411e-01 1.39370238e-01 1.93427324e-02 2.58143807e+02] [-1.39340386e-01 9.90240329e-01 -2.88917321e-03 -3.31106280e+01] [-1.95566184e-02 1.65206223e-04 9.99808737e-01 -7.74226146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26587156 meters Centerline goodness [0,1] 0.9999352708913198 Centerline is valid? [True, True] Translation: X:258.18, Y:-33.11, Z:-7.74 [[ 9.89704419e-01 1.41882312e-01 1.88300962e-02 2.58176330e+02] [-1.41854428e-01 9.89883527e-01 -2.81516955e-03 -3.31113630e+01] [-1.90390248e-02 1.15053233e-04 9.99818735e-01 -7.73950897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29587156 meters Centerline goodness [0,1] 0.9998291547430914 Centerline is valid? [True, True] Translation: X:258.21, Y:-33.11, Z:-7.74 [[ 9.89334826e-01 1.44450571e-01 1.87252560e-02 2.58207524e+02] [-1.44423391e-01 9.89512015e-01 -2.80287408e-03 -3.31149374e+01] [-1.89337426e-02 6.86159556e-05 9.99820738e-01 -7.74291321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32587156 meters Centerline goodness [0,1] 0.9999568109181999 Centerline is valid? [True, True] Translation: X:258.24, Y:-33.11, Z:-7.74 [[ 9.88666710e-01 1.48891694e-01 1.92197893e-02 2.58240598e+02] [-1.48863837e-01 9.88853509e-01 -2.88007116e-03 -3.31140821e+01] [-1.94343748e-02 -1.37011076e-05 9.99811135e-01 -7.74238061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.27, Y:-33.11, Z:-7.75 [[ 9.88075454e-01 1.52736944e-01 1.94505315e-02 2.58271639e+02] [-1.52709070e-01 9.88266876e-01 -2.91909650e-03 -3.31121774e+01] [-1.96681699e-02 -8.59849804e-05 9.99806559e-01 -7.74632188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38587156 meters Centerline goodness [0,1] 0.9997837791087375 Centerline is valid? [True, True] Translation: X:258.30, Y:-33.12, Z:-7.74 [[ 9.87760878e-01 1.54734442e-01 1.96392729e-02 2.58303374e+02] [-1.54706393e-01 9.87956090e-01 -2.94879498e-03 -3.31151487e+01] [-1.98590194e-02 -1.25616759e-04 9.99802782e-01 -7.74137494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.33, Y:-33.11, Z:-7.75 [[ 9.87468019e-01 1.56437173e-01 2.08404055e-02 2.58333618e+02] [-1.56405961e-01 9.87687897e-01 -3.12940875e-03 -3.31149666e+01] [-2.10733721e-02 -1.69372589e-04 9.99777917e-01 -7.74523363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44587156 meters Centerline goodness [0,1] 0.9999787658725103 Centerline is valid? [True, True] Translation: X:258.36, Y:-33.11, Z:-7.74 [[ 9.86957458e-01 1.59517287e-01 2.16612644e-02 2.58362927e+02] [-1.59484264e-01 9.87195106e-01 -3.25469558e-03 -3.31121214e+01] [-2.19030744e-02 -2.42384729e-04 9.99760070e-01 -7.74399325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47587156000003 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:258.39, Y:-33.11, Z:-7.75 [[ 9.86501937e-01 1.62384919e-01 2.10966091e-02 2.58391788e+02] [-1.62354270e-01 9.86727444e-01 -3.16895126e-03 -3.31091603e+01] [-2.13311930e-02 -2.98948003e-04 9.99772420e-01 -7.74569594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50587156 meters Centerline goodness [0,1] 0.9999786680319126 Centerline is valid? [True, True] Translation: X:258.42, Y:-33.11, Z:-7.75 [[ 9.86287553e-01 1.63697175e-01 2.09785235e-02 2.58420736e+02] [-1.63667162e-01 9.86510582e-01 -3.15138358e-03 -3.31093744e+01] [-2.12114080e-02 -3.25325000e-04 9.99774960e-01 -7.74730833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53587156000003 meters Centerline goodness [0,1] 0.9999576091564222 Centerline is valid? [True, True] Translation: X:258.45, Y:-33.11, Z:-7.75 [[ 9.85907311e-01 1.65969276e-01 2.09993907e-02 2.58450204e+02] [-1.65939737e-01 9.86130853e-01 -3.15361282e-03 -3.31055653e+01] [-2.12315499e-02 -3.75463425e-04 9.99774515e-01 -7.74807607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56587156 meters Centerline goodness [0,1] 0.9999359795134443 Centerline is valid? [True, True] Translation: X:258.48, Y:-33.11, Z:-7.75 [[ 9.85782444e-01 1.66692476e-01 2.11327332e-02 2.58479562e+02] [-1.66662746e-01 9.86008855e-01 -3.17271710e-03 -3.31067364e+01] [-2.13659301e-02 -3.94430533e-04 9.99771645e-01 -7.74862405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59587156 meters Centerline goodness [0,1] 0.9999359795134443 Centerline is valid? [True, True] Translation: X:258.51, Y:-33.11, Z:-7.75 [[ 9.85789446e-01 1.66651040e-01 2.11328671e-02 2.58507584e+02] [-1.66621320e-01 9.86015860e-01 -3.17182499e-03 -3.31108453e+01] [-2.13659300e-02 -3.94434611e-04 9.99771645e-01 -7.74947869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62587156 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:258.54, Y:-33.12, Z:-7.75 [[ 9.85751512e-01 1.66856074e-01 2.12839500e-02 2.58535625e+02] [-1.66825994e-01 9.85981181e-01 -3.19361244e-03 -3.31177708e+01] [-2.15184477e-02 -4.02607825e-04 9.99768370e-01 -7.74766697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.56, Y:-33.12, Z:-7.75 [[ 9.85894607e-01 1.65992863e-01 2.14054670e-02 2.58563882e+02] [-1.65962256e-01 9.86126878e-01 -3.21092779e-03 -3.31184814e+01] [-2.16414975e-02 -3.86863208e-04 9.99765721e-01 -7.74854345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68587156 meters Centerline goodness [0,1] 0.9999571063975808 Centerline is valid? [True, True] Translation: X:258.59, Y:-33.12, Z:-7.75 [[ 9.86156440e-01 1.64449053e-01 2.12599209e-02 2.58593067e+02] [-1.64418530e-01 9.86385515e-01 -3.18776375e-03 -3.31206133e+01] [-2.14947028e-02 -3.51891199e-04 9.99768900e-01 -7.74974549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71587156 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:258.62, Y:-33.12, Z:-7.75 [[ 9.86302467e-01 1.63597315e-01 2.10561769e-02 2.58621629e+02] [-1.63567199e-01 9.86527146e-01 -3.15632797e-03 -3.31177061e+01] [-2.12888569e-02 -3.31005811e-04 9.99773312e-01 -7.75432995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74587156 meters Centerline goodness [0,1] 0.9998511525048907 Centerline is valid? [True, True] Translation: X:258.65, Y:-33.12, Z:-7.76 [[ 9.86455827e-01 1.62700024e-01 2.08231594e-02 2.58650593e+02] [-1.62670400e-01 9.86675533e-01 -3.12002850e-03 -3.31211816e+01] [-2.10533306e-02 -3.09541372e-04 9.99778306e-01 -7.75529060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.68, Y:-33.12, Z:-7.76 [[ 9.86761781e-01 1.60808758e-01 2.10173723e-02 2.58679148e+02] [-1.60778169e-01 9.86985547e-01 -3.14821910e-03 -3.31232527e+01] [-2.12501039e-02 -2.72592355e-04 9.99774154e-01 -7.75542896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.71, Y:-33.13, Z:-7.75 [[ 9.86911598e-01 1.59888241e-01 2.10059184e-02 2.58707131e+02] [-1.59857496e-01 9.87135090e-01 -3.14564015e-03 -3.31297241e+01] [-2.12386301e-02 -2.53484771e-04 9.99774403e-01 -7.75372619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83587156 meters Centerline goodness [0,1] 0.9999352079823766 Centerline is valid? [True, True] Translation: X:258.73, Y:-33.13, Z:-7.75 [[ 9.87149730e-01 1.58442567e-01 2.07692886e-02 2.58734774e+02] [-1.58412208e-01 9.87368171e-01 -3.10936574e-03 -3.31315782e+01] [-2.09995904e-02 -2.20699310e-04 9.99779460e-01 -7.75336215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.76, Y:-33.13, Z:-7.75 [[ 9.87423756e-01 1.56656647e-01 2.12842701e-02 2.58763513e+02] [-1.56624377e-01 9.87653107e-01 -3.18512435e-03 -3.31347267e+01] [-2.15204464e-02 -1.88568105e-04 9.99768391e-01 -7.75360924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.79, Y:-33.14, Z:-7.76 [[ 9.87589791e-01 1.55618357e-01 2.11974410e-02 2.58791430e+02] [-1.55586130e-01 9.87817240e-01 -3.17121996e-03 -3.31356302e+01] [-2.14326977e-02 -1.66163361e-04 9.99770280e-01 -7.75597660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92587156 meters Centerline goodness [0,1] 0.9999148211243611 Centerline is valid? [True, True] Translation: X:258.82, Y:-33.14, Z:-7.76 [[ 9.87692789e-01 1.55008219e-01 2.08664212e-02 2.58820610e+02] [-1.54976884e-01 9.87913169e-01 -3.12034469e-03 -3.31385142e+01] [-2.10978913e-02 -1.51870971e-04 9.99777403e-01 -7.75552661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95587156 meters Centerline goodness [0,1] 0.9998717098933054 Centerline is valid? [True, True] Translation: X:258.85, Y:-33.14, Z:-7.76 [[ 9.87831631e-01 1.54191872e-01 2.03355769e-02 2.58848775e+02] [-1.54161956e-01 9.88040915e-01 -3.04009305e-03 -3.31425214e+01] [-2.05611396e-02 -1.31872231e-04 9.99788589e-01 -7.75552535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98587156 meters Centerline goodness [0,1] 0.9998294933822119 Centerline is valid? [True, True] Translation: X:258.88, Y:-33.15, Z:-7.76 [[ 9.88097701e-01 1.52510698e-01 2.00853092e-02 2.58877424e+02] [-1.52481184e-01 9.88301815e-01 -3.00176103e-03 -3.31454388e+01] [-2.03081482e-02 -9.65985598e-05 9.99793764e-01 -7.75633651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.91, Y:-33.15, Z:-7.76 [[ 9.88388658e-01 1.50539356e-01 2.06340102e-02 2.58905939e+02] [-1.50507800e-01 9.88604015e-01 -3.08272604e-03 -3.31490356e+01] [-2.08629370e-02 -5.86480301e-05 9.99782344e-01 -7.75773501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04587156 meters Centerline goodness [0,1] 0.9997859726473043 Centerline is valid? [True, True] Translation: X:258.93, Y:-33.15, Z:-7.76 [[ 9.88538117e-01 1.49543369e-01 2.07164839e-02 2.58934641e+02] [-1.49511363e-01 9.88755166e-01 -3.09405326e-03 -3.31531760e+01] [-2.09462256e-02 -3.87601600e-05 9.99780603e-01 -7.75579412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.96, Y:-33.16, Z:-7.76 [[ 9.88694430e-01 1.48418857e-01 2.13346428e-02 2.58964055e+02] [-1.48384678e-01 9.88924589e-01 -3.18507397e-03 -3.31571566e+01] [-2.15710779e-02 -1.66692024e-05 9.99767317e-01 -7.75724848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.99, Y:-33.16, Z:-7.76 [[ 9.88935081e-01 1.46779331e-01 2.15228615e-02 2.58992451e+02] [-1.46744168e-01 9.89169261e-01 -3.21273299e-03 -3.31598000e+01] [-2.17613158e-02 1.88299540e-05 9.99763194e-01 -7.75824441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.02, Y:-33.16, Z:-7.76 [[ 9.89009758e-01 1.46256893e-01 2.16476386e-02 2.59021653e+02] [-1.46221211e-01 9.89246643e-01 -3.23064898e-03 -3.31628350e+01] [-2.18873585e-02 2.97994430e-05 9.99760443e-01 -7.75844365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16587156 meters Centerline goodness [0,1] 0.9998722860791827 Centerline is valid? [True, True] Translation: X:259.05, Y:-33.17, Z:-7.76 [[ 9.89089354e-01 1.45855290e-01 2.06998755e-02 2.59050475e+02] [-1.45822599e-01 9.89305935e-01 -3.08814740e-03 -3.31655459e+01] [-2.09289324e-02 3.59440632e-05 9.99780965e-01 -7.75941314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.08, Y:-33.17, Z:-7.76 [[ 9.89124414e-01 1.45664927e-01 2.03623018e-02 2.59078749e+02] [-1.45633266e-01 9.89333982e-01 -3.03718176e-03 -3.31684484e+01] [-2.05875280e-02 3.87221170e-05 9.99788054e-01 -7.76231592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.11, Y:-33.17, Z:-7.77 [[ 9.89202874e-01 1.45270453e-01 1.93434823e-02 2.59106475e+02] [-1.45241820e-01 9.89391982e-01 -2.88447441e-03 -3.31692732e+01] [-1.95573152e-02 4.38478043e-05 9.99808736e-01 -7.76526508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25587156 meters Centerline goodness [0,1] 0.9999572731739623 Centerline is valid? [True, True] Translation: X:259.13, Y:-33.17, Z:-7.77 [[ 9.89266442e-01 1.44858582e-01 1.91806691e-02 2.59133926e+02] [-1.44830373e-01 9.89452368e-01 -2.85910138e-03 -3.31721819e+01] [-1.93925238e-02 5.04695989e-05 9.99811946e-01 -7.76593881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28587156000003 meters Centerline goodness [0,1] 0.9998501391564976 Centerline is valid? [True, True] Translation: X:259.16, Y:-33.18, Z:-7.77 [[ 9.89361801e-01 1.44222563e-01 1.90546533e-02 2.59162815e+02] [-1.44194633e-01 9.89545274e-01 -2.83889548e-03 -3.31756528e+01] [-1.92648749e-02 6.11160036e-05 9.99814413e-01 -7.76673159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31587156 meters Centerline goodness [0,1] 0.9999787107212808 Centerline is valid? [True, True] Translation: X:259.19, Y:-33.18, Z:-7.77 [[ 9.89509962e-01 1.43104619e-01 1.97763450e-02 2.59191505e+02] [-1.43074329e-01 9.89707563e-01 -2.94544465e-03 -3.31786646e+01] [-1.99943050e-02 8.50595250e-05 9.99800090e-01 -7.76649555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.22, Y:-33.18, Z:-7.77 [[ 9.89575551e-01 1.42644588e-01 1.98179547e-02 2.59220243e+02] [-1.42614097e-01 9.89773971e-01 -2.95070348e-03 -3.31819299e+01] [-2.00361976e-02 9.36243086e-05 9.99799251e-01 -7.76713017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.25, Y:-33.18, Z:-7.77 [[ 9.89655396e-01 1.42014566e-01 2.03484537e-02 2.59247738e+02] [-1.41982306e-01 9.89864562e-01 -3.02876985e-03 -3.31830378e+01] [-2.05723426e-02 1.08318049e-04 9.99788361e-01 -7.76715162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40587156 meters Centerline goodness [0,1] 0.9999142275115257 Centerline is valid? [True, True] Translation: X:259.28, Y:-33.19, Z:-7.77 [[ 9.89643816e-01 1.42030547e-01 2.07952086e-02 2.59276641e+02] [-1.41996883e-01 9.89862269e-01 -3.09409654e-03 -3.31855168e+01] [-2.10238486e-02 1.09198705e-04 9.99778969e-01 -7.76589558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.31, Y:-33.19, Z:-7.77 [[ 9.89685775e-01 1.41623170e-01 2.15625947e-02 2.59305673e+02] [-1.41586920e-01 9.89920635e-01 -3.20638182e-03 -3.31871112e+01] [-2.17993554e-02 1.20329098e-04 9.99762359e-01 -7.76737554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.33, Y:-33.19, Z:-7.77 [[ 9.89663121e-01 1.41750018e-01 2.17678718e-02 2.59334866e+02] [-1.41713128e-01 9.89902479e-01 -3.23586451e-03 -3.31894492e+01] [-2.20067542e-02 1.17622566e-04 9.99757815e-01 -7.76781370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49587156 meters Centerline goodness [0,1] 0.9999570262140095 Centerline is valid? [True, True] Translation: X:259.36, Y:-33.19, Z:-7.77 [[ 9.89763795e-01 1.41255485e-01 2.03597088e-02 2.59363305e+02] [-1.41223127e-01 9.89973168e-01 -3.02566232e-03 -3.31911351e+01] [-2.05829569e-02 1.19429281e-04 9.99788141e-01 -7.77095135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52587156 meters Centerline goodness [0,1] 0.999592178411213 Centerline is valid? [True, True] Translation: X:259.39, Y:-33.19, Z:-7.77 [[ 9.89848048e-01 1.40796979e-01 1.94178665e-02 2.59392009e+02] [-1.40767474e-01 9.90038482e-01 -2.88485875e-03 -3.31943437e+01] [-1.96306144e-02 1.22167782e-04 9.99807293e-01 -7.77050985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55587156 meters Centerline goodness [0,1] 0.9999353113679489 Centerline is valid? [True, True] Translation: X:259.42, Y:-33.20, Z:-7.78 [[ 9.90133113e-01 1.38834870e-01 1.90078386e-02 2.59419211e+02] [-1.38806250e-01 9.90315533e-01 -2.82323305e-03 -3.32013808e+01] [-1.92157210e-02 1.56969725e-04 9.99815349e-01 -7.77594260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58587156 meters Centerline goodness [0,1] 0.9999147085163547 Centerline is valid? [True, True] Translation: X:259.45, Y:-33.21, Z:-7.78 [[ 9.90267228e-01 1.37877329e-01 1.89910087e-02 2.59447429e+02] [-1.37848614e-01 9.90449298e-01 -2.81918535e-03 -3.32055059e+01] [-1.91983330e-02 1.73862639e-04 9.99815680e-01 -7.77609417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61587156 meters Centerline goodness [0,1] 0.9998495076751086 Centerline is valid? [True, True] Translation: X:259.48, Y:-33.21, Z:-7.77 [[ 9.90381156e-01 1.36946951e-01 1.97661167e-02 2.59476388e+02] [-1.36915678e-01 9.90578363e-01 -2.93323847e-03 -3.32104480e+01] [-1.99815856e-02 1.98732839e-04 9.99800328e-01 -7.77499674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64587156 meters Centerline goodness [0,1] 0.9996780977724365 Centerline is valid? [True, True] Translation: X:259.50, Y:-33.21, Z:-7.77 [[ 9.90396777e-01 1.36758939e-01 2.02784572e-02 2.59503554e+02] [-1.36726002e-01 9.90604336e-01 -3.00839388e-03 -3.32146574e+01] [-2.04993524e-02 2.06911220e-04 9.99789845e-01 -7.77482859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67587156 meters Centerline goodness [0,1] 0.9994876392980658 Centerline is valid? [True, True] Translation: X:259.53, Y:-33.22, Z:-7.78 [[ 9.90401152e-01 1.36787865e-01 1.98655203e-02 2.59531197e+02] [-1.36756288e-01 9.90600343e-01 -2.94581894e-03 -3.32198130e+01] [-2.00817435e-02 2.00807645e-04 9.99798321e-01 -7.77584632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70587156 meters Centerline goodness [0,1] 0.9994009029248775 Centerline is valid? [True, True] Translation: X:259.56, Y:-33.22, Z:-7.77 [[ 9.90378676e-01 1.36949440e-01 1.98728016e-02 2.59560377e+02] [-1.36917899e-01 9.90578019e-01 -2.94559469e-03 -3.32213929e+01] [-2.00889580e-02 1.96311927e-04 9.99798177e-01 -7.77488954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73587156 meters Centerline goodness [0,1] 0.9995907818220978 Centerline is valid? [True, True] Translation: X:259.59, Y:-33.22, Z:-7.78 [[ 9.90261001e-01 1.37836071e-01 1.96052897e-02 2.59587776e+02] [-1.37805564e-01 9.90455040e-01 -2.90512320e-03 -3.32246890e+01] [-1.98185888e-02 1.75112210e-04 9.99803577e-01 -7.77944240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76587156 meters Centerline goodness [0,1] 0.9996122862189291 Centerline is valid? [True, True] Translation: X:259.62, Y:-33.23, Z:-7.78 [[ 9.90136782e-01 1.38750038e-01 1.94314353e-02 2.59616499e+02] [-1.38720271e-01 9.90327422e-01 -2.87806582e-03 -3.32260418e+01] [-1.96428149e-02 1.54144866e-04 9.99807049e-01 -7.77945884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79587156 meters Centerline goodness [0,1] 0.9996786357014311 Centerline is valid? [True, True] Translation: X:259.64, Y:-33.23, Z:-7.78 [[ 9.89790883e-01 1.41168810e-01 1.96309546e-02 2.59644475e+02] [-1.41138920e-01 9.89985533e-01 -2.90678959e-03 -3.32253673e+01] [-1.98447091e-02 1.06422108e-04 9.99803069e-01 -7.78044291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82587156 meters Centerline goodness [0,1] 0.999761553802133 Centerline is valid? [True, True] Translation: X:259.67, Y:-33.23, Z:-7.78 [[ 9.89566027e-01 1.42685020e-01 2.00015675e-02 2.59673688e+02] [-1.42654330e-01 9.89768144e-01 -2.96024386e-03 -3.32263763e+01] [-2.02192968e-02 7.60465487e-05 9.99795566e-01 -7.77973624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85587156 meters Centerline goodness [0,1] 0.9997859543226525 Centerline is valid? [True, True] Translation: X:259.70, Y:-33.23, Z:-7.78 [[ 9.89344026e-01 1.44212785e-01 2.00267775e-02 2.59701613e+02] [-1.44182346e-01 9.89546700e-01 -2.96313965e-03 -3.32283912e+01] [-2.02447542e-02 4.40567391e-05 9.99795053e-01 -7.78185382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88587156 meters Centerline goodness [0,1] 0.999762275242047 Centerline is valid? [True, True] Translation: X:259.73, Y:-33.23, Z:-7.78 [[ 9.88946349e-01 1.46893640e-01 2.01836097e-02 2.59731023e+02] [-1.46863312e-01 9.89152293e-01 -2.98481015e-03 -3.32289094e+01] [-2.04031134e-02 -1.24146638e-05 9.99791835e-01 -7.78082699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91587156 meters Centerline goodness [0,1] 0.9998275155774994 Centerline is valid? [True, True] Translation: X:259.76, Y:-33.23, Z:-7.78 [[ 9.88757865e-01 1.48100452e-01 2.05946927e-02 2.59760409e+02] [-1.48069160e-01 9.88972322e-01 -3.04455553e-03 -3.32299170e+01] [-2.08184812e-02 -3.91106229e-05 9.99783271e-01 -7.78059131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94587156 meters Centerline goodness [0,1] 0.9998720927753736 Centerline is valid? [True, True] Translation: X:259.79, Y:-33.23, Z:-7.78 [[ 9.88758402e-01 1.48043318e-01 2.09761638e-02 2.59787777e+02] [-1.48010862e-01 9.88980877e-01 -3.10003993e-03 -3.32328098e+01] [-2.12039650e-02 -3.95095602e-05 9.99775170e-01 -7.78135494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97587156000003 meters Centerline goodness [0,1] 0.9996330750469448 Centerline is valid? [True, True] Translation: X:259.82, Y:-33.24, Z:-7.78 [[ 9.88941100e-01 1.46727287e-01 2.16010260e-02 2.59816584e+02] [-1.46692590e-01 9.89176983e-01 -3.19076708e-03 -3.32382825e+01] [-2.18354103e-02 -1.32297376e-05 9.99761579e-01 -7.78108630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00587156 meters Centerline goodness [0,1] 0.9993772815117028 Centerline is valid? [True, True] Translation: X:259.84, Y:-33.24, Z:-7.78 [[ 9.89080405e-01 1.45729861e-01 2.19717896e-02 2.59843487e+02] [-1.45693739e-01 9.89324420e-01 -3.24452725e-03 -3.32436489e+01] [-2.22100525e-02 7.94614715e-06 9.99753326e-01 -7.78179176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03587156000003 meters Centerline goodness [0,1] 0.9994401378122308 Centerline is valid? [True, True] Translation: X:259.87, Y:-33.25, Z:-7.78 [[ 9.89190410e-01 1.44957456e-01 2.21284594e-02 2.59871696e+02] [-1.44920656e-01 9.89437889e-01 -3.26619426e-03 -3.32494973e+01] [-2.23681953e-02 2.40171936e-05 9.99749800e-01 -7.78266269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06587156 meters Centerline goodness [0,1] 0.9994258983627472 Centerline is valid? [True, True] Translation: X:259.90, Y:-33.26, Z:-7.78 [[ 9.89330919e-01 1.44051904e-01 2.17573472e-02 2.59898734e+02] [-1.44016130e-01 9.89570132e-01 -3.21048864e-03 -3.32571049e+01] [-2.19928979e-02 4.28267352e-05 9.99758126e-01 -7.78443743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09587156 meters Centerline goodness [0,1] 0.9993792808219178 Centerline is valid? [True, True] Translation: X:259.93, Y:-33.26, Z:-7.79 [[ 9.89274812e-01 1.44504536e-01 2.13022163e-02 2.59927106e+02] [-1.44470377e-01 9.89504137e-01 -3.14197914e-03 -3.32617958e+01] [-2.15326614e-02 3.07416016e-05 9.99768145e-01 -7.78571947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12587156 meters Centerline goodness [0,1] 0.9996365579903794 Centerline is valid? [True, True] Translation: X:259.96, Y:-33.26, Z:-7.79 [[ 9.89152164e-01 1.45382458e-01 2.10223046e-02 2.59955378e+02] [-1.45349410e-01 9.89375531e-01 -3.09971390e-03 -3.32644458e+01] [-2.12495978e-02 1.05091328e-05 9.99774202e-01 -7.78665815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15587156 meters Centerline goodness [0,1] 0.9995066495066495 Centerline is valid? [True, True] Translation: X:259.98, Y:-33.27, Z:-7.79 [[ 9.89016136e-01 1.46312494e-01 2.09699277e-02 2.59984407e+02] [-1.46279840e-01 9.89238421e-01 -3.09100075e-03 -3.32671158e+01] [-2.11965102e-02 -1.04280538e-05 9.99775329e-01 -7.78722019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18587156 meters Centerline goodness [0,1] 0.9996795761861021 Centerline is valid? [True, True] Translation: X:260.01, Y:-33.27, Z:-7.79 [[ 9.88561910e-01 1.49298514e-01 2.13378486e-02 2.60012305e+02] [-1.49265421e-01 9.88792166e-01 -3.14427163e-03 -3.32674437e+01] [-2.15681326e-02 -7.66957780e-05 9.99767378e-01 -7.78845760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21587156 meters Centerline goodness [0,1] 0.9998922204737988 Centerline is valid? [True, True] Translation: X:260.04, Y:-33.27, Z:-7.79 [[ 9.88071257e-01 1.52612337e-01 2.06074027e-02 2.60041501e+02] [-1.52582218e-01 9.88286119e-01 -3.03532100e-03 -3.32672101e+01] [-2.08292374e-02 -1.45209769e-04 9.99783037e-01 -7.78878216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24587156 meters Centerline goodness [0,1] 0.9998488610601317 Centerline is valid? [True, True] Translation: X:260.07, Y:-33.27, Z:-7.79 [[ 9.87872748e-01 1.53809653e-01 2.12137580e-02 2.60069878e+02] [-1.53778033e-01 9.88100480e-01 -3.12361698e-03 -3.32693594e+01] [-2.14417669e-02 -1.76473890e-04 9.99770083e-01 -7.78976910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27587156 meters Centerline goodness [0,1] 0.999914164932083 Centerline is valid? [True, True] Translation: X:260.10, Y:-33.27, Z:-7.79 [[ 9.87649288e-01 1.55234716e-01 2.12383421e-02 2.60098651e+02] [-1.55203375e-01 9.87877593e-01 -3.12618069e-03 -3.32706781e+01] [-2.14661740e-02 -2.08692241e-04 9.99769553e-01 -7.79022079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30587156 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:260.13, Y:-33.27, Z:-7.79 [[ 9.87289818e-01 1.57434305e-01 2.17544151e-02 2.60126934e+02] [-1.57401979e-01 9.87529427e-01 -3.20112421e-03 -3.32699532e+01] [-2.19870918e-02 -2.63750635e-04 9.99758220e-01 -7.79070645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33587156 meters Centerline goodness [0,1] 0.9998930801471217 Centerline is valid? [True, True] Translation: X:260.16, Y:-33.27, Z:-7.79 [[ 9.87122338e-01 1.58514538e-01 2.15088686e-02 2.60155069e+02] [-1.58483222e-01 9.87356602e-01 -3.16366978e-03 -3.32718916e+01] [-2.17384111e-02 -2.85865689e-04 9.99763652e-01 -7.79050680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.18, Y:-33.28, Z:-7.79 [[ 9.86945072e-01 1.59544057e-01 2.20254106e-02 2.60183213e+02] [-1.59511506e-01 9.87190758e-01 -3.23826497e-03 -3.32750967e+01] [-2.22599277e-02 -3.17316751e-04 9.99752167e-01 -7.79212648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39587156 meters Centerline goodness [0,1] 0.9999354894202649 Centerline is valid? [True, True] Translation: X:260.21, Y:-33.28, Z:-7.79 [[ 9.86888739e-01 1.59989457e-01 2.13070571e-02 2.60211395e+02] [-1.59959125e-01 9.87118672e-01 -3.13139968e-03 -3.32765710e+01] [-2.15335849e-02 -3.17915145e-04 9.99768075e-01 -7.79282263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.24, Y:-33.28, Z:-7.80 [[ 9.86904464e-01 1.59818885e-01 2.18518222e-02 2.60239413e+02] [-1.59786972e-01 9.87146301e-01 -3.21006215e-03 -3.32788957e+01] [-2.20839740e-02 -3.23611832e-04 9.99756067e-01 -7.79506557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45587156 meters Centerline goodness [0,1] 0.9999352694946705 Centerline is valid? [True, True] Translation: X:260.27, Y:-33.28, Z:-7.79 [[ 9.86944523e-01 1.59513537e-01 2.22696908e-02 2.60268141e+02] [-1.59480345e-01 9.87195688e-01 -3.27002030e-03 -3.32836790e+01] [-2.25061552e-02 -3.24249358e-04 9.99746652e-01 -7.79495851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48587156 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:260.30, Y:-33.29, Z:-7.80 [[ 9.86977943e-01 1.59344355e-01 2.19981111e-02 2.60295932e+02] [-1.59311945e-01 9.87223012e-01 -3.22930066e-03 -3.32871010e+01] [-2.22316123e-02 -3.17313331e-04 9.99752797e-01 -7.79590052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51587156 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:260.32, Y:-33.29, Z:-7.80 [[ 9.86989490e-01 1.59272780e-01 2.19983440e-02 2.60323139e+02] [-1.59240388e-01 9.87234562e-01 -3.22771311e-03 -3.32909581e+01] [-2.22316123e-02 -3.17305912e-04 9.99752797e-01 -7.79672990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54587156 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:260.35, Y:-33.29, Z:-7.80 [[ 9.87011084e-01 1.59142363e-01 2.19733418e-02 2.60350835e+02] [-1.59110046e-01 9.87255594e-01 -3.22251344e-03 -3.32904278e+01] [-2.22061431e-02 -3.15522944e-04 9.99753363e-01 -7.80000510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57587156 meters Centerline goodness [0,1] 0.9999575037715402 Centerline is valid? [True, True] Translation: X:260.38, Y:-33.29, Z:-7.80 [[ 9.87011087e-01 1.59136070e-01 2.20187595e-02 2.60378197e+02] [-1.59103662e-01 9.87256608e-01 -3.22715351e-03 -3.32946401e+01] [-2.22517223e-02 -3.18028981e-04 9.99752349e-01 -7.79999106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.41, Y:-33.30, Z:-7.80 [[ 9.87010525e-01 1.59190936e-01 2.16441509e-02 2.60405728e+02] [-1.59159664e-01 9.87247764e-01 -3.17088466e-03 -3.32963421e+01] [-2.18729157e-02 -3.15179259e-04 9.99760709e-01 -7.80213645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63587156 meters Centerline goodness [0,1] 0.9999145463479245 Centerline is valid? [True, True] Translation: X:260.43, Y:-33.30, Z:-7.80 [[ 9.86911145e-01 1.59810281e-01 2.16116890e-02 2.60434716e+02] [-1.59779299e-01 9.87147691e-01 -3.16399537e-03 -3.32987603e+01] [-2.18395679e-02 -3.30518218e-04 9.99761434e-01 -7.80187873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.46, Y:-33.30, Z:-7.80 [[ 9.86799513e-01 1.60437343e-01 2.20585474e-02 2.60463949e+02] [-1.60405247e-01 9.87045964e-01 -3.22832311e-03 -3.33005186e+01] [-2.22907438e-02 -3.52599070e-04 9.99751468e-01 -7.80261824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.49, Y:-33.30, Z:-7.80 [[ 9.86620164e-01 1.61552342e-01 2.19429236e-02 2.60493139e+02] [-1.61520880e-01 9.86864073e-01 -3.21036168e-03 -3.33014538e+01] [-2.21733244e-02 -3.76832776e-04 9.99754071e-01 -7.80343566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72587156000003 meters Centerline goodness [0,1] 0.9999574014909478 Centerline is valid? [True, True] Translation: X:260.52, Y:-33.30, Z:-7.81 [[ 9.86552452e-01 1.62044969e-01 2.13468552e-02 2.60521174e+02] [-1.62015329e-01 9.86783302e-01 -3.12224415e-03 -3.32992096e+01] [-2.15706642e-02 -3.78260145e-04 9.99767255e-01 -7.80738618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75587156 meters Centerline goodness [0,1] 0.9999787030135235 Centerline is valid? [True, True] Translation: X:260.55, Y:-33.31, Z:-7.81 [[ 9.86530594e-01 1.62221206e-01 2.10158866e-02 2.60549094e+02] [-1.62192546e-01 9.86754345e-01 -3.07246353e-03 -3.33051618e+01] [-2.12359362e-02 -3.77540893e-04 9.99774421e-01 -7.80710415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78587156000003 meters Centerline goodness [0,1] 0.9999569994194921 Centerline is valid? [True, True] Translation: X:260.58, Y:-33.31, Z:-7.81 [[ 9.86559461e-01 1.62051604e-01 2.09692242e-02 2.60576518e+02] [-1.62023052e-01 9.86782214e-01 -3.06473743e-03 -3.33087678e+01] [-2.11887031e-02 -3.73952008e-04 9.99775424e-01 -7.80766338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81587156 meters Centerline goodness [0,1] 0.9997022670239463 Centerline is valid? [True, True] Translation: X:260.60, Y:-33.31, Z:-7.81 [[ 9.86691681e-01 1.61249548e-01 2.09310811e-02 2.60604686e+02] [-1.61220948e-01 9.86913601e-01 -3.05786358e-03 -3.33076550e+01] [-2.11502478e-02 -3.57360187e-04 9.99776245e-01 -7.80858469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.63, Y:-33.31, Z:-7.81 [[ 9.86827949e-01 1.60392887e-01 2.10884275e-02 2.60632678e+02] [-1.60363690e-01 9.87053192e-01 -3.07940412e-03 -3.33140492e+01] [-2.13093142e-02 -3.42976003e-04 9.99772872e-01 -7.81012374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87587156 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:260.66, Y:-33.32, Z:-7.81 [[ 9.87068140e-01 1.58898221e-01 2.11622725e-02 2.60661770e+02] [-1.58868490e-01 9.87294919e-01 -3.08952001e-03 -3.33176271e+01] [-2.13843233e-02 -3.12451513e-04 9.99771280e-01 -7.81088436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90587156 meters Centerline goodness [0,1] 0.9999569531434966 Centerline is valid? [True, True] Translation: X:260.69, Y:-33.32, Z:-7.81 [[ 9.87163173e-01 1.58256486e-01 2.15349604e-02 2.60690156e+02] [-1.58225597e-01 9.87397990e-01 -3.14157676e-03 -3.33216793e+01] [-2.17607515e-02 -3.06133085e-04 9.99763160e-01 -7.80990218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.72, Y:-33.33, Z:-7.81 [[ 9.87396552e-01 1.56669028e-01 2.24246530e-02 2.60719229e+02] [-1.56635152e-01 9.87651120e-01 -3.27012382e-03 -3.33252093e+01] [-2.26600608e-02 -2.83579957e-04 9.99743188e-01 -7.81078695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.75, Y:-33.33, Z:-7.81 [[ 9.87506441e-01 1.55997000e-01 2.22702772e-02 2.60747895e+02] [-1.55963434e-01 9.87757493e-01 -3.24690042e-03 -3.33292034e+01] [-2.25041399e-02 -2.67013832e-04 9.99746714e-01 -7.81173554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.78, Y:-33.33, Z:-7.81 [[ 9.87603772e-01 1.55344379e-01 2.25147235e-02 2.60775775e+02] [-1.55309927e-01 9.87860344e-01 -3.28151465e-03 -3.33301543e+01] [-2.27511674e-02 -2.55923811e-04 9.99741126e-01 -7.81240186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02587156 meters Centerline goodness [0,1] 0.9999784756451925 Centerline is valid? [True, True] Translation: X:260.80, Y:-33.33, Z:-7.81 [[ 9.87712198e-01 1.54610885e-01 2.28054450e-02 2.60803871e+02] [-1.54575376e-01 9.87975412e-01 -3.32240782e-03 -3.33345119e+01] [-2.30448993e-02 -2.43577505e-04 9.99734401e-01 -7.81246171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05587156 meters Centerline goodness [0,1] 0.999935107073329 Centerline is valid? [True, True] Translation: X:260.83, Y:-33.34, Z:-7.81 [[ 9.88007000e-01 1.52674163e-01 2.30817441e-02 2.60832320e+02] [-1.52637286e-01 9.88276560e-01 -3.36151827e-03 -3.33399498e+01] [-2.33243636e-02 -2.01931190e-04 9.99727930e-01 -7.81248031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08587156 meters Centerline goodness [0,1] 0.9999140542747255 Centerline is valid? [True, True] Translation: X:260.86, Y:-33.35, Z:-7.81 [[ 9.88262538e-01 1.51047690e-01 2.28418788e-02 2.60860308e+02] [-1.51011167e-01 9.88526463e-01 -3.32546673e-03 -3.33452511e+01] [-2.30821057e-02 -1.62944569e-04 9.99733559e-01 -7.81386860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11587156 meters Centerline goodness [0,1] 0.9996312684365781 Centerline is valid? [True, True] Translation: X:260.89, Y:-33.35, Z:-7.81 [[ 9.88868284e-01 1.47059048e-01 2.26528838e-02 2.60887316e+02] [-1.47022103e-01 9.89127712e-01 -3.29693290e-03 -3.33527478e+01] [-2.28914390e-02 -7.02422409e-05 9.99737954e-01 -7.81476448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14587156 meters Centerline goodness [0,1] 0.9995692440232609 Centerline is valid? [True, True] Translation: X:260.92, Y:-33.36, Z:-7.82 [[ 9.89256349e-01 1.44443341e-01 2.25388141e-02 2.60915264e+02] [-1.44406121e-01 9.89513073e-01 -3.27887293e-03 -3.33601439e+01] [-2.27760625e-02 -1.10968514e-05 9.99740592e-01 -7.81744186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17587156 meters Centerline goodness [0,1] 0.9992951730029902 Centerline is valid? [True, True] Translation: X:260.94, Y:-33.37, Z:-7.82 [[ 9.90123743e-01 1.38377102e-01 2.25111313e-02 2.60940905e+02] [-1.38338428e-01 9.90379605e-01 -3.27384269e-03 -3.33740444e+01] [-2.27475902e-02 1.27354867e-04 9.99741232e-01 -7.81889646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20587156 meters Centerline goodness [0,1] 0.9991009696684291 Centerline is valid? [True, True] Translation: X:260.97, Y:-33.38, Z:-7.82 [[ 9.90541478e-01 1.35318437e-01 2.27266529e-02 2.60968698e+02] [-1.35278247e-01 9.90802140e-01 -3.30371386e-03 -3.33832300e+01] [-2.29646697e-02 1.98043840e-04 9.99736258e-01 -7.81955829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23587156 meters Centerline goodness [0,1] 0.9991017579879379 Centerline is valid? [True, True] Translation: X:261.00, Y:-33.40, Z:-7.82 [[ 9.91294187e-01 1.29617226e-01 2.31345880e-02 2.60996135e+02] [-1.29574054e-01 9.91564049e-01 -3.36180531e-03 -3.33966430e+01] [-2.33751736e-02 3.34895703e-04 9.99726707e-01 -7.82036033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26587156 meters Centerline goodness [0,1] 0.9989492419531233 Centerline is valid? [True, True] Translation: X:261.02, Y:-33.41, Z:-7.82 [[ 9.91642685e-01 1.26964189e-01 2.29102819e-02 2.61024607e+02] [-1.26921163e-01 9.91907224e-01 -3.32832513e-03 -3.34060492e+01] [-2.31474522e-02 3.92709637e-04 9.99731985e-01 -7.82200638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29587156 meters Centerline goodness [0,1] 0.9989668754439207 Centerline is valid? [True, True] Translation: X:261.05, Y:-33.42, Z:-7.83 [[ 9.92278327e-01 1.22049085e-01 2.20848949e-02 2.61051996e+02] [-1.22007900e-01 9.92523945e-01 -3.20783112e-03 -3.34223915e+01] [-2.23112998e-02 4.88529654e-04 9.99750953e-01 -7.82506440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32587156 meters Centerline goodness [0,1] 0.9988701769345555 Centerline is valid? [True, True] Translation: X:261.08, Y:-33.43, Z:-7.83 [[ 9.92529895e-01 1.19962358e-01 2.22135313e-02 2.61079735e+02] [-1.19920171e-01 9.92778295e-01 -3.22642241e-03 -3.34307278e+01] [-2.24401609e-02 5.38470222e-04 9.99748043e-01 -7.82589273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35587156 meters Centerline goodness [0,1] 0.9987635107766432 Centerline is valid? [True, True] Translation: X:261.11, Y:-33.44, Z:-7.83 [[ 9.92850916e-01 1.17257235e-01 2.23114095e-02 2.61109492e+02] [-1.17214016e-01 9.93101394e-01 -3.23962546e-03 -3.34386897e+01] [-2.25373614e-02 6.01255204e-04 9.99745821e-01 -7.82555765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38587156 meters Centerline goodness [0,1] 0.9988729952319029 Centerline is valid? [True, True] Translation: X:261.14, Y:-33.45, Z:-7.83 [[ 9.92938734e-01 1.16389030e-01 2.29404576e-02 2.61138841e+02] [-1.16343105e-01 9.93203497e-01 -3.33104514e-03 -3.34457079e+01] [-2.31722398e-02 6.38559682e-04 9.99731284e-01 -7.82516872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41587156 meters Centerline goodness [0,1] 0.9987289413589556 Centerline is valid? [True, True] Translation: X:261.17, Y:-33.46, Z:-7.83 [[ 9.92907387e-01 1.16612860e-01 2.31594661e-02 2.61168095e+02] [-1.16566126e-01 9.93177241e-01 -3.36241127e-03 -3.34582577e+01] [-2.33935551e-02 6.38953747e-04 9.99726129e-01 -7.82524126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44587156 meters Centerline goodness [0,1] 0.9989845522307443 Centerline is valid? [True, True] Translation: X:261.20, Y:-33.46, Z:-7.83 [[ 9.92773167e-01 1.17738747e-01 2.32169463e-02 2.61199601e+02] [-1.17692083e-01 9.93044415e-01 -3.37095106e-03 -3.34596508e+01] [-2.34523504e-02 6.14138986e-04 9.99724767e-01 -7.82615770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47587156000003 meters Centerline goodness [0,1] 0.999009751792134 Centerline is valid? [True, True] Translation: X:261.23, Y:-33.46, Z:-7.83 [[ 9.92397574e-01 1.20986816e-01 2.25664810e-02 2.61229964e+02] [-1.20943553e-01 9.92653976e-01 -3.27719449e-03 -3.34615457e+01] [-2.27972044e-02 5.23009458e-04 9.99739973e-01 -7.82792324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50587156 meters Centerline goodness [0,1] 0.9989856698895028 Centerline is valid? [True, True] Translation: X:261.26, Y:-33.47, Z:-7.83 [[ 9.92123358e-01 1.23300127e-01 2.20979731e-02 2.61259674e+02] [-1.23259216e-01 9.92369320e-01 -3.20915590e-03 -3.34655327e+01] [-2.23250399e-02 4.60099692e-04 9.99750659e-01 -7.82967969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53587156000003 meters Centerline goodness [0,1] 0.9990404708089897 Centerline is valid? [True, True] Translation: X:261.29, Y:-33.47, Z:-7.83 [[ 9.91467069e-01 1.28515954e-01 2.18334942e-02 2.61288303e+02] [-1.28477275e-01 9.91707384e-01 -3.17094382e-03 -3.34702752e+01] [-2.20599543e-02 3.38778530e-04 9.99756592e-01 -7.83176381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56587156 meters Centerline goodness [0,1] 0.999186295503212 Centerline is valid? [True, True] Translation: X:261.32, Y:-33.47, Z:-7.83 [[ 9.91119563e-01 1.31144971e-01 2.19774630e-02 2.61318125e+02] [-1.31106439e-01 9.91363161e-01 -3.19129673e-03 -3.34709644e+01] [-2.22061697e-02 2.81569719e-04 9.99753373e-01 -7.83379112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59587156 meters Centerline goodness [0,1] 0.9992531262003329 Centerline is valid? [True, True] Translation: X:261.35, Y:-33.47, Z:-7.84 [[ 9.90420871e-01 1.36319527e-01 2.19882857e-02 2.61345900e+02] [-1.36282238e-01 9.90664908e-01 -3.19254257e-03 -3.34719331e+01] [-2.22182289e-02 1.65347998e-04 9.99753131e-01 -7.83593850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62587156 meters Centerline goodness [0,1] 0.9992490559560591 Centerline is valid? [True, True] Translation: X:261.38, Y:-33.47, Z:-7.83 [[ 9.90102732e-01 1.38619158e-01 2.19387598e-02 2.61375271e+02] [-1.38582623e-01 9.90345756e-01 -3.18436798e-03 -3.34737549e+01] [-2.21683721e-02 1.12520567e-04 9.99754245e-01 -7.83314996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65587156 meters Centerline goodness [0,1] 0.9995713765242923 Centerline is valid? [True, True] Translation: X:261.40, Y:-33.47, Z:-7.83 [[ 9.89492071e-01 1.42896723e-01 2.20446945e-02 2.61402895e+02] [-1.42860919e-01 9.89737605e-01 -3.19866438e-03 -3.34747259e+01] [-2.22755418e-02 1.57277185e-05 9.99751869e-01 -7.83455811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68587156 meters Centerline goodness [0,1] 0.9997850848914679 Centerline is valid? [True, True] Translation: X:261.43, Y:-33.48, Z:-7.84 [[ 9.89236355e-01 1.44645003e-01 2.21191643e-02 2.61430076e+02] [-1.44609415e-01 9.89483614e-01 -3.20849373e-03 -3.34772514e+01] [-2.23506432e-02 -2.46807739e-05 9.99750193e-01 -7.83832950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71587156 meters Centerline goodness [0,1] 0.9998501038566137 Centerline is valid? [True, True] Translation: X:261.46, Y:-33.48, Z:-7.84 [[ 9.89025713e-01 1.46102488e-01 2.19591111e-02 2.61457812e+02] [-1.46067804e-01 9.89269457e-01 -3.18386842e-03 -3.34796408e+01] [-2.21886490e-02 -5.85914165e-05 9.99753800e-01 -7.84072990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74587156 meters Centerline goodness [0,1] 0.9997639687580465 Centerline is valid? [True, True] Translation: X:261.49, Y:-33.48, Z:-7.84 [[ 9.88670135e-01 1.48418143e-01 2.24370011e-02 2.61486146e+02] [-1.48382554e-01 9.88924690e-01 -3.25206586e-03 -3.34826215e+01] [-2.26711699e-02 -1.14039124e-04 9.99742969e-01 -7.84068114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77587156 meters Centerline goodness [0,1] 0.9998934560719385 Centerline is valid? [True, True] Translation: X:261.51, Y:-33.49, Z:-7.84 [[ 9.88529031e-01 1.49344180e-01 2.25093662e-02 2.61514126e+02] [-1.49308623e-01 9.88785263e-01 -3.26155226e-03 -3.34874686e+01] [-2.27440234e-02 -1.36703384e-04 9.99741312e-01 -7.84032870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80587156 meters Centerline goodness [0,1] 0.9997007843723952 Centerline is valid? [True, True] Translation: X:261.54, Y:-33.49, Z:-7.84 [[ 9.88276952e-01 1.51029176e-01 2.23350578e-02 2.61542649e+02] [-1.50994622e-01 9.88529290e-01 -3.23523185e-03 -3.34918900e+01] [-2.25674732e-02 -1.75168536e-04 9.99745307e-01 -7.83972785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83587156 meters Centerline goodness [0,1] 0.9998484192291035 Centerline is valid? [True, True] Translation: X:261.57, Y:-33.49, Z:-7.84 [[ 9.88087429e-01 1.52223102e-01 2.26132878e-02 2.61570776e+02] [-1.52188018e-01 9.88346136e-01 -3.27451698e-03 -3.34949540e+01] [-2.28482127e-02 -2.05962382e-04 9.99738924e-01 -7.84195138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86587156 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:261.60, Y:-33.50, Z:-7.84 [[ 9.87732139e-01 1.54457211e-01 2.29824111e-02 2.61598173e+02] [-1.54421607e-01 9.87999444e-01 -3.32662999e-03 -3.34960849e+01] [-2.32204314e-02 -2.63161504e-04 9.99730335e-01 -7.84273082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.63, Y:-33.50, Z:-7.84 [[ 9.87581009e-01 1.55378734e-01 2.32637072e-02 2.61626769e+02] [-1.55342553e-01 9.87854931e-01 -3.36547105e-03 -3.34991142e+01] [-2.35040906e-02 -2.90168395e-04 9.99723699e-01 -7.84290953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92587156 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:261.66, Y:-33.50, Z:-7.84 [[ 9.87452434e-01 1.56073446e-01 2.40576252e-02 2.61655914e+02] [-1.56034988e-01 9.87745402e-01 -3.47913638e-03 -3.35026622e+01] [-2.43058095e-02 -3.18349572e-04 9.99704519e-01 -7.84085651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.68, Y:-33.51, Z:-7.84 [[ 9.87441427e-01 1.56112429e-01 2.42556879e-02 2.61683392e+02] [-1.56073373e-01 9.87739239e-01 -3.50673935e-03 -3.35063379e+01] [-2.45057403e-02 -3.22967303e-04 9.99699637e-01 -7.84279137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98587156 meters Centerline goodness [0,1] 0.9999784101213351 Centerline is valid? [True, True] Translation: X:261.71, Y:-33.51, Z:-7.84 [[ 9.87599708e-01 1.55104636e-01 2.42769118e-02 2.61710956e+02] [-1.55065251e-01 9.87898002e-01 -3.50801127e-03 -3.35129665e+01] [-2.45272215e-02 -2.99994514e-04 9.99699117e-01 -7.84385573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.74, Y:-33.52, Z:-7.85 [[ 9.87688086e-01 1.54548946e-01 2.42253781e-02 2.61738389e+02] [-1.54509595e-01 9.87985091e-01 -3.49917147e-03 -3.35180167e+01] [-2.44751057e-02 -2.86963381e-04 9.99700399e-01 -7.84503650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04587156 meters Centerline goodness [0,1] 0.99987002296261 Centerline is valid? [True, True] Translation: X:261.77, Y:-33.52, Z:-7.84 [[ 9.87880180e-01 1.53333180e-01 2.41181840e-02 2.61766860e+02] [-1.53293853e-01 9.88174514e-01 -3.48204919e-03 -3.35248953e+01] [-2.43668884e-02 -2.57321991e-04 9.99703050e-01 -7.84434369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07587156 meters Centerline goodness [0,1] 0.9999350311850311 Centerline is valid? [True, True] Translation: X:261.79, Y:-33.53, Z:-7.85 [[ 9.87946515e-01 1.52941182e-01 2.38888566e-02 2.61794380e+02] [-1.52902511e-01 9.88235263e-01 -3.44787375e-03 -3.35290459e+01] [-2.41351323e-02 -2.46351300e-04 9.99708675e-01 -7.84709101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10587156 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:261.82, Y:-33.53, Z:-7.85 [[ 9.87965615e-01 1.52802655e-01 2.39852670e-02 2.61821798e+02] [-1.52763666e-01 9.88256692e-01 -3.46034027e-03 -3.35331084e+01] [-2.42323498e-02 -2.45380119e-04 9.99706323e-01 -7.84826813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13587156 meters Centerline goodness [0,1] 0.9998935037273695 Centerline is valid? [True, True] Translation: X:261.85, Y:-33.54, Z:-7.85 [[ 9.87929119e-01 1.53058219e-01 2.38587078e-02 2.61850161e+02] [-1.53019750e-01 9.88217141e-01 -3.44061433e-03 -3.35359170e+01] [-2.41041983e-02 -2.51770415e-04 9.99709420e-01 -7.84687647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16587156 meters Centerline goodness [0,1] 0.9996796172494072 Centerline is valid? [True, True] Translation: X:261.88, Y:-33.54, Z:-7.85 [[ 9.87805638e-01 1.53923580e-01 2.33998490e-02 2.61878104e+02] [-1.53886843e-01 9.88082719e-01 -3.37347242e-03 -3.35366325e+01] [-2.36402433e-02 -2.68593807e-04 9.99720494e-01 -7.84767839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.91, Y:-33.54, Z:-7.85 [[ 9.87681475e-01 1.54611236e-01 2.40970756e-02 2.61906747e+02] [-1.54572517e-01 9.87975343e-01 -3.47250934e-03 -3.35400872e+01] [-2.43442055e-02 -2.95012495e-04 9.99703592e-01 -7.84959828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.94, Y:-33.54, Z:-7.85 [[ 9.87480732e-01 1.55835220e-01 2.44374394e-02 2.61935795e+02] [-1.55795802e-01 9.87783010e-01 -3.52041858e-03 -3.35418656e+01] [-2.46874927e-02 -3.30904968e-04 9.99695163e-01 -7.84990842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25587156 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:261.96, Y:-33.54, Z:-7.85 [[ 9.87413575e-01 1.56385411e-01 2.36227728e-02 2.61963993e+02] [-1.56348756e-01 9.87696052e-01 -3.40217864e-03 -3.35428870e+01] [-2.38641705e-02 -3.34033769e-04 9.99715154e-01 -7.85258876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.99, Y:-33.54, Z:-7.85 [[ 9.87118397e-01 1.58174064e-01 2.40465442e-02 2.61993002e+02] [-1.58136657e-01 9.87411169e-01 -3.46135916e-03 -3.35416045e+01] [-2.42913236e-02 -3.85868817e-04 9.99704848e-01 -7.85215202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31587156 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:262.02, Y:-33.54, Z:-7.85 [[ 9.86959738e-01 1.59087177e-01 2.45305210e-02 2.62022076e+02] [-1.59048559e-01 9.87264451e-01 -3.52988826e-03 -3.35418137e+01] [-2.47796713e-02 -4.17686425e-04 9.99692850e-01 -7.85260207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34587156 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:262.05, Y:-33.54, Z:-7.85 [[ 9.86715664e-01 1.60664566e-01 2.40644227e-02 2.62050715e+02] [-1.60627897e-01 9.87008964e-01 -3.46178082e-03 -3.35437999e+01] [-2.43079864e-02 -4.49624233e-04 9.99704416e-01 -7.85269397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37587156 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:262.08, Y:-33.54, Z:-7.85 [[ 9.86669227e-01 1.60974367e-01 2.38974968e-02 2.62079428e+02] [-1.60938321e-01 9.86958482e-01 -3.43668424e-03 -3.35400653e+01] [-2.41390553e-02 -4.55152438e-04 9.99708507e-01 -7.85428428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40587156 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:262.11, Y:-33.54, Z:-7.86 [[ 9.86679612e-01 1.60910671e-01 2.38976953e-02 2.62106649e+02] [-1.60874640e-01 9.86968869e-01 -3.43530353e-03 -3.35438324e+01] [-2.41390583e-02 -4.54989162e-04 9.99708507e-01 -7.85511370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.13, Y:-33.55, Z:-7.86 [[ 9.86691898e-01 1.60844725e-01 2.38342781e-02 2.62134209e+02] [-1.60808903e-01 9.86979619e-01 -3.42463834e-03 -3.35451622e+01] [-2.40747817e-02 -4.53701208e-04 9.99710057e-01 -7.85641334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.16, Y:-33.55, Z:-7.86 [[ 9.86782363e-01 1.60296722e-01 2.37808638e-02 2.62162174e+02] [-1.60260938e-01 9.87068775e-01 -3.41541855e-03 -3.35455440e+01] [-2.40208285e-02 -4.40868752e-04 9.99711361e-01 -7.85839482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.19, Y:-33.55, Z:-7.86 [[ 9.87235436e-01 1.57476646e-01 2.38180719e-02 2.62190623e+02] [-1.57439977e-01 9.87522641e-01 -3.41879772e-03 -3.35528106e+01] [-2.40592660e-02 -3.74758421e-04 9.99710464e-01 -7.85916023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52587156 meters Centerline goodness [0,1] 0.9999784124516978 Centerline is valid? [True, True] Translation: X:262.22, Y:-33.56, Z:-7.86 [[ 9.87547007e-01 1.55470620e-01 2.40789531e-02 2.62218896e+02] [-1.55432600e-01 9.87840461e-01 -3.45407026e-03 -3.35629039e+01] [-2.43231706e-02 -3.31597535e-04 9.99704093e-01 -7.85828477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55587156 meters Centerline goodness [0,1] 0.9999573187648051 Centerline is valid? [True, True] Translation: X:262.25, Y:-33.57, Z:-7.86 [[ 9.88282817e-01 1.50677640e-01 2.43582038e-02 2.62246911e+02] [-1.50637297e-01 9.88582926e-01 -3.49327853e-03 -3.35675720e+01] [-2.46064634e-02 -2.16906839e-04 9.99697192e-01 -7.86054572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58587156 meters Centerline goodness [0,1] 0.999915011154786 Centerline is valid? [True, True] Translation: X:262.27, Y:-33.58, Z:-7.86 [[ 9.88709292e-01 1.47846374e-01 2.44005390e-02 2.62274997e+02] [-1.47805057e-01 9.89010328e-01 -3.49814649e-03 -3.35763149e+01] [-2.46495733e-02 -1.47873129e-04 9.99696142e-01 -7.85986565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61587156 meters Centerline goodness [0,1] 0.9997629463612266 Centerline is valid? [True, True] Translation: X:262.30, Y:-33.59, Z:-7.86 [[ 9.89616219e-01 1.41503717e-01 2.52277160e-02 2.62302230e+02] [-1.41457521e-01 9.89937724e-01 -3.61548465e-03 -3.35876920e+01] [-2.54854723e-02 9.29207254e-06 9.99675193e-01 -7.85956205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64587156 meters Centerline goodness [0,1] 0.9996543529920069 Centerline is valid? [True, True] Translation: X:262.33, Y:-33.60, Z:-7.86 [[ 9.90064194e-01 1.38377933e-01 2.49887872e-02 2.62330383e+02] [-1.38331643e-01 9.90379493e-01 -3.58005701e-03 -3.35953462e+01] [-2.52437833e-02 8.77462721e-05 9.99681321e-01 -7.86002702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67587156 meters Centerline goodness [0,1] 0.9996129531673332 Centerline is valid? [True, True] Translation: X:262.36, Y:-33.61, Z:-7.86 [[ 9.90881948e-01 1.32507582e-01 2.43865780e-02 2.62357075e+02] [-1.32461745e-01 9.91181965e-01 -3.49261473e-03 -3.36066896e+01] [-2.46343343e-02 2.30480202e-04 9.99696502e-01 -7.86190748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70587156 meters Centerline goodness [0,1] 0.999525575778487 Centerline is valid? [True, True] Translation: X:262.39, Y:-33.62, Z:-7.86 [[ 9.91257376e-01 1.29674916e-01 2.43563205e-02 2.62385244e+02] [-1.29628372e-01 9.91556517e-01 -3.48688727e-03 -3.36157901e+01] [-2.46028301e-02 2.99132547e-04 9.99697260e-01 -7.86329241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73587156 meters Centerline goodness [0,1] 0.9995291095890411 Centerline is valid? [True, True] Translation: X:262.41, Y:-33.62, Z:-7.86 [[ 9.91558919e-01 1.27341249e-01 2.43950151e-02 2.62414540e+02] [-1.27293861e-01 9.91858901e-01 -3.49204432e-03 -3.36231910e+01] [-2.46410942e-02 3.57232036e-04 9.99696298e-01 -7.86424051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76587156 meters Centerline goodness [0,1] 0.9993527089131983 Centerline is valid? [True, True] Translation: X:262.44, Y:-33.63, Z:-7.86 [[ 9.92127220e-01 1.22997422e-01 2.35629581e-02 2.62444662e+02] [-1.22951986e-01 9.92406888e-01 -3.37298438e-03 -3.36318516e+01] [-2.37989104e-02 4.49317128e-04 9.99716665e-01 -7.86394198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79587156 meters Centerline goodness [0,1] 0.9994675753380896 Centerline is valid? [True, True] Translation: X:262.47, Y:-33.64, Z:-7.87 [[ 9.92349342e-01 1.21184767e-01 2.36015908e-02 2.62473783e+02] [-1.21138662e-01 9.92629845e-01 -3.37880615e-03 -3.36427688e+01] [-2.38371033e-02 4.93890934e-04 9.99715734e-01 -7.86781933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82587156 meters Centerline goodness [0,1] 0.9993326300833136 Centerline is valid? [True, True] Translation: X:262.51, Y:-33.65, Z:-7.86 [[ 9.92701438e-01 1.18219162e-01 2.38345280e-02 2.62505186e+02] [-1.18171286e-01 9.92987363e-01 -3.41223132e-03 -3.36515025e+01] [-2.40707762e-02 5.70770120e-04 9.99710094e-01 -7.86473654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85587156 meters Centerline goodness [0,1] 0.9993603275123137 Centerline is valid? [True, True] Translation: X:262.54, Y:-33.66, Z:-7.87 [[ 9.92811433e-01 1.17246659e-01 2.40557646e-02 2.62535383e+02] [-1.17197591e-01 9.93102643e-01 -3.44445128e-03 -3.36597399e+01] [-2.42936938e-02 6.00412958e-04 9.99704684e-01 -7.86579909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88587156 meters Centerline goodness [0,1] 0.9994715928305715 Centerline is valid? [True, True] Translation: X:262.57, Y:-33.67, Z:-7.87 [[ 9.92916210e-01 1.16249434e-01 2.45655942e-02 2.62565785e+02] [-1.16197861e-01 9.93219843e-01 -3.52139759e-03 -3.36687212e+01] [-2.48083961e-02 6.41983251e-04 9.99692018e-01 -7.86818189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91587156 meters Centerline goodness [0,1] 0.999548581255374 Centerline is valid? [True, True] Translation: X:262.60, Y:-33.67, Z:-7.87 [[ 9.92928440e-01 1.16156831e-01 2.45092699e-02 2.62598613e+02] [-1.16105379e-01 9.93230675e-01 -3.51684661e-03 -3.36732572e+01] [-2.47518644e-02 6.46318961e-04 9.99693417e-01 -7.86899450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94587156 meters Centerline goodness [0,1] 0.9995152179411517 Centerline is valid? [True, True] Translation: X:262.63, Y:-33.68, Z:-7.87 [[ 9.92857286e-01 1.16785595e-01 2.44035619e-02 2.62628846e+02] [-1.16734656e-01 9.93156949e-01 -3.50652639e-03 -3.36835467e+01] [-2.46460789e-02 6.32738870e-04 9.99696039e-01 -7.87092430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97587156000003 meters Centerline goodness [0,1] 0.9994601831058905 Centerline is valid? [True, True] Translation: X:262.66, Y:-33.68, Z:-7.87 [[ 9.92692087e-01 1.18170161e-01 2.44588082e-02 2.62661830e+02] [-1.18119309e-01 9.92993176e-01 -3.51858525e-03 -3.36848954e+01] [-2.47032214e-02 6.03814221e-04 9.99694647e-01 -7.86844942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00587156 meters Centerline goodness [0,1] 0.9994803282593162 Centerline is valid? [True, True] Translation: X:262.69, Y:-33.69, Z:-7.87 [[ 9.92484356e-01 1.19999864e-01 2.39757190e-02 2.62693343e+02] [-1.19951494e-01 9.92773756e-01 -3.45078114e-03 -3.36896525e+01] [-2.42165579e-02 5.48922983e-04 9.99706585e-01 -7.87096050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03587156000003 meters Centerline goodness [0,1] 0.999612819961282 Centerline is valid? [True, True] Translation: X:262.72, Y:-33.70, Z:-7.88 [[ 9.92357963e-01 1.21152719e-01 2.34028033e-02 2.62723643e+02] [-1.21106860e-01 9.92633747e-01 -3.37230141e-03 -3.36955825e+01] [-2.36389758e-02 5.12290151e-04 9.99720429e-01 -7.87514519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06587156 meters Centerline goodness [0,1] 0.9995944330601093 Centerline is valid? [True, True] Translation: X:262.75, Y:-33.70, Z:-7.88 [[ 9.92210720e-01 1.22470830e-01 2.27768158e-02 2.62754118e+02] [-1.22427635e-01 9.92472001e-01 -3.28654387e-03 -3.37003886e+01] [-2.30078577e-02 4.72432359e-04 9.99735173e-01 -7.87690669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09587156 meters Centerline goodness [0,1] 0.9996342040710935 Centerline is valid? [True, True] Translation: X:262.78, Y:-33.71, Z:-7.88 [[ 9.91936095e-01 1.24786564e-01 2.21606847e-02 2.62784965e+02] [-1.24746246e-01 9.92183525e-01 -3.19795605e-03 -3.37060134e+01] [-2.23865282e-02 4.07705802e-04 9.99749307e-01 -7.87947813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12587156 meters Centerline goodness [0,1] 0.9997209701652715 Centerline is valid? [True, True] Translation: X:262.82, Y:-33.71, Z:-7.88 [[ 9.91684532e-01 1.26819473e-01 2.18771709e-02 2.62815668e+02] [-1.26780648e-01 9.91925750e-01 -3.15827234e-03 -3.37122897e+01] [-2.21010595e-02 3.58407940e-04 9.99755678e-01 -7.88104004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15587156 meters Centerline goodness [0,1] 0.9996140072480861 Centerline is valid? [True, True] Translation: X:262.85, Y:-33.72, Z:-7.88 [[ 9.91604349e-01 1.27425140e-01 2.19920239e-02 2.62846771e+02] [-1.27386042e-01 9.91848130e-01 -3.17538545e-03 -3.37179703e+01] [-2.22173717e-02 3.47249140e-04 9.99753103e-01 -7.87937129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18587156 meters Centerline goodness [0,1] 0.9996559805629018 Centerline is valid? [True, True] Translation: X:262.88, Y:-33.72, Z:-7.88 [[ 9.91495043e-01 1.28182922e-01 2.25103803e-02 2.62877738e+02] [-1.28142142e-01 9.91750485e-01 -3.25078594e-03 -3.37228068e+01] [-2.27413758e-02 3.38609797e-04 9.99741324e-01 -7.88171966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21587156 meters Centerline goodness [0,1] 0.9996349894791086 Centerline is valid? [True, True] Translation: X:262.91, Y:-33.73, Z:-7.88 [[ 9.91366890e-01 1.29117981e-01 2.28086790e-02 2.62908331e+02] [-1.29076347e-01 9.91629186e-01 -3.29443083e-03 -3.37304591e+01] [-2.30431220e-02 3.21928676e-04 9.99734420e-01 -7.88265008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24587156 meters Centerline goodness [0,1] 0.9996807627641688 Centerline is valid? [True, True] Translation: X:262.94, Y:-33.74, Z:-7.88 [[ 9.91297760e-01 1.29691379e-01 2.25587434e-02 2.62937727e+02] [-1.29650787e-01 9.91554362e-01 -3.25896588e-03 -3.37382024e+01] [-2.27908802e-02 3.05846739e-04 9.99740207e-01 -7.88449619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27587156 meters Centerline goodness [0,1] 0.9997645195127695 Centerline is valid? [True, True] Translation: X:262.97, Y:-33.75, Z:-7.88 [[ 9.91180208e-01 1.30556657e-01 2.27322433e-02 2.62967876e+02] [-1.30515661e-01 9.91440808e-01 -3.28422717e-03 -3.37458304e+01] [-2.29664514e-02 2.88347212e-04 9.99736195e-01 -7.88485505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30587156 meters Centerline goodness [0,1] 0.999761693277584 Centerline is valid? [True, True] Translation: X:263.00, Y:-33.75, Z:-7.89 [[ 9.91113613e-01 1.31068074e-01 2.26928523e-02 2.62998532e+02] [-1.31027341e-01 9.91373332e-01 -3.27906984e-03 -3.37508026e+01] [-2.29268700e-02 2.76546657e-04 9.99737107e-01 -7.88528202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33587156 meters Centerline goodness [0,1] 0.9997661117135507 Centerline is valid? [True, True] Translation: X:263.03, Y:-33.76, Z:-7.89 [[ 9.90940321e-01 1.32476130e-01 2.20761174e-02 2.63028545e+02] [-1.32437943e-01 9.91186168e-01 -3.18943197e-03 -3.37596815e+01] [-2.23040658e-02 2.36821164e-04 9.99751205e-01 -7.88787253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36587156 meters Centerline goodness [0,1] 0.9998066968792285 Centerline is valid? [True, True] Translation: X:263.06, Y:-33.77, Z:-7.89 [[ 9.90867019e-01 1.33011135e-01 2.21492530e-02 2.63059517e+02] [-1.32972726e-01 9.91114517e-01 -3.20458179e-03 -3.37655468e+01] [-2.23786913e-02 2.30067861e-04 9.99749539e-01 -7.88870858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39587156 meters Centerline goodness [0,1] 0.9997640700068634 Centerline is valid? [True, True] Translation: X:263.09, Y:-33.77, Z:-7.89 [[ 9.90683726e-01 1.34386041e-01 2.20487334e-02 2.63090222e+02] [-1.34348307e-01 9.90929035e-01 -3.19056308e-03 -3.37711051e+01] [-2.22774973e-02 1.98628906e-04 9.99751806e-01 -7.88993074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42587156 meters Centerline goodness [0,1] 0.9997846127336952 Centerline is valid? [True, True] Translation: X:263.12, Y:-33.78, Z:-7.89 [[ 9.90567129e-01 1.35167313e-01 2.25069077e-02 2.63120922e+02] [-1.35128206e-01 9.90822771e-01 -3.25645764e-03 -3.37772543e+01] [-2.27405233e-02 1.84421846e-04 9.99741384e-01 -7.88920436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45587156 meters Centerline goodness [0,1] 0.9998499335419971 Centerline is valid? [True, True] Translation: X:263.15, Y:-33.78, Z:-7.89 [[ 9.90493051e-01 1.35670475e-01 2.27384678e-02 2.63151586e+02] [-1.35630588e-01 9.90754001e-01 -3.29444742e-03 -3.37832410e+01] [-2.29751872e-02 1.79095518e-04 9.99736020e-01 -7.89112132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48587156 meters Centerline goodness [0,1] 0.9997416743805567 Centerline is valid? [True, True] Translation: X:263.18, Y:-33.79, Z:-7.89 [[ 9.90328765e-01 1.36824023e-01 2.29809378e-02 2.63182830e+02] [-1.36783601e-01 9.90595358e-01 -3.32914942e-03 -3.37905247e+01] [-2.32203179e-02 1.53537012e-04 9.99730360e-01 -7.88934813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51587156 meters Centerline goodness [0,1] 0.9998490761303119 Centerline is valid? [True, True] Translation: X:263.21, Y:-33.80, Z:-7.89 [[ 9.90164513e-01 1.38028455e-01 2.28556877e-02 2.63214738e+02] [-1.37988708e-01 9.90428255e-01 -3.31473071e-03 -3.37963104e+01] [-2.30944461e-02 1.28301899e-04 9.99733279e-01 -7.89202404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54587156 meters Centerline goodness [0,1] 0.9998705892502804 Centerline is valid? [True, True] Translation: X:263.25, Y:-33.80, Z:-7.89 [[ 9.90077257e-01 1.38686453e-01 2.26515780e-02 2.63246909e+02] [-1.38647496e-01 9.90336334e-01 -3.28896971e-03 -3.38017995e+01] [-2.28888162e-02 1.15749538e-04 9.99738010e-01 -7.89326552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57587156 meters Centerline goodness [0,1] 0.9998068379370292 Centerline is valid? [True, True] Translation: X:263.28, Y:-33.81, Z:-7.90 [[ 9.89965000e-01 1.39473981e-01 2.27224144e-02 2.63277420e+02] [-1.39434895e-01 9.90225731e-01 -3.30330388e-03 -3.38069689e+01] [-2.29610444e-02 1.01857768e-04 9.99736355e-01 -7.89521986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60587156 meters Centerline goodness [0,1] 0.9998940273833241 Centerline is valid? [True, True] Translation: X:263.31, Y:-33.81, Z:-7.90 [[ 9.89750006e-01 1.40995743e-01 2.26964026e-02 2.63307520e+02] [-1.40957040e-01 9.90010200e-01 -3.30414530e-03 -3.38112339e+01] [-2.29355405e-02 7.10600834e-05 9.99736943e-01 -7.89698584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63587156 meters Centerline goodness [0,1] 0.9999139025807702 Centerline is valid? [True, True] Translation: X:263.34, Y:-33.82, Z:-7.90 [[ 9.89545324e-01 1.42425469e-01 2.26944627e-02 2.63338727e+02] [-1.42387136e-01 9.89805529e-01 -3.30440123e-03 -3.38167008e+01] [-2.29337356e-02 3.84552307e-05 9.99736987e-01 -7.89635726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66587156 meters Centerline goodness [0,1] 0.9999349579394675 Centerline is valid? [True, True] Translation: X:263.37, Y:-33.82, Z:-7.90 [[ 9.89393211e-01 1.43460163e-01 2.28090978e-02 2.63370095e+02] [-1.43421729e-01 9.89656092e-01 -3.32058837e-03 -3.38215572e+01] [-2.30495348e-02 1.40473398e-05 9.99734324e-01 -7.89766697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69587156 meters Centerline goodness [0,1] 0.9997416076311879 Centerline is valid? [True, True] Translation: X:263.40, Y:-33.83, Z:-7.90 [[ 9.89321741e-01 1.43984488e-01 2.26044312e-02 2.63400979e+02] [-1.43946764e-01 9.89579945e-01 -3.29572420e-03 -3.38267124e+01] [-2.28434249e-02 6.69688103e-06 9.99739055e-01 -7.89645343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72587156000003 meters Centerline goodness [0,1] 0.9998930732875687 Centerline is valid? [True, True] Translation: X:263.43, Y:-33.83, Z:-7.90 [[ 9.89187563e-01 1.44863391e-01 2.28596392e-02 2.63431791e+02] [-1.44825044e-01 9.89451665e-01 -3.33300342e-03 -3.38325559e+01] [-2.31013383e-02 -1.36827224e-05 9.99733128e-01 -7.90012754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75587156 meters Centerline goodness [0,1] 0.9998506124887959 Centerline is valid? [True, True] Translation: X:263.46, Y:-33.84, Z:-7.90 [[ 9.89153682e-01 1.45050080e-01 2.31401769e-02 2.63462722e+02] [-1.45010793e-01 9.89424314e-01 -3.37577059e-03 -3.38383863e+01] [-2.33851095e-02 -1.64194957e-05 9.99726531e-01 -7.90175283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78587156000003 meters Centerline goodness [0,1] 0.9998934061014347 Centerline is valid? [True, True] Translation: X:263.49, Y:-33.85, Z:-7.90 [[ 9.89222324e-01 1.44512711e-01 2.35641928e-02 2.63493454e+02] [-1.44471707e-01 9.89502944e-01 -3.44228366e-03 -3.38466720e+01] [-2.38142919e-02 8.24678770e-07 9.99716400e-01 -7.90220983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81587156 meters Centerline goodness [0,1] 0.9999141336081058 Centerline is valid? [True, True] Translation: X:263.52, Y:-33.85, Z:-7.90 [[ 9.89233735e-01 1.44483901e-01 2.32598449e-02 2.63524984e+02] [-1.44443953e-01 9.89507151e-01 -3.39736070e-03 -3.38531071e+01] [-2.35066468e-02 1.03987111e-06 9.99723681e-01 -7.90222822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84587156 meters Centerline goodness [0,1] 0.9998703907718229 Centerline is valid? [True, True] Translation: X:263.56, Y:-33.86, Z:-7.90 [[ 9.89343528e-01 1.43859364e-01 2.24469851e-02 2.63555957e+02] [-1.43821917e-01 9.89598142e-01 -3.28222576e-03 -3.38622845e+01] [-2.26856737e-02 1.88803816e-05 9.99742647e-01 -7.90349470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87587156 meters Centerline goodness [0,1] 0.9999139285176339 Centerline is valid? [True, True] Translation: X:263.59, Y:-33.87, Z:-7.91 [[ 9.89380173e-01 1.43612404e-01 2.24131916e-02 2.63587171e+02] [-1.43574912e-01 9.89634011e-01 -3.28146538e-03 -3.38693330e+01] [-2.26521158e-02 2.86447847e-05 9.99743407e-01 -7.90614494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90587156 meters Centerline goodness [0,1] 0.9999786338482576 Centerline is valid? [True, True] Translation: X:263.62, Y:-33.88, Z:-7.91 [[ 9.89393296e-01 1.43524252e-01 2.23985547e-02 2.63619033e+02] [-1.43486700e-01 9.89646800e-01 -3.28313081e-03 -3.38756728e+01] [-2.26378669e-02 3.44129002e-05 9.99743730e-01 -7.90769832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93587156 meters Centerline goodness [0,1] 0.999935805533563 Centerline is valid? [True, True] Translation: X:263.65, Y:-33.88, Z:-7.91 [[ 9.89418782e-01 1.43460875e-01 2.16668316e-02 2.63650713e+02] [-1.43425647e-01 9.89655989e-01 -3.17927985e-03 -3.38825928e+01] [-2.18988119e-02 3.80598438e-05 9.99760192e-01 -7.91001450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96587156 meters Centerline goodness [0,1] 0.9998721636305529 Centerline is valid? [True, True] Translation: X:263.68, Y:-33.89, Z:-7.91 [[ 9.89305952e-01 1.44190031e-01 2.19765325e-02 2.63681631e+02] [-1.44153878e-01 9.89550016e-01 -3.22879327e-03 -3.38895319e+01] [-2.22124379e-02 2.62620060e-05 9.99753273e-01 -7.91063614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99587156 meters Centerline goodness [0,1] 0.9998915330715665 Centerline is valid? [True, True] Translation: X:263.71, Y:-33.89, Z:-7.91 [[ 9.89206313e-01 1.44877782e-01 2.19385012e-02 2.63714325e+02] [-1.44841841e-01 9.89449558e-01 -3.22695105e-03 -3.38948342e+01] [-2.21745538e-02 1.45074579e-05 9.99754114e-01 -7.90980240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02587156 meters Centerline goodness [0,1] 0.9999136758961521 Centerline is valid? [True, True] Translation: X:263.75, Y:-33.90, Z:-7.91 [[ 9.89046899e-01 1.45926894e-01 2.21714467e-02 2.63745915e+02] [-1.45890345e-01 9.89295376e-01 -3.26585222e-03 -3.38995071e+01] [-2.24106854e-02 -4.51899022e-06 9.99748849e-01 -7.91034821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05587156 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:263.78, Y:-33.90, Z:-7.91 [[ 9.88666910e-01 1.48392356e-01 2.27475151e-02 2.63778603e+02] [-1.48354435e-01 9.88928564e-01 -3.35504302e-03 -3.39032236e+01] [-2.29935302e-02 -5.76747390e-05 9.99735612e-01 -7.91020495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08587156 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:263.81, Y:-33.91, Z:-7.91 [[ 9.88403455e-01 1.50083460e-01 2.30990094e-02 2.63810538e+02] [-1.50044705e-01 9.88673326e-01 -3.41178175e-03 -3.39055702e+01] [-2.33494264e-02 -9.36671813e-05 9.99727361e-01 -7.91151465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11587156 meters Centerline goodness [0,1] 0.9999785057174791 Centerline is valid? [True, True] Translation: X:263.84, Y:-33.91, Z:-7.91 [[ 9.87987138e-01 1.52701929e-01 2.37389225e-02 2.63842121e+02] [-1.52661615e-01 9.88272279e-01 -3.51200524e-03 -3.39061893e+01] [-2.39968090e-02 -1.54206229e-04 9.99712023e-01 -7.91209308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.87, Y:-33.91, Z:-7.91 [[ 9.87851437e-01 1.53630160e-01 2.33946984e-02 2.63871820e+02] [-1.53591251e-01 9.88128404e-01 -3.46176917e-03 -3.39090737e+01] [-2.36487982e-02 -1.73507346e-04 9.99720313e-01 -7.91373703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.90, Y:-33.92, Z:-7.92 [[ 9.87852587e-01 1.53789084e-01 2.22751682e-02 2.63902212e+02] [-1.53753855e-01 9.88103683e-01 -3.29592513e-03 -3.39155380e+01] [-2.25170531e-02 -1.69004821e-04 9.99746445e-01 -7.91681616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.93, Y:-33.92, Z:-7.92 [[ 9.87975719e-01 1.53069798e-01 2.17627255e-02 2.63932395e+02] [-1.53035991e-01 9.88215369e-01 -3.22035214e-03 -3.39204454e+01] [-2.19991985e-02 -1.48850547e-04 9.99757977e-01 -7.91978944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.96, Y:-33.93, Z:-7.92 [[ 9.88375796e-01 1.50495657e-01 2.15486389e-02 2.63961889e+02] [-1.50461865e-01 9.88610666e-01 -3.19026503e-03 -3.39285391e+01] [-2.17833353e-02 -8.90676550e-05 9.99762711e-01 -7.92141832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.99, Y:-33.94, Z:-7.92 [[ 9.88581721e-01 1.49144857e-01 2.14939961e-02 2.63992761e+02] [-1.49110914e-01 9.88815356e-01 -3.18232588e-03 -3.39355954e+01] [-2.17282209e-02 -5.90002043e-05 9.99763913e-01 -7.92247958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.02, Y:-33.95, Z:-7.92 [[ 9.89037562e-01 1.46059535e-01 2.17097640e-02 2.64022677e+02] [-1.46024174e-01 9.89275802e-01 -3.21375707e-03 -3.39469010e+01] [-2.19463440e-02 8.37609296e-06 9.99759150e-01 -7.92325043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.05, Y:-33.95, Z:-7.92 [[ 9.89014900e-01 1.46212970e-01 2.17093087e-02 2.64053977e+02] [-1.46177579e-01 9.89253136e-01 -3.21682881e-03 -3.39517011e+01] [-2.19463438e-02 8.07742932e-06 9.99759150e-01 -7.92420604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.09, Y:-33.96, Z:-7.92 [[ 9.89216833e-01 1.44788135e-01 2.20557034e-02 2.64086380e+02] [-1.44751178e-01 9.89462680e-01 -3.27142781e-03 -3.39593995e+01] [-2.22969593e-02 4.35624081e-05 9.99751391e-01 -7.92274435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38587156 meters Centerline goodness [0,1] 0.9999570695687638 Centerline is valid? [True, True] Translation: X:264.12, Y:-33.97, Z:-7.92 [[ 9.89498571e-01 1.42733863e-01 2.27952307e-02 2.64117638e+02] [-1.42693721e-01 9.89761100e-01 -3.38633346e-03 -3.39694323e+01] [-2.30451770e-02 9.80358381e-05 9.99734420e-01 -7.92449381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41587156 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:264.15, Y:-33.98, Z:-7.93 [[ 9.89602226e-01 1.42005929e-01 2.28418359e-02 2.64149364e+02] [-1.41965371e-01 9.89865800e-01 -3.39575056e-03 -3.39764399e+01] [-2.30925689e-02 1.17692594e-04 9.99733324e-01 -7.92512657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44587156 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:264.18, Y:-33.98, Z:-7.93 [[ 9.89712822e-01 1.41192233e-01 2.30929446e-02 2.64181921e+02] [-1.41150466e-01 9.89982188e-01 -3.43698345e-03 -3.39834763e+01] [-2.33468792e-02 1.42046697e-04 9.99727414e-01 -7.92589707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47587156000003 meters Centerline goodness [0,1] 0.9999574096552312 Centerline is valid? [True, True] Translation: X:264.21, Y:-33.99, Z:-7.93 [[ 9.89927602e-01 1.39694055e-01 2.29981231e-02 2.64212144e+02] [-1.39652126e-01 9.90194697e-01 -3.42715672e-03 -3.39910988e+01] [-2.32513730e-02 1.80900237e-04 9.99729634e-01 -7.92668053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.24, Y:-34.00, Z:-7.93 [[ 9.90008683e-01 1.39111033e-01 2.30418822e-02 2.64243091e+02] [-1.39068712e-01 9.90276770e-01 -3.43686031e-03 -3.39978069e+01] [-2.32959458e-02 1.98116675e-04 9.99728593e-01 -7.92725040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53587156000003 meters Centerline goodness [0,1] 0.9999784519910361 Centerline is valid? [True, True] Translation: X:264.27, Y:-34.01, Z:-7.93 [[ 9.90210952e-01 1.37587210e-01 2.34953327e-02 2.64273969e+02] [-1.37542682e-01 9.90489627e-01 -3.50853423e-03 -3.40079982e+01] [-2.37546127e-02 2.42577949e-04 9.99717790e-01 -7.92704125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.31, Y:-34.01, Z:-7.93 [[ 9.90334114e-01 1.36742227e-01 2.32358891e-02 2.64305931e+02] [-1.36698364e-01 9.90606629e-01 -3.47318865e-03 -3.40131213e+01] [-2.34925573e-02 2.63309167e-04 9.99723977e-01 -7.92686667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.34, Y:-34.03, Z:-7.93 [[ 9.90590033e-01 1.35035581e-01 2.22885339e-02 2.64335607e+02] [-1.34994709e-01 9.90840706e-01 -3.33523263e-03 -3.40269447e+01] [-2.25347617e-02 2.95014057e-04 9.99746016e-01 -7.93138782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62587156 meters Centerline goodness [0,1] 0.9999144531417083 Centerline is valid? [True, True] Translation: X:264.37, Y:-34.03, Z:-7.93 [[ 9.90665698e-01 1.34449423e-01 2.24683663e-02 2.64367009e+02] [-1.34407657e-01 9.90920407e-01 -3.36570798e-03 -3.40344649e+01] [-2.27168802e-02 3.14370978e-04 9.99741889e-01 -7.93191199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65587156 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:264.40, Y:-34.04, Z:-7.93 [[ 9.90868130e-01 1.32872846e-01 2.29162986e-02 2.64398616e+02] [-1.32828896e-01 9.91133027e-01 -3.43626459e-03 -3.40405205e+01] [-2.31696867e-02 3.60938429e-04 9.99731482e-01 -7.93056885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68587156 meters Centerline goodness [0,1] 0.9999571008772871 Centerline is valid? [True, True] Translation: X:264.43, Y:-34.05, Z:-7.93 [[ 9.90930439e-01 1.32425761e-01 2.28097160e-02 2.64430220e+02] [-1.32382014e-01 9.91192856e-01 -3.42403992e-03 -3.40478697e+01] [-2.30622586e-02 3.73389247e-04 9.99733961e-01 -7.93149416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71587156 meters Centerline goodness [0,1] 0.9996326389489152 Centerline is valid? [True, True] Translation: X:264.46, Y:-34.06, Z:-7.93 [[ 9.90950344e-01 1.32307711e-01 2.26292880e-02 2.64462706e+02] [-1.32264542e-01 9.91208620e-01 -3.40046747e-03 -3.40566383e+01] [-2.28802534e-02 3.76641993e-04 9.99738142e-01 -7.93134022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.49, Y:-34.06, Z:-7.93 [[ 9.90833314e-01 1.33142091e-01 2.28588534e-02 2.64493473e+02] [-1.33098157e-01 9.91096892e-01 -3.43956115e-03 -3.40621198e+01] [-2.31132889e-02 3.65560510e-04 9.99732785e-01 -7.93304587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77587156 meters Centerline goodness [0,1] 0.999957138571 Centerline is valid? [True, True] Translation: X:264.53, Y:-34.07, Z:-7.93 [[ 9.90654806e-01 1.34385634e-01 2.33142947e-02 2.64525682e+02] [-1.34340192e-01 9.90929050e-01 -3.51163828e-03 -3.40663801e+01] [-2.35747257e-02 3.46774501e-04 9.99722017e-01 -7.93290499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80587156 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:264.56, Y:-34.07, Z:-7.93 [[ 9.90237411e-01 1.37451712e-01 2.31710275e-02 2.64557193e+02] [-1.37407577e-01 9.90508430e-01 -3.49386751e-03 -3.40679339e+01] [-2.34313362e-02 2.75883571e-04 9.99725410e-01 -7.93442194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.59, Y:-34.07, Z:-7.94 [[ 9.89811360e-01 1.40602801e-01 2.24571436e-02 2.64588505e+02] [-1.40562081e-01 9.90066065e-01 -3.38946974e-03 -3.40698568e+01] [-2.27106247e-02 1.98312831e-04 9.99742061e-01 -7.93920979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.62, Y:-34.07, Z:-7.94 [[ 9.89663742e-01 1.41726570e-01 2.18919533e-02 2.64621686e+02] [-1.41688085e-01 9.89905829e-01 -3.30702378e-03 -3.40713631e+01] [-2.21396653e-02 1.71012597e-04 9.99754873e-01 -7.93880188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89587156 meters Centerline goodness [0,1] 0.9999785683669096 Centerline is valid? [True, True] Translation: X:264.65, Y:-34.08, Z:-7.94 [[ 9.89563890e-01 1.42438697e-01 2.17835765e-02 2.64653415e+02] [-1.42400665e-01 9.89803613e-01 -3.29518455e-03 -3.40762348e+01] [-2.20308245e-02 1.58799857e-04 9.99757279e-01 -7.94079706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92587156 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:264.69, Y:-34.08, Z:-7.94 [[ 9.89524999e-01 1.42802134e-01 2.11619007e-02 2.64686136e+02] [-1.42766288e-01 9.89751246e-01 -3.20289881e-03 -3.40827602e+01] [-2.14023984e-02 1.48142440e-04 9.99770931e-01 -7.94313848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95587156 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:264.72, Y:-34.09, Z:-7.94 [[ 9.89599805e-01 1.42254762e-01 2.13496876e-02 2.64718692e+02] [-1.42218064e-01 9.89830064e-01 -3.23525282e-03 -3.40900559e+01] [-2.15927928e-02 1.65294310e-04 9.99766835e-01 -7.94364806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98587156 meters Centerline goodness [0,1] 0.9998280900807976 Centerline is valid? [True, True] Translation: X:264.75, Y:-34.10, Z:-7.94 [[ 9.89663041e-01 1.41798802e-01 2.14514615e-02 2.64751347e+02] [-1.41761561e-01 9.89895483e-01 -3.25458975e-03 -3.40962015e+01] [-2.16962018e-02 1.79954518e-04 9.99764594e-01 -7.94286020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01587156 meters Centerline goodness [0,1] 0.9999787184234608 Centerline is valid? [True, True] Translation: X:264.78, Y:-34.10, Z:-7.95 [[ 9.89680450e-01 1.41619090e-01 2.18320850e-02 2.64783852e+02] [-1.41580382e-01 9.89921207e-01 -3.31642458e-03 -3.41024740e+01] [-2.20817129e-02 1.91205645e-04 9.99756151e-01 -7.94508636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04587156 meters Centerline goodness [0,1] 0.9999574114690913 Centerline is valid? [True, True] Translation: X:264.81, Y:-34.11, Z:-7.95 [[ 9.89837098e-01 1.40545802e-01 2.16655914e-02 2.64813928e+02] [-1.40507334e-01 9.90074154e-01 -3.29530174e-03 -3.41120648e+01] [-2.19136829e-02 2.17637426e-04 9.99759843e-01 -7.94667018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07587156 meters Centerline goodness [0,1] 0.9999783629400437 Centerline is valid? [True, True] Translation: X:264.85, Y:-34.12, Z:-7.95 [[ 9.89968291e-01 1.39595616e-01 2.18139295e-02 2.64845126e+02] [-1.39556319e-01 9.90208566e-01 -3.32100449e-03 -3.41207574e+01] [-2.20639375e-02 2.43417436e-04 9.99756532e-01 -7.94696145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.88, Y:-34.13, Z:-7.94 [[ 9.90231223e-01 1.37636129e-01 2.23253445e-02 2.64876753e+02] [-1.37594391e-01 9.90482815e-01 -3.40232778e-03 -3.41283300e+01] [-2.25811533e-02 2.97249028e-04 9.99744969e-01 -7.94422680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13587156 meters Centerline goodness [0,1] 0.9999782821153219 Centerline is valid? [True, True] Translation: X:264.91, Y:-34.14, Z:-7.95 [[ 9.90337163e-01 1.36933416e-01 2.19440699e-02 2.64906610e+02] [-1.36892833e-01 9.90580205e-01 -3.34810506e-03 -3.41409014e+01] [-2.21958287e-02 3.11766969e-04 9.99753594e-01 -7.94877882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16587156 meters Centerline goodness [0,1] 0.9999786206011887 Centerline is valid? [True, True] Translation: X:264.94, Y:-34.15, Z:-7.95 [[ 9.90495406e-01 1.35935029e-01 2.09885433e-02 2.64937132e+02] [-1.35897611e-01 9.90717701e-01 -3.20559695e-03 -3.41511052e+01] [-2.12294742e-02 3.22836172e-04 9.99774577e-01 -7.95153047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19587156 meters Centerline goodness [0,1] 0.9997634408602151 Centerline is valid? [True, True] Translation: X:264.97, Y:-34.16, Z:-7.95 [[ 9.90549651e-01 1.35548975e-01 2.09252090e-02 2.64968492e+02] [-1.35511628e-01 9.90770591e-01 -3.19913068e-03 -3.41586798e+01] [-2.11657206e-02 3.33288641e-04 9.99775925e-01 -7.95089896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22587156000003 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:265.00, Y:-34.17, Z:-7.95 [[ 9.90354639e-01 1.36770843e-01 2.21681230e-02 2.64999402e+02] [-1.36729150e-01 9.90602659e-01 -3.39282585e-03 -3.41658943e+01] [-2.24238413e-02 3.29072201e-04 9.99748500e-01 -7.95089394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25587156 meters Centerline goodness [0,1] 0.9998491736872724 Centerline is valid? [True, True] Translation: X:265.03, Y:-34.17, Z:-7.95 [[ 9.90257761e-01 1.37375559e-01 2.27491271e-02 2.65031628e+02] [-1.37331713e-01 9.90518979e-01 -3.48603498e-03 -3.41715443e+01] [-2.30123381e-02 3.27896607e-04 9.99735127e-01 -7.94881251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.06, Y:-34.18, Z:-7.95 [[ 9.90058821e-01 1.38769246e-01 2.29483587e-02 2.65063939e+02] [-1.38724973e-01 9.90324698e-01 -3.51781476e-03 -3.41761352e+01] [-2.32144909e-02 2.99333085e-04 9.99730463e-01 -7.95043536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.10, Y:-34.18, Z:-7.95 [[ 9.89621824e-01 1.41829975e-01 2.30847135e-02 2.65095486e+02] [-1.41785993e-01 9.89891007e-01 -3.53932175e-03 -3.41786371e+01] [-2.33533322e-02 2.29501026e-04 9.99727247e-01 -7.95144245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34587156 meters Centerline goodness [0,1] 0.9999784793509372 Centerline is valid? [True, True] Translation: X:265.13, Y:-34.18, Z:-7.95 [[ 9.89377004e-01 1.43519380e-01 2.31372422e-02 2.65126900e+02] [-1.43475577e-01 9.89647488e-01 -3.55088957e-03 -3.41820572e+01] [-2.34073351e-02 1.93539322e-04 9.99725992e-01 -7.95274256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.16, Y:-34.18, Z:-7.95 [[ 9.88897036e-01 1.46882892e-01 2.25403866e-02 2.65159397e+02] [-1.46842122e-01 9.89153882e-01 -3.46240942e-03 -3.41818093e+01] [-2.28044796e-02 1.14088221e-04 9.99739938e-01 -7.95220489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.19, Y:-34.19, Z:-7.96 [[ 9.88606111e-01 1.48897409e-01 2.20798139e-02 2.65191071e+02] [-1.48858711e-01 9.88852647e-01 -3.39521802e-03 -3.41862983e+01] [-2.23392216e-02 6.97606610e-05 9.99750446e-01 -7.95668372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.22, Y:-34.18, Z:-7.96 [[ 9.87915775e-01 1.53496791e-01 2.14745476e-02 2.65224980e+02] [-1.53461188e-01 9.88149146e-01 -3.30596315e-03 -3.41845194e+01] [-2.17275106e-02 -2.94964457e-05 9.99763929e-01 -7.95917422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46587156 meters Centerline goodness [0,1] 0.9997848583292098 Centerline is valid? [True, True] Translation: X:265.26, Y:-34.19, Z:-7.96 [[ 9.87579006e-01 1.55706886e-01 2.10493014e-02 2.65257209e+02] [-1.55673103e-01 9.87803300e-01 -3.24418390e-03 -3.41854098e+01] [-2.12977112e-02 -7.29221529e-05 9.99773175e-01 -7.95938751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.29, Y:-34.18, Z:-7.96 [[ 9.86742842e-01 1.60973663e-01 2.06408257e-02 2.65289635e+02] [-1.60942265e-01 9.86958686e-01 -3.18432418e-03 -3.41818515e+01] [-2.08842345e-02 -1.79872134e-04 9.99781884e-01 -7.96254593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.32, Y:-34.18, Z:-7.96 [[ 9.86403016e-01 1.63068952e-01 2.04354553e-02 2.65320950e+02] [-1.63038544e-01 9.86614651e-01 -3.15653571e-03 -3.41816825e+01] [-2.06766525e-02 -2.18150538e-04 9.99786191e-01 -7.96436965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.35, Y:-34.18, Z:-7.96 [[ 9.85808531e-01 1.66702182e-01 1.97970245e-02 2.65353558e+02] [-1.66674374e-01 9.86007252e-01 -3.05806646e-03 -3.41837581e+01] [-2.00297961e-02 -2.84988663e-04 9.99799343e-01 -7.96296618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58587156 meters Centerline goodness [0,1] 0.9999358946963546 Centerline is valid? [True, True] Translation: X:265.39, Y:-34.19, Z:-7.96 [[ 9.85563045e-01 1.68142295e-01 1.98407134e-02 2.65385379e+02] [-1.68114660e-01 9.85762684e-01 -3.06458503e-03 -3.41861801e+01] [-2.00735213e-02 -3.15173047e-04 9.99798457e-01 -7.96455095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61587156 meters Centerline goodness [0,1] 0.9998935218706078 Centerline is valid? [True, True] Translation: X:265.42, Y:-34.18, Z:-7.97 [[ 9.85382921e-01 1.69175156e-01 2.00066572e-02 2.65416973e+02] [-1.69147173e-01 9.85585945e-01 -3.09503005e-03 -3.41820701e+01] [-2.02418823e-02 -3.34279746e-04 9.99795056e-01 -7.96986156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64587156 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:265.45, Y:-34.19, Z:-7.97 [[ 9.85183710e-01 1.70272894e-01 2.04987483e-02 2.65447184e+02] [-1.70243751e-01 9.85396878e-01 -3.17129657e-03 -3.41906805e+01] [-2.07393884e-02 -3.65474082e-04 9.99784849e-01 -7.96520356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.48, Y:-34.19, Z:-7.97 [[ 9.85194936e-01 1.70195093e-01 2.06050337e-02 2.65479205e+02] [-1.70165648e-01 9.85410319e-01 -3.18690393e-03 -3.41946714e+01] [-2.08468083e-02 -3.66547304e-04 9.99782614e-01 -7.96529565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70587156 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:265.51, Y:-34.19, Z:-7.97 [[ 9.85265586e-01 1.69785697e-01 2.06044040e-02 2.65510411e+02] [-1.69756063e-01 9.85480945e-01 -3.19165544e-03 -3.41902033e+01] [-2.08471449e-02 -3.53094220e-04 9.99782612e-01 -7.97135469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73587156 meters Centerline goodness [0,1] 0.9999786612039349 Centerline is valid? [True, True] Translation: X:265.54, Y:-34.20, Z:-7.97 [[ 9.85359236e-01 1.69214315e-01 2.08252481e-02 2.65541397e+02] [-1.69183938e-01 9.85579219e-01 -3.22474015e-03 -3.42040136e+01] [-2.10706039e-02 -3.45769987e-04 9.99777930e-01 -7.96758099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76587156 meters Centerline goodness [0,1] 0.9999572137600548 Centerline is valid? [True, True] Translation: X:265.57, Y:-34.21, Z:-7.97 [[ 9.85586315e-01 1.67804046e-01 2.14806388e-02 2.65571900e+02] [-1.67771310e-01 9.85820318e-01 -3.33002215e-03 -3.42079701e+01] [-2.17348414e-02 -3.21810652e-04 9.99763719e-01 -7.96843256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79587156 meters Centerline goodness [0,1] 0.9998702786846259 Centerline is valid? [True, True] Translation: X:265.60, Y:-34.22, Z:-7.97 [[ 9.85718897e-01 1.66979598e-01 2.18190114e-02 2.65603156e+02] [-1.66945549e-01 9.85960304e-01 -3.38572426e-03 -3.42167156e+01] [-2.20780260e-02 -3.05214443e-04 9.99756204e-01 -7.96576458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.63, Y:-34.22, Z:-7.97 [[ 9.85740749e-01 1.66810592e-01 2.21224480e-02 2.65634084e+02] [-1.66775457e-01 9.85988912e-01 -3.43679283e-03 -3.42177228e+01] [-2.23857819e-02 -3.01694649e-04 9.99749361e-01 -7.96839680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85587156 meters Centerline goodness [0,1] 0.9999786288254402 Centerline is valid? [True, True] Translation: X:265.67, Y:-34.22, Z:-7.97 [[ 9.85765722e-01 1.66653614e-01 2.21926683e-02 2.65666078e+02] [-1.66618138e-01 9.86015459e-01 -3.45117955e-03 -3.42219652e+01] [-2.24574656e-02 -2.95646569e-04 9.99747756e-01 -7.96943966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.70, Y:-34.22, Z:-7.97 [[ 9.85943615e-01 1.65652088e-01 2.17847288e-02 2.65697474e+02] [-1.65617580e-01 9.86184220e-01 -3.39136796e-03 -3.42225896e+01] [-2.20455430e-02 -2.64236476e-04 9.99756933e-01 -7.97311785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.73, Y:-34.23, Z:-7.97 [[ 9.86080380e-01 1.64854169e-01 2.16468770e-02 2.65728477e+02] [-1.64819834e-01 9.86317923e-01 -3.37308661e-03 -3.42301292e+01] [-2.19067702e-02 -2.41700162e-04 9.99759989e-01 -7.97229258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.76, Y:-34.24, Z:-7.97 [[ 9.86469947e-01 1.62440514e-01 2.21387414e-02 2.65760288e+02] [-1.62403909e-01 9.86718320e-01 -3.45350464e-03 -3.42373696e+01] [-2.24056908e-02 -1.88639603e-04 9.99748943e-01 -7.97143079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97587156000003 meters Centerline goodness [0,1] 0.9998928119707591 Centerline is valid? [True, True] Translation: X:265.79, Y:-34.24, Z:-7.97 [[ 9.86760014e-01 1.60624299e-01 2.24612640e-02 2.65791087e+02] [-1.60586055e-01 9.87015609e-01 -3.50790691e-03 -3.42433526e+01] [-2.27330733e-02 -1.45503520e-04 9.99741560e-01 -7.97128637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00587156 meters Centerline goodness [0,1] 0.9999783540413005 Centerline is valid? [True, True] Translation: X:265.82, Y:-34.25, Z:-7.97 [[ 9.87534558e-01 1.55821223e-01 2.22540829e-02 2.65822409e+02] [-1.55782364e-01 9.87785273e-01 -3.47986292e-03 -3.42543892e+01] [-2.25244918e-02 -3.03087465e-05 9.99746291e-01 -7.97284492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.85, Y:-34.26, Z:-7.97 [[ 9.87950933e-01 1.53180051e-01 2.21094236e-02 2.65854020e+02] [-1.53141028e-01 9.88198295e-01 -3.45752251e-03 -3.42636675e+01] [-2.23781182e-02 3.00027258e-05 9.99749578e-01 -7.97454030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.88, Y:-34.28, Z:-7.98 [[ 9.88813168e-01 1.47498522e-01 2.21969607e-02 2.65882944e+02] [-1.47457648e-01 9.89062263e-01 -3.47605692e-03 -3.42783333e+01] [-2.24668894e-02 1.64059249e-04 9.99747574e-01 -7.97594756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09587156000003 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:265.91, Y:-34.29, Z:-7.98 [[ 9.89208340e-01 1.44789879e-01 2.24221265e-02 2.65913264e+02] [-1.44747390e-01 9.89462398e-01 -3.51511131e-03 -3.42887266e+01] [-2.26948036e-02 2.31633141e-04 9.99742413e-01 -7.97668170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.94, Y:-34.30, Z:-7.98 [[ 9.89808893e-01 1.40636920e-01 2.23520051e-02 2.65943490e+02] [-1.40593556e-01 9.90061184e-01 -3.50767807e-03 -3.43013496e+01] [-2.26231617e-02 3.29383057e-04 9.99744009e-01 -7.97822115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.97, Y:-34.31, Z:-7.98 [[ 9.89964090e-01 1.39546285e-01 2.23144529e-02 2.65974900e+02] [-1.39502713e-01 9.90215485e-01 -3.50513975e-03 -3.43092169e+01] [-2.25852460e-02 3.57035754e-04 9.99744857e-01 -7.97923097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.00, Y:-34.32, Z:-7.98 [[ 9.90102701e-01 1.38558280e-01 2.23213805e-02 2.66004404e+02] [-1.38514331e-01 9.90354207e-01 -3.51060149e-03 -3.43190180e+01] [-2.25924960e-02 3.84024919e-04 9.99744683e-01 -7.98059338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.04, Y:-34.32, Z:-7.98 [[ 9.90077068e-01 1.38741356e-01 2.23212140e-02 2.66036473e+02] [-1.38697430e-01 9.90328577e-01 -3.51166025e-03 -3.43242617e+01] [-2.25925486e-02 3.80919257e-04 9.99744683e-01 -7.98157410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.07, Y:-34.33, Z:-7.98 [[ 9.90041703e-01 1.38986571e-01 2.23642467e-02 2.66069511e+02] [-1.38942443e-01 9.90294193e-01 -3.52264645e-03 -3.43297319e+01] [-2.26367842e-02 3.80223834e-04 9.99743683e-01 -7.98206287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.10, Y:-34.34, Z:-7.98 [[ 9.89838311e-01 1.40439716e-01 2.22890833e-02 2.66100519e+02] [-1.40396151e-01 9.90089169e-01 -3.51530459e-03 -3.43362041e+01] [-2.25618683e-02 3.50281660e-04 9.99745387e-01 -7.98304533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.13, Y:-34.34, Z:-7.98 [[ 9.89647165e-01 1.41767349e-01 2.23720471e-02 2.66132189e+02] [-1.41723712e-01 9.89899951e-01 -3.53216235e-03 -3.43398834e+01] [-2.26468336e-02 3.24944887e-04 9.99743475e-01 -7.98338616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.16, Y:-34.34, Z:-7.98 [[ 9.89434915e-01 1.43206420e-01 2.25936100e-02 2.66163392e+02] [-1.43162198e-01 9.89692797e-01 -3.57116176e-03 -3.43445293e+01] [-2.28721463e-02 2.98881273e-04 9.99738354e-01 -7.98445670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.20, Y:-34.34, Z:-7.98 [[ 9.88911269e-01 1.46740918e-01 2.28386862e-02 2.66196217e+02] [-1.46696590e-01 9.89174936e-01 -3.61347379e-03 -3.43448104e+01] [-2.31217004e-02 2.23047562e-04 9.99732633e-01 -7.98374808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.23, Y:-34.35, Z:-7.98 [[ 9.88266232e-01 1.51009602e-01 2.29337266e-02 2.66227073e+02] [-1.50965957e-01 9.88532288e-01 -3.63261952e-03 -3.43465751e+01] [-2.32192896e-02 1.27783224e-04 9.99730388e-01 -7.98461927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.26, Y:-34.35, Z:-7.99 [[ 9.87881572e-01 1.53504882e-01 2.29401545e-02 2.66259250e+02] [-1.53461801e-01 9.88147887e-01 -3.63725867e-03 -3.43497400e+01] [-2.32266021e-02 7.27433829e-05 9.99730223e-01 -7.98545916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.29, Y:-34.35, Z:-7.99 [[ 9.87499743e-01 1.55943456e-01 2.29324086e-02 2.66291050e+02] [-1.55900971e-01 9.87765984e-01 -3.63992779e-03 -3.43527825e+01] [-2.32194761e-02 1.92429826e-05 9.99730391e-01 -7.98778869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.32, Y:-34.35, Z:-7.99 [[ 9.86697710e-01 1.61004371e-01 2.24771417e-02 2.66324107e+02] [-1.60964774e-01 9.86953689e-01 -3.57182312e-03 -3.43511969e+01] [-2.27589770e-02 -9.37183422e-05 9.99740977e-01 -7.98884222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.36, Y:-34.35, Z:-7.99 [[ 9.86248940e-01 1.63745295e-01 2.23720002e-02 2.66355457e+02] [-1.63706683e-01 9.86502638e-01 -3.55902257e-03 -3.43518052e+01] [-2.26528105e-02 -1.52363711e-04 9.99743381e-01 -7.99014751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.39, Y:-34.35, Z:-7.99 [[ 9.85452929e-01 1.68447853e-01 2.25354143e-02 2.66388537e+02] [-1.68409823e-01 9.85710533e-01 -3.58851342e-03 -3.43502206e+01] [-2.28178726e-02 -2.58874085e-04 9.99739605e-01 -7.99095762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.42, Y:-34.35, Z:-7.99 [[ 9.85080494e-01 1.70626305e-01 2.24295619e-02 2.66420107e+02] [-1.70589108e-01 9.85335766e-01 -3.57558049e-03 -3.43515003e+01] [-2.27107376e-02 -3.04004352e-04 9.99742032e-01 -7.99216725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.45, Y:-34.35, Z:-7.99 [[ 9.84738852e-01 1.72608761e-01 2.22622959e-02 2.66452302e+02] [-1.72572547e-01 9.84990405e-01 -3.55229586e-03 -3.43539306e+01] [-2.25413052e-02 -3.43777355e-04 9.99745853e-01 -7.99343473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.48, Y:-34.35, Z:-7.99 [[ 9.84329137e-01 1.74962791e-01 2.20038873e-02 2.66483417e+02] [-1.74927903e-01 9.84574970e-01 -3.51541385e-03 -3.43532939e+01] [-2.22795433e-02 -3.88769573e-04 9.99751705e-01 -7.99497636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66587156 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:266.51, Y:-34.35, Z:-8.00 [[ 9.84170566e-01 1.75885892e-01 2.17359278e-02 2.66514081e+02] [-1.75852029e-01 9.84410479e-01 -3.47466283e-03 -3.43543490e+01] [-2.20082193e-02 -4.02646117e-04 9.99757709e-01 -7.99657053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.54, Y:-34.36, Z:-8.00 [[ 9.84157661e-01 1.75935071e-01 2.19214110e-02 2.66544003e+02] [-1.75900605e-01 9.84401689e-01 -3.50587119e-03 -3.43583321e+01] [-2.21962797e-02 -4.05659445e-04 9.99753550e-01 -7.99690890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72587156000003 meters Centerline goodness [0,1] 0.9999787329065737 Centerline is valid? [True, True] Translation: X:266.57, Y:-34.36, Z:-8.00 [[ 9.84270051e-01 1.75281438e-01 2.21107512e-02 2.66574668e+02] [-1.75246209e-01 9.84518289e-01 -3.53613135e-03 -3.43630279e+01] [-2.23882571e-02 -3.94317124e-04 9.99749274e-01 -7.99765799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75587156 meters Centerline goodness [0,1] 0.9999569827716001 Centerline is valid? [True, True] Translation: X:266.60, Y:-34.37, Z:-8.00 [[ 9.84659262e-01 1.73098783e-01 2.19761055e-02 2.66604427e+02] [-1.73063438e-01 9.84904409e-01 -3.51458632e-03 -3.43682955e+01] [-2.22527338e-02 -3.42590397e-04 9.99752319e-01 -7.99950265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.64, Y:-34.38, Z:-8.00 [[ 9.84882804e-01 1.71840717e-01 2.18318709e-02 2.66635434e+02] [-1.71805548e-01 9.85124698e-01 -3.49051811e-03 -3.43764938e+01] [-2.21069284e-02 -3.13085295e-04 9.99755563e-01 -8.00031994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.67, Y:-34.39, Z:-8.00 [[ 9.85486264e-01 1.68338448e-01 2.18858578e-02 2.66666238e+02] [-1.68302159e-01 9.85729229e-01 -3.50287998e-03 -3.43852472e+01] [-2.21631991e-02 -2.31397006e-04 9.99754339e-01 -8.00103620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.70, Y:-34.39, Z:-8.00 [[ 9.85723504e-01 1.66946945e-01 2.18607447e-02 2.66697345e+02] [-1.66910314e-01 9.85965861e-01 -3.50256176e-03 -3.43909620e+01] [-2.21386900e-02 -1.96226319e-04 9.99754890e-01 -8.00299481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.73, Y:-34.40, Z:-8.00 [[ 9.86280895e-01 1.63598533e-01 2.20344263e-02 2.66728363e+02] [-1.63560397e-01 9.86526992e-01 -3.53419352e-03 -3.44008928e+01] [-2.23157452e-02 -1.18251965e-04 9.99750966e-01 -8.00371575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.76, Y:-34.41, Z:-8.00 [[ 9.86536247e-01 1.62058759e-01 2.19816244e-02 2.66759930e+02] [-1.62020346e-01 9.86781107e-01 -3.52919450e-03 -3.44091005e+01] [-2.22629885e-02 -7.97920840e-05 9.99752146e-01 -8.00371388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.79, Y:-34.42, Z:-8.01 [[ 9.86729494e-01 1.60899001e-01 2.18269839e-02 2.66790743e+02] [-1.60860763e-01 9.86970875e-01 -3.50795765e-03 -3.44159890e+01] [-2.21070243e-02 -4.97000192e-05 9.99755609e-01 -8.00648004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.82, Y:-34.43, Z:-8.01 [[ 9.87092493e-01 1.58667667e-01 2.17481404e-02 2.66822725e+02] [-1.58629077e-01 9.87332047e-01 -3.49919893e-03 -3.44251782e+01] [-2.20278457e-02 4.14555898e-06 9.99757358e-01 -8.00774562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.85, Y:-34.43, Z:-8.01 [[ 9.87190246e-01 1.58040523e-01 2.18771691e-02 2.66854629e+02] [-1.58001232e-01 9.87432627e-01 -3.52393466e-03 -3.44316986e+01] [-2.21591550e-02 2.21742498e-05 9.99754456e-01 -8.00742667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.89, Y:-34.44, Z:-8.01 [[ 9.87371269e-01 1.56857354e-01 2.22204300e-02 2.66886539e+02] [-1.56816422e-01 9.87621267e-01 -3.58361186e-03 -3.44397382e+01] [-2.25074851e-02 5.38270574e-05 9.99746673e-01 -8.00718753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.92, Y:-34.45, Z:-8.01 [[ 9.87399904e-01 1.56647989e-01 2.24240365e-02 2.66918964e+02] [-1.56606149e-01 9.87654496e-01 -3.62087761e-03 -3.44456636e+01] [-2.27144036e-02 6.35122080e-05 9.99741993e-01 -8.00761834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.95, Y:-34.45, Z:-8.01 [[ 9.87359832e-01 1.56918211e-01 2.22988180e-02 2.66950073e+02] [-1.56876804e-01 9.87611599e-01 -3.60511372e-03 -3.44508789e+01] [-2.25882793e-02 6.13771769e-05 9.99744850e-01 -8.00991850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11587156 meters Centerline goodness [0,1] 0.9998721826935367 Centerline is valid? [True, True] Translation: X:266.98, Y:-34.46, Z:-8.01 [[ 9.87288007e-01 1.57365093e-01 2.23297772e-02 2.66982499e+02] [-1.57323593e-01 9.87540493e-01 -3.61422235e-03 -3.44553207e+01] [-2.26203116e-02 5.52775983e-05 9.99744126e-01 -8.00929638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.02, Y:-34.46, Z:-8.01 [[ 9.86901976e-01 1.59760911e-01 2.23817207e-02 2.67015996e+02] [-1.59719742e-01 9.87155738e-01 -3.62669994e-03 -3.44575348e+01] [-2.26736489e-02 4.39469053e-06 9.99742920e-01 -8.01149377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17587156 meters Centerline goodness [0,1] 0.9998279643886284 Centerline is valid? [True, True] Translation: X:267.05, Y:-34.46, Z:-8.01 [[ 9.86640788e-01 1.61419598e-01 2.19924808e-02 2.67047955e+02] [-1.61380171e-01 9.86885866e-01 -3.56761735e-03 -3.44595948e+01] [-2.22799519e-02 -2.91935234e-05 9.99751771e-01 -8.01158560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.08, Y:-34.46, Z:-8.01 [[ 9.85969978e-01 1.65401400e-01 2.24850725e-02 2.67082076e+02] [-1.65361137e-01 9.86226324e-01 -3.65122665e-03 -3.44585259e+01] [-2.27792884e-02 -1.18157296e-04 9.99740511e-01 -8.01055076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.11, Y:-34.46, Z:-8.01 [[ 9.85636881e-01 1.67339485e-01 2.27471985e-02 2.67114957e+02] [-1.67298688e-01 9.85899321e-01 -3.69835885e-03 -3.44602108e+01] [-2.30453290e-02 -1.60337584e-04 9.99734408e-01 -8.01102482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.15, Y:-34.46, Z:-8.01 [[ 9.85017384e-01 1.70907717e-01 2.30500593e-02 2.67147255e+02] [-1.70866675e-01 9.85287011e-01 -3.75304632e-03 -3.44564184e+01] [-2.33523486e-02 -2.41671133e-04 9.99727268e-01 -8.01267017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.18, Y:-34.46, Z:-8.01 [[ 9.84806900e-01 1.72117925e-01 2.30388544e-02 2.67177044e+02] [-1.72077191e-01 9.85076316e-01 -3.75395191e-03 -3.44575088e+01] [-2.33411522e-02 -2.67543594e-04 9.99727522e-01 -8.01360128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.21, Y:-34.45, Z:-8.02 [[ 9.84514194e-01 1.73753327e-01 2.32719484e-02 2.67208054e+02] [-1.73712215e-01 9.84789158e-01 -3.79214679e-03 -3.44530262e+01] [-2.35768606e-02 -3.09199365e-04 9.99721979e-01 -8.01511107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35587156 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:267.24, Y:-34.46, Z:-8.01 [[ 9.84388213e-01 1.74458164e-01 2.33279939e-02 2.67238200e+02] [-1.74417047e-01 9.84664533e-01 -3.80150851e-03 -3.44587075e+01] [-2.36334524e-02 -3.26639632e-04 9.99720638e-01 -8.01404922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38587156 meters Centerline goodness [0,1] 0.9999572293150275 Centerline is valid? [True, True] Translation: X:267.27, Y:-34.46, Z:-8.01 [[ 9.84417050e-01 1.74326102e-01 2.30972230e-02 2.67268473e+02] [-1.74285756e-01 9.84687924e-01 -3.76398209e-03 -3.44582575e+01] [-2.33997169e-02 -3.20188833e-04 9.99726138e-01 -8.01463109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.30, Y:-34.46, Z:-8.02 [[ 9.84469853e-01 1.74041636e-01 2.29916700e-02 2.67298502e+02] [-1.74001589e-01 9.84738245e-01 -3.74642651e-03 -3.44637957e+01] [-2.32928109e-02 -3.12343163e-04 9.99728637e-01 -8.01587890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.33, Y:-34.47, Z:-8.02 [[ 9.84627241e-01 1.73237590e-01 2.23144421e-02 2.67328168e+02] [-1.73199664e-01 9.84880021e-01 -3.63597225e-03 -3.44663133e+01] [-2.26069353e-02 -2.84776547e-04 9.99744390e-01 -8.01833030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.36, Y:-34.47, Z:-8.02 [[ 9.85148250e-01 1.70326334e-01 2.17224514e-02 2.67357221e+02] [-1.70289674e-01 9.85387688e-01 -3.54000475e-03 -3.44718984e+01] [-2.20079922e-02 -2.11679683e-04 9.99757772e-01 -8.02149105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.39, Y:-34.48, Z:-8.02 [[ 9.85457545e-01 1.68590199e-01 2.12314118e-02 2.67387214e+02] [-1.68554783e-01 9.85686216e-01 -3.45963253e-03 -3.44792945e+01] [-2.15107700e-02 -1.69335014e-04 9.99768602e-01 -8.02215986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.42, Y:-34.49, Z:-8.02 [[ 9.86222470e-01 1.64046282e-01 2.13086247e-02 2.67416686e+02] [-1.64009559e-01 9.86452641e-01 -3.47164268e-03 -3.44872455e+01] [-2.15894592e-02 -7.10061287e-05 9.99766918e-01 -8.02400048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.45, Y:-34.49, Z:-8.02 [[ 9.86624103e-01 1.61599804e-01 2.14098627e-02 2.67447180e+02] [-1.61562115e-01 9.86856374e-01 -3.48995339e-03 -3.44943675e+01] [-2.16924353e-02 -1.57505859e-05 9.99764691e-01 -8.02475868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.48, Y:-34.50, Z:-8.03 [[ 9.87407260e-01 1.56708752e-01 2.16626397e-02 2.67477235e+02] [-1.56669002e-01 9.87644854e-01 -3.53061327e-03 -3.45048987e+01] [-2.19482726e-02 9.22890288e-05 9.99759103e-01 -8.02545223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.51, Y:-34.51, Z:-8.03 [[ 9.87735204e-01 1.54655843e-01 2.14647943e-02 2.67508653e+02] [-1.54616262e-01 9.87968396e-01 -3.50157172e-03 -3.45114458e+01] [-2.17480769e-02 1.39819398e-04 9.99763473e-01 -8.02500100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.54, Y:-34.52, Z:-8.03 [[ 9.88253383e-01 1.51343480e-01 2.12226600e-02 2.67539080e+02] [-1.51303941e-01 9.88481211e-01 -3.46584566e-03 -3.45199766e+01] [-2.15027338e-02 2.14061613e-04 9.99768767e-01 -8.02742578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.57, Y:-34.53, Z:-8.03 [[ 9.88352186e-01 1.50718540e-01 2.10684048e-02 2.67569925e+02] [-1.50679359e-01 9.88576688e-01 -3.44409409e-03 -3.45259131e+01] [-2.13468227e-02 2.29404184e-04 9.99772104e-01 -8.02855357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.60, Y:-34.53, Z:-8.03 [[ 9.88443211e-01 1.50148768e-01 2.08654056e-02 2.67601142e+02] [-1.50110145e-01 9.88663385e-01 -3.41404239e-03 -3.45318867e+01] [-2.11414768e-02 2.42477965e-04 9.99776465e-01 -8.02975308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.63, Y:-34.54, Z:-8.03 [[ 9.88534965e-01 1.49458541e-01 2.14654817e-02 2.67633653e+02] [-1.49417425e-01 9.88767957e-01 -3.51575327e-03 -3.45379755e+01] [-2.17498398e-02 2.68128046e-04 9.99763408e-01 -8.02999257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.67, Y:-34.54, Z:-8.03 [[ 9.88585201e-01 1.49073944e-01 2.18233943e-02 2.67665812e+02] [-1.49031257e-01 9.88826010e-01 -3.57864014e-03 -3.45435581e+01] [-2.21130219e-02 2.85422804e-04 9.99755436e-01 -8.03011538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.70, Y:-34.55, Z:-8.03 [[ 9.88624058e-01 1.48753568e-01 2.22451597e-02 2.67697505e+02] [-1.48709031e-01 9.88874251e-01 -3.65232861e-03 -3.45486768e+01] [-2.25409626e-02 3.02723776e-04 9.99745874e-01 -8.02999822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.73, Y:-34.55, Z:-8.03 [[ 9.88613001e-01 1.48846169e-01 2.21167800e-02 2.67730752e+02] [-1.48802083e-01 9.88860317e-01 -3.63506764e-03 -3.45525072e+01] [-2.24114720e-02 3.02652186e-04 9.99748786e-01 -8.03022820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.76, Y:-34.56, Z:-8.03 [[ 9.88525872e-01 1.49459909e-01 2.18708858e-02 2.67761975e+02] [-1.49416850e-01 9.88767744e-01 -3.59905999e-03 -3.45592798e+01] [-2.21631415e-02 2.89885049e-04 9.99754325e-01 -8.03249986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89587156 meters Centerline goodness [0,1] 0.9998500171408982 Centerline is valid? [True, True] Translation: X:267.79, Y:-34.56, Z:-8.03 [[ 9.88440741e-01 1.50113957e-01 2.12297176e-02 2.67794469e+02] [-1.50073457e-01 9.88668664e-01 -3.49728317e-03 -3.45639336e+01] [-2.15141476e-02 2.70840057e-04 9.99768507e-01 -8.03182757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.82, Y:-34.57, Z:-8.04 [[ 9.88283512e-01 1.51160501e-01 2.11235278e-02 2.67824994e+02] [-1.51120551e-01 9.88509201e-01 -3.48412190e-03 -3.45684581e+01] [-2.14074632e-02 2.51101055e-04 9.99770802e-01 -8.03560874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.86, Y:-34.57, Z:-8.04 [[ 9.87923020e-01 1.53556017e-01 2.07040307e-02 2.67857246e+02] [-1.53518102e-01 9.88139924e-01 -3.41788058e-03 -3.45693032e+01] [-2.09833155e-02 1.98159395e-04 9.99779806e-01 -8.03628066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.89, Y:-34.57, Z:-8.04 [[ 9.87638549e-01 1.55332757e-01 2.10197645e-02 2.67888800e+02] [-1.55294000e-01 9.87862190e-01 -3.47371426e-03 -3.45725232e+01] [-2.13042122e-02 1.66530797e-04 9.99773026e-01 -8.03752592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.92, Y:-34.57, Z:-8.04 [[ 9.87049186e-01 1.58974555e-01 2.14708000e-02 2.67920361e+02] [-1.58934869e-01 9.87282676e-01 -3.55325378e-03 -3.45712158e+01] [-2.17626258e-02 9.47774735e-05 9.99763162e-01 -8.03759686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.95, Y:-34.57, Z:-8.04 [[ 9.86775285e-01 1.60694194e-01 2.12582572e-02 2.67951032e+02] [-1.60655675e-01 9.87004242e-01 -3.51869026e-03 -3.45733640e+01] [-2.15474231e-02 5.68969142e-05 9.99767826e-01 -8.03884415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.98, Y:-34.57, Z:-8.04 [[ 9.86495492e-01 1.62421759e-01 2.11143549e-02 2.67980319e+02] [-1.62384150e-01 9.86721426e-01 -3.49512149e-03 -3.45745612e+01] [-2.14016702e-02 1.92850118e-05 9.99770958e-01 -8.04044652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.01, Y:-34.57, Z:-8.04 [[ 9.86020286e-01 1.65315025e-01 2.08551830e-02 2.68010264e+02] [-1.65278968e-01 9.86240813e-01 -3.45279830e-03 -3.45728434e+01] [-2.11390321e-02 -4.23939757e-05 9.99776545e-01 -8.04140682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.04, Y:-34.58, Z:-8.04 [[ 9.86024174e-01 1.65291819e-01 2.08552642e-02 2.68039032e+02] [-1.65255768e-01 9.86244702e-01 -3.45230778e-03 -3.45775596e+01] [-2.11390321e-02 -4.23937790e-05 9.99776545e-01 -8.04228651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.07, Y:-34.58, Z:-8.04 [[ 9.85843379e-01 1.66372135e-01 2.08121443e-02 2.68069059e+02] [-1.66336484e-01 9.86063035e-01 -3.44467422e-03 -3.45799930e+01] [-2.10951840e-02 -6.59096441e-05 9.99777470e-01 -8.04239371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.10, Y:-34.58, Z:-8.05 [[ 9.85577480e-01 1.67957842e-01 2.06686705e-02 2.68098349e+02] [-1.67923038e-01 9.85794174e-01 -3.42052966e-03 -3.45802309e+01] [-2.09495597e-02 -9.95489434e-05 9.99780529e-01 -8.04590500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.13, Y:-34.58, Z:-8.05 [[ 9.85531253e-01 1.68217435e-01 2.07616228e-02 2.68127115e+02] [-1.68182389e-01 9.85749909e-01 -3.43523542e-03 -3.45842320e+01] [-2.10436342e-02 -1.06207432e-04 9.99778553e-01 -8.04565929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.16, Y:-34.59, Z:-8.05 [[ 9.85558603e-01 1.68016427e-01 2.10883949e-02 2.68156673e+02] [-1.67980249e-01 9.85784190e-01 -3.48807293e-03 -3.45888447e+01] [-2.13746599e-02 -1.04733544e-04 9.99771530e-01 -8.04541197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.19, Y:-34.59, Z:-8.05 [[ 9.85665061e-01 1.67335166e-01 2.15251031e-02 2.68185917e+02] [-1.67297323e-01 9.85900063e-01 -3.55976941e-03 -3.45940132e+01] [-2.18172751e-02 -9.23517972e-05 9.99761971e-01 -8.04543456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31587156 meters Centerline goodness [0,1] 0.999849271118193 Centerline is valid? [True, True] Translation: X:268.21, Y:-34.60, Z:-8.04 [[ 9.85933424e-01 1.65664613e-01 2.21476538e-02 2.68214992e+02] [-1.65624141e-01 9.86182150e-01 -3.66216378e-03 -3.45999347e+01] [-2.24483118e-02 -5.75364486e-05 9.99748003e-01 -8.04227625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.24, Y:-34.61, Z:-8.04 [[ 9.86127593e-01 1.64457043e-01 2.25000451e-02 2.68244137e+02] [-1.64414971e-01 9.86384246e-01 -3.71986990e-03 -3.46067800e+01] [-2.28054488e-02 -3.10779122e-05 9.99739921e-01 -8.04432611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.27, Y:-34.62, Z:-8.05 [[ 9.86596126e-01 1.61678049e-01 2.20973418e-02 2.68273294e+02] [-1.61636789e-01 9.86843558e-01 -3.65256205e-03 -3.46161032e+01] [-2.23971585e-02 3.18602110e-05 9.99749152e-01 -8.04585794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.30, Y:-34.62, Z:-8.05 [[ 9.86835325e-01 1.60178141e-01 2.23384060e-02 2.68302760e+02] [-1.60135593e-01 9.87088121e-01 -3.69231658e-03 -3.46240731e+01] [-2.26414036e-02 6.65345372e-05 9.99743648e-01 -8.04792451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.33, Y:-34.63, Z:-8.05 [[ 9.87107449e-01 1.58486479e-01 2.23812360e-02 2.68331938e+02] [-1.58443326e-01 9.87361142e-01 -3.69967789e-03 -3.46328363e+01] [-2.26847117e-02 1.05822133e-04 9.99742663e-01 -8.04917783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.36, Y:-34.64, Z:-8.05 [[ 9.87624292e-01 1.55298268e-01 2.19249919e-02 2.68362066e+02] [-1.55256067e-01 9.87867611e-01 -3.62441836e-03 -3.46444059e+01] [-2.22218552e-02 1.75575610e-04 9.99753049e-01 -8.05039726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.39, Y:-34.65, Z:-8.05 [[ 9.87852408e-01 1.53867108e-01 2.17378100e-02 2.68391942e+02] [-1.53825291e-01 9.88091530e-01 -3.59294100e-03 -3.46533361e+01] [-2.20317814e-02 2.05470477e-04 9.99757250e-01 -8.05209397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.42, Y:-34.66, Z:-8.05 [[ 9.88200559e-01 1.51640459e-01 2.15598350e-02 2.68422321e+02] [-1.51598721e-01 9.88435686e-01 -3.56680237e-03 -3.46635554e+01] [-2.18513818e-02 2.56272683e-04 9.99761197e-01 -8.05308593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.45, Y:-34.67, Z:-8.05 [[ 9.88309665e-01 1.50920400e-01 2.16110880e-02 2.68453735e+02] [-1.50878219e-01 9.88545880e-01 -3.57861906e-03 -3.46726994e+01] [-2.19036386e-02 2.76141339e-04 9.99760048e-01 -8.05446860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.48, Y:-34.68, Z:-8.06 [[ 9.88425818e-01 1.50219121e-01 2.11805803e-02 2.68484899e+02] [-1.50178368e-01 9.88652685e-01 -3.51081322e-03 -3.46807370e+01] [-2.14676289e-02 2.89313437e-04 9.99769502e-01 -8.05566361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.51, Y:-34.69, Z:-8.06 [[ 9.88528910e-01 1.49563076e-01 2.10114210e-02 2.68514751e+02] [-1.49522746e-01 9.88752140e-01 -3.48640032e-03 -3.46909696e+01] [-2.12965242e-02 3.04722146e-04 9.99773157e-01 -8.05715901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.55, Y:-34.70, Z:-8.06 [[ 9.88536805e-01 1.49535461e-01 2.08358147e-02 2.68546869e+02] [-1.49495736e-01 9.88756316e-01 -3.46011970e-03 -3.46980435e+01] [-2.11189540e-02 3.05590222e-04 9.99776923e-01 -8.05809896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67587156 meters Centerline goodness [0,1] 0.9997866712176807 Centerline is valid? [True, True] Translation: X:268.58, Y:-34.71, Z:-8.06 [[ 9.88572613e-01 1.49389879e-01 2.01705702e-02 2.68576336e+02] [-1.49352536e-01 9.88778323e-01 -3.35377942e-03 -3.47099266e+01] [-2.04452433e-02 3.02928680e-04 9.99790928e-01 -8.05778407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.61, Y:-34.72, Z:-8.06 [[ 9.88490631e-01 1.49894287e-01 2.04444523e-02 2.68607835e+02] [-1.49855963e-01 9.88701984e-01 -3.40256660e-03 -3.47176731e+01] [-2.07234959e-02 2.99682115e-04 9.99785200e-01 -8.06112696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.64, Y:-34.73, Z:-8.06 [[ 9.88287678e-01 1.51239435e-01 2.03494404e-02 2.68638914e+02] [-1.51201682e-01 9.88497121e-01 -3.39012385e-03 -3.47258779e+01] [-2.06280837e-02 2.73548003e-04 9.99787181e-01 -8.06203055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.67, Y:-34.73, Z:-8.06 [[ 9.88097287e-01 1.52418955e-01 2.07897512e-02 2.68669912e+02] [-1.52379733e-01 9.88315939e-01 -3.46720403e-03 -3.47321398e+01] [-2.10753101e-02 2.57998161e-04 9.99777858e-01 -8.06215651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.70, Y:-34.74, Z:-8.06 [[ 9.87659508e-01 1.55132423e-01 2.15087881e-02 2.68701128e+02] [-1.55091009e-01 9.87893662e-01 -3.59054780e-03 -3.47382456e+01] [-2.18054058e-02 2.10419030e-04 9.99762212e-01 -8.06138974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.73, Y:-34.74, Z:-8.06 [[ 9.87416957e-01 1.56588290e-01 2.20875762e-02 2.68731904e+02] [-1.56544892e-01 9.87663947e-01 -3.69112289e-03 -3.47447973e+01] [-2.23930893e-02 1.86980105e-04 9.99749226e-01 -8.06179291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.76, Y:-34.75, Z:-8.06 [[ 9.87154694e-01 1.58158091e-01 2.26192136e-02 2.68763518e+02] [-1.58112909e-01 9.87413790e-01 -3.78350188e-03 -3.47500130e+01] [-2.29329149e-02 1.58511968e-04 9.99736994e-01 -8.06096300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.80, Y:-34.76, Z:-8.06 [[ 9.86594115e-01 1.61577469e-01 2.29079426e-02 2.68795194e+02] [-1.61531955e-01 9.86860028e-01 -3.83574962e-03 -3.47562418e+01] [-2.32267036e-02 8.39632341e-05 9.99730220e-01 -8.06167590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.83, Y:-34.76, Z:-8.06 [[ 9.86302524e-01 1.63421185e-01 2.23796427e-02 2.68827063e+02] [-1.63378129e-01 9.86556392e-01 -3.75132854e-03 -3.47619165e+01] [-2.26918261e-02 4.36006630e-05 9.99742506e-01 -8.06422961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.86, Y:-34.77, Z:-8.07 [[ 9.85740722e-01 1.66871884e-01 2.16564976e-02 2.68859480e+02] [-1.66832356e-01 9.85978587e-01 -3.63207194e-03 -3.47665301e+01] [-2.19589336e-02 -3.27232964e-05 9.99758873e-01 -8.06665495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.89, Y:-34.77, Z:-8.07 [[ 9.85452256e-01 1.68632221e-01 2.11429622e-02 2.68891847e+02] [-1.68594869e-01 9.85679040e-01 -3.54975298e-03 -3.47716953e+01] [-2.14387774e-02 -6.64828457e-05 9.99770161e-01 -8.06811233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.92, Y:-34.78, Z:-8.07 [[ 9.85157892e-01 1.70409411e-01 2.06048673e-02 2.68923011e+02] [-1.70374241e-01 9.85373342e-01 -3.46340196e-03 -3.47774149e+01] [-2.08936833e-02 -9.85408517e-05 9.99781698e-01 -8.06846443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03587156000003 meters Centerline goodness [0,1] 0.9999137038315499 Centerline is valid? [True, True] Translation: X:268.95, Y:-34.78, Z:-8.07 [[ 9.84877609e-01 1.72123980e-01 1.97340094e-02 2.68953618e+02] [-1.72092003e-01 9.85075286e-01 -3.32007541e-03 -3.47812444e+01] [-2.00109496e-02 -1.26197282e-04 9.99799753e-01 -8.06961815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.98, Y:-34.78, Z:-8.07 [[ 9.84307730e-01 1.75358451e-01 1.96902342e-02 2.68984528e+02] [-1.75327197e-01 9.84504636e-01 -3.31601462e-03 -3.47849770e+01] [-1.99666181e-02 -1.88254746e-04 9.99800629e-01 -8.07460956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.02, Y:-34.79, Z:-8.07 [[ 9.83706467e-01 1.78666117e-01 2.00001603e-02 2.69015146e+02] [-1.78634463e-01 9.83909728e-01 -3.37266923e-03 -3.47903572e+01] [-2.02809340e-02 -2.55001366e-04 9.99794288e-01 -8.07244644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.05, Y:-34.79, Z:-8.07 [[ 9.83404272e-01 1.80242529e-01 2.07042967e-02 2.69045885e+02] [-1.80208943e-01 9.83622154e-01 -3.49205147e-03 -3.47906147e+01] [-2.09946211e-02 -2.97001087e-04 9.99779545e-01 -8.07430143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15587156 meters Centerline goodness [0,1] 0.9999359617478174 Centerline is valid? [True, True] Translation: X:269.08, Y:-34.79, Z:-8.07 [[ 9.83121400e-01 1.81755400e-01 2.09113971e-02 2.69075314e+02] [-1.81721468e-01 9.83343716e-01 -3.52754204e-03 -3.47937693e+01] [-2.12042408e-02 -3.32047724e-04 9.99775110e-01 -8.07249935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18587156 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:269.11, Y:-34.80, Z:-8.07 [[ 9.82647970e-01 1.84195650e-01 2.17928657e-02 2.69105493e+02] [-1.84159417e-01 9.82889516e-01 -3.67535560e-03 -3.48022575e+01] [-2.20969637e-02 -4.01780716e-04 9.99755752e-01 -8.07116980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21587156 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:269.14, Y:-34.81, Z:-8.07 [[ 9.82445038e-01 1.85284537e-01 2.17114690e-02 2.69136116e+02] [-1.85248851e-01 9.82684822e-01 -3.66108000e-03 -3.48059336e+01] [-2.20138725e-02 -4.25214808e-04 9.99757575e-01 -8.07238820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.17, Y:-34.81, Z:-8.07 [[ 9.82305967e-01 1.86120947e-01 2.08321823e-02 2.69167027e+02] [-1.86088190e-01 9.82526750e-01 -3.51713321e-03 -3.48112718e+01] [-2.11227886e-02 -4.21722176e-04 9.99776800e-01 -8.07454753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27587156 meters Centerline goodness [0,1] 0.9999568025227327 Centerline is valid? [True, True] Translation: X:269.20, Y:-34.82, Z:-8.08 [[ 9.82286461e-01 1.86269692e-01 2.04184075e-02 2.69197393e+02] [-1.86238241e-01 9.82498564e-01 -3.44798652e-03 -3.48163906e+01] [-2.07033115e-02 -4.15777828e-04 9.99785577e-01 -8.07603362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30587156 meters Centerline goodness [0,1] 0.9998935037273695 Centerline is valid? [True, True] Translation: X:269.23, Y:-34.82, Z:-8.08 [[ 9.82307958e-01 1.86159737e-01 2.03869618e-02 2.69226410e+02] [-1.86128357e-01 9.82519405e-01 -3.44278898e-03 -3.48185477e+01] [-2.06714942e-02 -4.12712687e-04 9.99786237e-01 -8.07914313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33587156 meters Centerline goodness [0,1] 0.999957216505872 Centerline is valid? [True, True] Translation: X:269.26, Y:-34.83, Z:-8.08 [[ 9.82378380e-01 1.85824067e-01 2.00532902e-02 2.69256089e+02] [-1.85793643e-01 9.82582952e-01 -3.38608899e-03 -3.48270876e+01] [-2.03332379e-02 -3.99353222e-04 9.99793179e-01 -8.07914936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36587156 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:269.28, Y:-34.83, Z:-8.08 [[ 9.82435087e-01 1.85487658e-01 2.03869599e-02 2.69284854e+02] [-1.85456138e-01 9.82646513e-01 -3.44254218e-03 -3.48321895e+01] [-2.06717241e-02 -3.98812612e-04 9.99786238e-01 -8.07951764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.31, Y:-34.84, Z:-8.08 [[ 9.82607175e-01 1.84498870e-01 2.10548445e-02 2.69314279e+02] [-1.84465032e-01 9.82832648e-01 -3.55495481e-03 -3.48378309e+01] [-2.13492738e-02 -3.90758461e-04 9.99772002e-01 -8.07896351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.34, Y:-34.84, Z:-8.08 [[ 9.82712027e-01 1.83890257e-01 2.14812839e-02 2.69344379e+02] [-1.83854891e-01 9.82946705e-01 -3.62682408e-03 -3.48387959e+01] [-2.17818948e-02 -3.85315479e-04 9.99762672e-01 -8.08156124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.37, Y:-34.85, Z:-8.08 [[ 9.82900898e-01 1.82826177e-01 2.19183489e-02 2.69373980e+02] [-1.82789086e-01 9.83145184e-01 -3.70091684e-03 -3.48499989e+01] [-2.22255436e-02 -3.68800478e-04 9.99752914e-01 -8.07944641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48587156 meters Centerline goodness [0,1] 0.9999153689911984 Centerline is valid? [True, True] Translation: X:269.40, Y:-34.86, Z:-8.08 [[ 9.83336816e-01 1.80373136e-01 2.26768356e-02 2.69404134e+02] [-1.80332790e-01 9.83598204e-01 -3.82863282e-03 -3.48595686e+01] [-2.29954773e-02 -3.24541435e-04 9.99735516e-01 -8.07909523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51587156 meters Centerline goodness [0,1] 0.9998934991905939 Centerline is valid? [True, True] Translation: X:269.44, Y:-34.87, Z:-8.08 [[ 9.83655826e-01 1.78658018e-01 2.24171646e-02 2.69435909e+02] [-1.78618058e-01 9.83911193e-01 -3.78863523e-03 -3.48674124e+01] [-2.27333693e-02 -2.77397299e-04 9.99741525e-01 -8.07858572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54587156 meters Centerline goodness [0,1] 0.9999570548195229 Centerline is valid? [True, True] Translation: X:269.47, Y:-34.88, Z:-8.08 [[ 9.84325467e-01 1.74954541e-01 2.22324680e-02 2.69466670e+02] [-1.74914261e-01 9.84576494e-01 -3.75879406e-03 -3.48792846e+01] [-2.25471835e-02 -1.88898988e-04 9.99745762e-01 -8.08185504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57587156 meters Centerline goodness [0,1] 0.9999783811829817 Centerline is valid? [True, True] Translation: X:269.50, Y:-34.89, Z:-8.08 [[ 9.84643052e-01 1.73186280e-01 2.20129989e-02 2.69497287e+02] [-1.73146270e-01 9.84889076e-01 -3.72522877e-03 -3.48887144e+01] [-2.23255207e-02 -1.43448018e-04 9.99750744e-01 -8.08237610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.53, Y:-34.90, Z:-8.08 [[ 9.84908384e-01 1.71687453e-01 2.18836214e-02 2.69527906e+02] [-1.71647456e-01 9.85151464e-01 -3.70719884e-03 -3.48962904e+01] [-2.21951612e-02 -1.05016714e-04 9.99753652e-01 -8.08497681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.56, Y:-34.91, Z:-8.09 [[ 9.85350515e-01 1.69090546e-01 2.21979628e-02 2.69559057e+02] [-1.69048651e-01 9.85600520e-01 -3.76406631e-03 -3.49073805e+01] [-2.25147917e-02 -4.36109794e-05 9.99746509e-01 -8.08603189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.59, Y:-34.92, Z:-8.09 [[ 9.85543097e-01 1.68070461e-01 2.13804359e-02 2.69590835e+02] [-1.68031291e-01 9.85774984e-01 -3.62845178e-03 -3.49162745e+01] [-2.16861344e-02 -1.65866334e-05 9.99764828e-01 -8.08712303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.62, Y:-34.92, Z:-8.09 [[ 9.85519804e-01 1.68307278e-01 2.05761083e-02 2.69622742e+02] [-1.68270969e-01 9.85734579e-01 -3.49588347e-03 -3.49218556e+01] [-2.08709640e-02 -1.70992701e-05 9.99782178e-01 -8.09058231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.65, Y:-34.93, Z:-8.09 [[ 9.85406953e-01 1.68976438e-01 2.04963747e-02 2.69653972e+02] [-1.68940475e-01 9.85620090e-01 -3.48616637e-03 -3.49260940e+01] [-2.07907187e-02 -2.73746949e-05 9.99783849e-01 -8.09228126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75587156 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:269.69, Y:-34.93, Z:-8.09 [[ 9.85076333e-01 1.70915401e-01 2.03111648e-02 2.69687438e+02] [-1.70880430e-01 9.85285706e-01 -3.45791575e-03 -3.49282629e+01] [-2.06033114e-02 -6.44696189e-05 9.99787727e-01 -8.08996589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.72, Y:-34.93, Z:-8.09 [[ 9.84829435e-01 1.72308564e-01 2.05120344e-02 2.69719669e+02] [-1.72273117e-01 9.85043020e-01 -3.49608596e-03 -3.49328508e+01] [-2.08076418e-02 -9.06237320e-05 9.99783493e-01 -8.09174381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.75, Y:-34.93, Z:-8.09 [[ 9.84324106e-01 1.75145770e-01 2.07367708e-02 2.69750975e+02] [-1.75110075e-01 9.84542502e-01 -3.53898450e-03 -3.49325890e+01] [-2.10360704e-02 -1.47709723e-04 9.99778706e-01 -8.09334727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.78, Y:-34.94, Z:-8.09 [[ 9.84065460e-01 1.76587153e-01 2.07881592e-02 2.69783172e+02] [-1.76551531e-01 9.84284993e-01 -3.55108861e-03 -3.49364654e+01] [-2.10885498e-02 -1.75677695e-04 9.99777596e-01 -8.09310242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.82, Y:-34.94, Z:-8.09 [[ 9.83773906e-01 1.78177515e-01 2.10160659e-02 2.69815431e+02] [-1.78141394e-01 9.83998338e-01 -3.59363438e-03 -3.49395875e+01] [-2.13200788e-02 -2.08507545e-04 9.99772680e-01 -8.09324039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90587156 meters Centerline goodness [0,1] 0.9999144037148787 Centerline is valid? [True, True] Translation: X:269.85, Y:-34.94, Z:-8.09 [[ 9.83241630e-01 1.81024465e-01 2.15879428e-02 2.69848262e+02] [-1.80986953e-01 9.83478555e-01 -3.69523871e-03 -3.49389298e+01] [-2.19002074e-02 -2.73823452e-04 9.99760124e-01 -8.09317957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93587156 meters Centerline goodness [0,1] 0.9999143615654705 Centerline is valid? [True, True] Translation: X:269.88, Y:-34.94, Z:-8.09 [[ 9.82816006e-01 1.83304379e-01 2.17302219e-02 2.69880018e+02] [-1.83266820e-01 9.83056153e-01 -3.72447868e-03 -3.49391094e+01] [-2.20447416e-02 -3.21951410e-04 9.99756933e-01 -8.09390601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96587156 meters Centerline goodness [0,1] 0.9999150544713202 Centerline is valid? [True, True] Translation: X:269.91, Y:-34.94, Z:-8.10 [[ 9.82662846e-01 1.84166878e-01 2.13609771e-02 2.69910257e+02] [-1.84130776e-01 9.82894933e-01 -3.66179544e-03 -3.49404763e+01] [-2.16699776e-02 -3.34902950e-04 9.99765122e-01 -8.09567708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99587156 meters Centerline goodness [0,1] 0.999872397439442 Centerline is valid? [True, True] Translation: X:269.94, Y:-34.94, Z:-8.10 [[ 9.82558589e-01 1.84748273e-01 2.11351588e-02 2.69940337e+02] [-1.84713055e-01 9.82785815e-01 -3.62353657e-03 -3.49381497e+01] [-2.14407764e-02 -3.43602768e-04 9.99770061e-01 -8.09932021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02587156 meters Centerline goodness [0,1] 0.999872397439442 Centerline is valid? [True, True] Translation: X:269.97, Y:-34.94, Z:-8.10 [[ 9.82566332e-01 1.84707087e-01 2.11351551e-02 2.69968269e+02] [-1.84671858e-01 9.82793556e-01 -3.62355807e-03 -3.49428403e+01] [-2.14407911e-02 -3.42682201e-04 9.99770061e-01 -8.10017484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05587156 meters Centerline goodness [0,1] 0.9996136427053597 Centerline is valid? [True, True] Translation: X:270.00, Y:-34.95, Z:-8.10 [[ 9.82500396e-01 1.85120082e-01 2.05797759e-02 2.69998255e+02] [-1.85086797e-01 9.82715848e-01 -3.52709048e-03 -3.49483833e+01] [-2.08770072e-02 -3.43677018e-04 9.99781992e-01 -8.09690583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08587156 meters Centerline goodness [0,1] 0.9996362624901042 Centerline is valid? [True, True] Translation: X:270.03, Y:-34.95, Z:-8.10 [[ 9.82543533e-01 1.84879434e-01 2.06833304e-02 2.70027207e+02] [-1.84845757e-01 9.82761151e-01 -3.54494723e-03 -3.49523116e+01] [-2.09821614e-02 -3.40160896e-04 9.99779792e-01 -8.10082806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11587156 meters Centerline goodness [0,1] 0.9999150237933379 Centerline is valid? [True, True] Translation: X:270.06, Y:-34.96, Z:-8.10 [[ 9.82770427e-01 1.83632260e-01 2.10114318e-02 2.70056953e+02] [-1.83597233e-01 9.82994960e-01 -3.60065812e-03 -3.49551885e+01] [-2.13153285e-02 -3.19020424e-04 9.99772752e-01 -8.10161445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14587156 meters Centerline goodness [0,1] 0.9997853893038029 Centerline is valid? [True, True] Translation: X:270.09, Y:-34.96, Z:-8.10 [[ 9.82981521e-01 1.82451402e-01 2.14199881e-02 2.70086954e+02] [-1.82414708e-01 9.83214827e-01 -3.67122435e-03 -3.49611223e+01] [-2.17302699e-02 -2.98575159e-04 9.99763825e-01 -8.10082420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17587156 meters Centerline goodness [0,1] 0.9999783004947487 Centerline is valid? [True, True] Translation: X:270.12, Y:-34.97, Z:-8.10 [[ 9.83626047e-01 1.78831790e-01 2.23380814e-02 2.70117210e+02] [-1.78790952e-01 9.83879636e-01 -3.82839489e-03 -3.49697047e+01] [-2.26626221e-02 -2.28137896e-04 9.99743144e-01 -8.09888659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20587156 meters Centerline goodness [0,1] 0.999957457670382 Centerline is valid? [True, True] Translation: X:270.15, Y:-34.98, Z:-8.10 [[ 9.83948209e-01 1.77038831e-01 2.24315415e-02 2.70148005e+02] [-1.76997194e-01 9.84203849e-01 -3.84398864e-03 -3.49752040e+01] [-2.27577447e-02 -1.88034174e-04 9.99740991e-01 -8.10085088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23587156 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:270.18, Y:-34.98, Z:-8.10 [[ 9.84721372e-01 1.72678594e-01 2.24927327e-02 2.70179200e+02] [-1.72635511e-01 9.84978221e-01 -3.85801111e-03 -3.49844278e+01] [-2.28210478e-02 -8.39784023e-05 9.99739562e-01 -8.10004824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.21, Y:-34.99, Z:-8.10 [[ 9.85116993e-01 1.70402423e-01 2.25283006e-02 2.70211501e+02] [-1.70358526e-01 9.85374555e-01 -3.86772405e-03 -3.49936311e+01] [-2.28578838e-02 -2.77274072e-05 9.99738724e-01 -8.10148923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.24, Y:-35.00, Z:-8.10 [[ 9.85500033e-01 1.68159199e-01 2.26311296e-02 2.70243690e+02] [-1.68114204e-01 9.85759850e-01 -3.88993015e-03 -3.50034836e+01] [-2.29629864e-02 2.89119523e-05 9.99736315e-01 -8.10270295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.27, Y:-35.02, Z:-8.10 [[ 9.86276132e-01 1.63528285e-01 2.27572099e-02 2.70272592e+02] [-1.63481440e-01 9.86538636e-01 -3.91649753e-03 -3.50172951e+01] [-2.30913249e-02 1.42366598e-04 9.99733350e-01 -8.10444401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.30, Y:-35.03, Z:-8.11 [[ 9.86607332e-01 1.61562111e-01 2.24422866e-02 2.70303044e+02] [-1.61515952e-01 9.86862527e-01 -3.86639947e-03 -3.50261680e+01] [-2.27721154e-02 1.89830775e-04 9.99740664e-01 -8.10580071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.33, Y:-35.04, Z:-8.11 [[ 9.87066609e-01 1.58857288e-01 2.15376935e-02 2.70333944e+02] [-1.58814105e-01 9.87301526e-01 -3.71174318e-03 -3.50355415e+01] [-2.18538351e-02 2.43248236e-04 9.99761147e-01 -8.10791405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.36, Y:-35.04, Z:-8.11 [[ 9.87145130e-01 1.58471037e-01 2.07706969e-02 2.70364648e+02] [-1.58430715e-01 9.87363596e-01 -3.58311487e-03 -3.50429630e+01] [-2.10760499e-02 2.46338026e-04 9.99777845e-01 -8.11002168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44587156 meters Centerline goodness [0,1] 0.9997626292052394 Centerline is valid? [True, True] Translation: X:270.40, Y:-35.05, Z:-8.11 [[ 9.87171458e-01 1.58427254e-01 1.98322250e-02 2.70395436e+02] [-1.58390425e-01 9.87370623e-01 -3.42424242e-03 -3.50490540e+01] [-2.01242497e-02 2.39079836e-04 9.99797458e-01 -8.11028657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47587156000003 meters Centerline goodness [0,1] 0.9999132471588444 Centerline is valid? [True, True] Translation: X:270.43, Y:-35.05, Z:-8.11 [[ 9.86965358e-01 1.59790874e-01 1.91378958e-02 2.70427457e+02] [-1.59756783e-01 9.87150867e-01 -3.30700673e-03 -3.50526340e+01] [-1.94204200e-02 2.06492407e-04 9.99811385e-01 -8.11092265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.46, Y:-35.06, Z:-8.11 [[ 9.86718779e-01 1.61246942e-01 1.96335348e-02 2.70458409e+02] [-1.61211276e-01 9.86914074e-01 -3.39636918e-03 -3.50580002e+01] [-1.99242660e-02 1.86114041e-04 9.99801475e-01 -8.11419117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53587156000003 meters Centerline goodness [0,1] 0.9999785361665593 Centerline is valid? [True, True] Translation: X:270.49, Y:-35.06, Z:-8.11 [[ 9.86139169e-01 1.64724095e-01 1.98874601e-02 2.70489640e+02] [-1.64688140e-01 9.86339677e-01 -3.44361993e-03 -3.50602826e+01] [-2.01830382e-02 1.20659686e-04 9.99796294e-01 -8.11320017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.52, Y:-35.06, Z:-8.12 [[ 9.85837811e-01 1.66534239e-01 1.97524101e-02 2.70520529e+02] [-1.66499071e-01 9.86035669e-01 -3.42340166e-03 -3.50637643e+01] [-2.00466945e-02 8.61608731e-05 9.99799041e-01 -8.11587467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.55, Y:-35.07, Z:-8.12 [[ 9.85515926e-01 1.68470079e-01 1.93956680e-02 2.70552923e+02] [-1.68436466e-01 9.85706767e-01 -3.36558117e-03 -3.50669966e+01] [-1.96854409e-02 4.98960921e-05 9.99806222e-01 -8.11793664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.59, Y:-35.07, Z:-8.12 [[ 9.85186800e-01 1.70402975e-01 1.92300431e-02 2.70585486e+02] [-1.70370306e-01 9.85374460e-01 -3.33657960e-03 -3.50699340e+01] [-1.95173564e-02 1.09258611e-05 9.99809518e-01 -8.11902691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65587156 meters Centerline goodness [0,1] 0.9998929840332178 Centerline is valid? [True, True] Translation: X:270.62, Y:-35.07, Z:-8.12 [[ 9.84599737e-01 1.73769133e-01 1.91741269e-02 2.70617489e+02] [-1.73737183e-01 9.84786416e-01 -3.33243902e-03 -3.50687491e+01] [-1.94614948e-02 -5.01402220e-05 9.99810606e-01 -8.11768239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.65, Y:-35.07, Z:-8.12 [[ 9.84003312e-01 1.77095034e-01 1.93605614e-02 2.70649377e+02] [-1.77063094e-01 9.84193749e-01 -3.36531977e-03 -3.50693408e+01] [-1.96505250e-02 -1.16555114e-04 9.99806903e-01 -8.12059211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.68, Y:-35.07, Z:-8.12 [[ 9.83724196e-01 1.78657253e-01 1.91909338e-02 2.70680419e+02] [-1.78626158e-01 9.83911360e-01 -3.33629828e-03 -3.50725939e+01] [-1.94782316e-02 -1.46005434e-04 9.99810271e-01 -8.12138534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74587156 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:270.71, Y:-35.07, Z:-8.12 [[ 9.83423242e-01 1.80291104e-01 1.93350709e-02 2.70709991e+02] [-1.80259839e-01 9.83613281e-01 -3.36222890e-03 -3.50741115e+01] [-1.96244125e-02 -1.78842734e-04 9.99807407e-01 -8.12321504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77587156 meters Centerline goodness [0,1] 0.9999785403120238 Centerline is valid? [True, True] Translation: X:270.74, Y:-35.08, Z:-8.12 [[ 9.82976306e-01 1.82731094e-01 1.91553976e-02 2.70740416e+02] [-1.82700877e-01 9.83162904e-01 -3.33062179e-03 -3.50758459e+01] [-1.94414845e-02 -2.25785636e-04 9.99810971e-01 -8.12264623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80587156 meters Centerline goodness [0,1] 0.9999570907530573 Centerline is valid? [True, True] Translation: X:270.77, Y:-35.08, Z:-8.12 [[ 9.82826674e-01 1.83552982e-01 1.89744996e-02 2.70771022e+02] [-1.83523487e-01 9.83009789e-01 -3.29916838e-03 -3.50791469e+01] [-1.92576911e-02 -2.39755658e-04 9.99814525e-01 -8.12338129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83587156 meters Centerline goodness [0,1] 0.9998503474078033 Centerline is valid? [True, True] Translation: X:270.80, Y:-35.08, Z:-8.12 [[ 9.82708299e-01 1.84076179e-01 2.00089945e-02 2.70801210e+02] [-1.84043483e-01 9.82911945e-01 -3.47928146e-03 -3.50816025e+01] [-2.03075325e-02 -2.63406268e-04 9.99793746e-01 -8.12253123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86587156 meters Centerline goodness [0,1] 0.9997855825721514 Centerline is valid? [True, True] Translation: X:270.83, Y:-35.09, Z:-8.12 [[ 9.82782449e-01 1.83626479e-01 2.04932603e-02 2.70830538e+02] [-1.83592097e-01 9.82996057e-01 -3.56284496e-03 -3.50856737e+01] [-2.07990267e-02 -2.60899123e-04 9.99783643e-01 -8.12355284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89587156 meters Centerline goodness [0,1] 0.9998931601102587 Centerline is valid? [True, True] Translation: X:270.86, Y:-35.09, Z:-8.12 [[ 9.82949990e-01 1.82723133e-01 2.05322790e-02 2.70860051e+02] [-1.82688426e-01 9.83164380e-01 -3.56948366e-03 -3.50915096e+01] [-2.08388326e-02 -2.42385800e-04 9.99782819e-01 -8.12475093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92587156 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:270.89, Y:-35.10, Z:-8.13 [[ 9.83384949e-01 1.80363653e-01 2.05668259e-02 2.70888090e+02] [-1.80328331e-01 9.83599977e-01 -3.57459387e-03 -3.50998472e+01] [-2.08742563e-02 -1.93579581e-04 9.99782090e-01 -8.12638877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95587156 meters Centerline goodness [0,1] 0.9996380668511816 Centerline is valid? [True, True] Translation: X:270.92, Y:-35.11, Z:-8.13 [[ 9.83590738e-01 1.79261221e-01 2.03635695e-02 2.70916674e+02] [-1.79226344e-01 9.83801498e-01 -3.53993571e-03 -3.51066828e+01] [-2.06682834e-02 -1.67840124e-04 9.99786374e-01 -8.12528526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98587156 meters Centerline goodness [0,1] 0.999978245262906 Centerline is valid? [True, True] Translation: X:270.95, Y:-35.12, Z:-8.13 [[ 9.84014933e-01 1.76940656e-01 2.01647225e-02 2.70946191e+02] [-1.76905982e-01 9.84221515e-01 -3.50478787e-03 -3.51171705e+01] [-2.04666932e-02 -1.18496433e-04 9.99790528e-01 -8.12905601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01587156 meters Centerline goodness [0,1] 0.9999785149535922 Centerline is valid? [True, True] Translation: X:270.98, Y:-35.12, Z:-8.13 [[ 9.84140895e-01 1.76279984e-01 1.98006706e-02 2.70977081e+02] [-1.76246407e-01 9.84340062e-01 -3.44197034e-03 -3.51239346e+01] [-2.00973438e-02 -1.02413287e-04 9.99798023e-01 -8.12993472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04587156 meters Centerline goodness [0,1] 0.9998490891451978 Centerline is valid? [True, True] Translation: X:271.01, Y:-35.13, Z:-8.13 [[ 9.84329014e-01 1.75264077e-01 1.94652319e-02 2.71007457e+02] [-1.75231448e-01 9.84521456e-01 -3.38274936e-03 -3.51313607e+01] [-1.97568129e-02 -8.11824412e-05 9.99804812e-01 -8.13026033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07587156 meters Centerline goodness [0,1] 0.9999784194397686 Centerline is valid? [True, True] Translation: X:271.04, Y:-35.14, Z:-8.13 [[ 9.84421870e-01 1.74755636e-01 1.93403471e-02 2.71036714e+02] [-1.74723237e-01 9.84611834e-01 -3.36560627e-03 -3.51380067e+01] [-1.96308933e-02 -6.60316243e-05 9.99807293e-01 -8.13424417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10587156 meters Centerline goodness [0,1] 0.9999141686157543 Centerline is valid? [True, True] Translation: X:271.07, Y:-35.14, Z:-8.13 [[ 9.84497440e-01 1.74339202e-01 1.92518180e-02 2.71067867e+02] [-1.74307017e-01 9.84685655e-01 -3.35030359e-03 -3.51443924e+01] [-1.95410783e-02 -5.73616646e-05 9.99809053e-01 -8.13476687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.10, Y:-35.15, Z:-8.13 [[ 9.84561945e-01 1.73929748e-01 1.96524450e-02 2.71099049e+02] [-1.73896148e-01 9.84758062e-01 -3.41902067e-03 -3.51526626e+01] [-1.99475730e-02 -5.12468418e-05 9.99801026e-01 -8.13422565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16587156 meters Centerline goodness [0,1] 0.9997858672376874 Centerline is valid? [True, True] Translation: X:271.13, Y:-35.16, Z:-8.13 [[ 9.84534124e-01 1.74095041e-01 1.95825158e-02 2.71129313e+02] [-1.74061642e-01 9.84728853e-01 -3.41034280e-03 -3.51591240e+01] [-1.98771921e-02 -5.09660023e-05 9.99802428e-01 -8.13246498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.16, Y:-35.17, Z:-8.13 [[ 9.84565722e-01 1.73849556e-01 2.01661004e-02 2.71159153e+02] [-1.73814017e-01 9.84772222e-01 -3.51534003e-03 -3.51671393e+01] [-2.04701558e-02 -4.40676279e-05 9.99790463e-01 -8.13437207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.19, Y:-35.17, Z:-8.14 [[ 9.84555178e-01 1.73896822e-01 2.02730652e-02 2.71190745e+02] [-1.73860851e-01 9.84763877e-01 -3.53704939e-03 -3.51736117e+01] [-2.05792639e-02 -4.22720822e-05 9.99788224e-01 -8.13514043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25587156 meters Centerline goodness [0,1] 0.999914164932083 Centerline is valid? [True, True] Translation: X:271.22, Y:-35.18, Z:-8.13 [[ 9.84581366e-01 1.73765743e-01 2.01246264e-02 2.71223012e+02] [-1.73730206e-01 9.84787015e-01 -3.51425806e-03 -3.51823016e+01] [-2.04291285e-02 -3.61825073e-05 9.99791303e-01 -8.13449646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28587156000003 meters Centerline goodness [0,1] 0.9999786009287197 Centerline is valid? [True, True] Translation: X:271.26, Y:-35.19, Z:-8.14 [[ 9.84557727e-01 1.73901839e-01 2.01055210e-02 2.71255574e+02] [-1.73866317e-01 9.84762991e-01 -3.51488797e-03 -3.51899219e+01] [-2.04104185e-02 -3.50627906e-05 9.99791685e-01 -8.13645866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.29, Y:-35.20, Z:-8.14 [[ 9.84440063e-01 1.74556411e-01 2.01946038e-02 2.71287180e+02] [-1.74520627e-01 9.84647174e-01 -3.53459218e-03 -3.51968150e+01] [-2.05015453e-02 -4.47807786e-05 9.99789820e-01 -8.13800834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.32, Y:-35.20, Z:-8.14 [[ 9.84293640e-01 1.75344680e-01 2.05005748e-02 2.71320061e+02] [-1.75307897e-01 9.84507105e-01 -3.59186514e-03 -3.52030419e+01] [-2.08127760e-02 -5.84626346e-05 9.99783389e-01 -8.13838579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.35, Y:-35.21, Z:-8.14 [[ 9.84136275e-01 1.76204828e-01 2.06797191e-02 2.71351913e+02] [-1.76167500e-01 9.84353520e-01 -3.62748787e-03 -3.52086815e+01] [-2.09953351e-02 -7.31520001e-05 9.99779571e-01 -8.13938173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.38, Y:-35.21, Z:-8.14 [[ 9.83761153e-01 1.78297453e-01 2.05915651e-02 2.71384019e+02] [-1.78260821e-01 9.83976628e-01 -3.61587763e-03 -3.52143899e+01] [-2.09063206e-02 -1.13509350e-04 9.99781433e-01 -8.13985489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43587156 meters Centerline goodness [0,1] 0.9998715835883826 Centerline is valid? [True, True] Translation: X:271.42, Y:-35.22, Z:-8.14 [[ 9.83498157e-01 1.79788473e-01 2.01861439e-02 2.71416250e+02] [-1.79753514e-01 9.83705284e-01 -3.54807024e-03 -3.52189440e+01] [-2.04951185e-02 -1.39009748e-04 9.99789943e-01 -8.13908846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46587156 meters Centerline goodness [0,1] 0.9997637609260571 Centerline is valid? [True, True] Translation: X:271.45, Y:-35.22, Z:-8.14 [[ 9.82946956e-01 1.82862748e-01 1.94035538e-02 2.71447436e+02] [-1.82830981e-01 9.83138433e-01 -3.41379134e-03 -3.52211013e+01] [-1.97006348e-02 -1.91994961e-04 9.99805905e-01 -8.14226047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49587156 meters Centerline goodness [0,1] 0.9999357835477449 Centerline is valid? [True, True] Translation: X:271.48, Y:-35.22, Z:-8.15 [[ 9.82666412e-01 1.84401761e-01 1.90450434e-02 2.71477829e+02] [-1.84371367e-01 9.82850927e-01 -3.35480503e-03 -3.52248512e+01] [-1.93370705e-02 -2.14706457e-04 9.99812998e-01 -8.14606302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52587156 meters Centerline goodness [0,1] 0.999935938500961 Centerline is valid? [True, True] Translation: X:271.51, Y:-35.23, Z:-8.15 [[ 9.82356874e-01 1.86022840e-01 1.92477104e-02 2.71507989e+02] [-1.85992075e-01 9.82545389e-01 -3.39207091e-03 -3.52286757e+01] [-1.95427518e-02 -2.47697426e-04 9.99808992e-01 -8.14695005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55587156 meters Centerline goodness [0,1] 0.9998277643816741 Centerline is valid? [True, True] Translation: X:271.54, Y:-35.23, Z:-8.15 [[ 9.81843253e-01 1.88622993e-01 2.01294179e-02 2.71537992e+02] [-1.88589891e-01 9.82049525e-01 -3.54745636e-03 -3.52323961e+01] [-2.04372171e-02 -3.13158624e-04 9.99791089e-01 -8.14553565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58587156 meters Centerline goodness [0,1] 0.9998274039395051 Centerline is valid? [True, True] Translation: X:271.57, Y:-35.24, Z:-8.14 [[ 9.81620155e-01 1.89736679e-01 2.05393155e-02 2.71568948e+02] [-1.89702464e-01 9.81834953e-01 -3.61946376e-03 -3.52382024e+01] [-2.08529629e-02 -3.43420195e-04 9.99782494e-01 -8.14489548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61587156 meters Centerline goodness [0,1] 0.9996348248233197 Centerline is valid? [True, True] Translation: X:271.60, Y:-35.24, Z:-8.15 [[ 9.81344424e-01 1.91097652e-01 2.10905091e-02 2.71599006e+02] [-1.91061875e-01 9.81570956e-01 -3.71725364e-03 -3.52407941e+01] [-2.14121896e-02 -3.81686083e-04 9.99770660e-01 -8.14573875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64587156 meters Centerline goodness [0,1] 0.9998293151269468 Centerline is valid? [True, True] Translation: X:271.63, Y:-35.25, Z:-8.15 [[ 9.81284149e-01 1.91444393e-01 2.07476112e-02 2.71628737e+02] [-1.91409841e-01 9.81503387e-01 -3.65718095e-03 -3.52467309e+01] [-2.10639974e-02 -3.82563254e-04 9.99778056e-01 -8.14675643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67587156 meters Centerline goodness [0,1] 0.9998933606330113 Centerline is valid? [True, True] Translation: X:271.66, Y:-35.25, Z:-8.15 [[ 9.81263361e-01 1.91590207e-01 2.03815779e-02 2.71658592e+02] [-1.91556894e-01 9.81474936e-01 -3.59266028e-03 -3.52526853e+01] [-2.06923264e-02 -3.78885868e-04 9.99785819e-01 -8.14817494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70587156 meters Centerline goodness [0,1] 0.9998520021988245 Centerline is valid? [True, True] Translation: X:271.69, Y:-35.26, Z:-8.15 [[ 9.81289411e-01 1.91474086e-01 2.02179889e-02 2.71687803e+02] [-1.91441284e-01 9.81497598e-01 -3.56370442e-03 -3.52572739e+01] [-2.05262646e-02 -3.73532355e-04 9.99789244e-01 -8.15100125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73587156 meters Centerline goodness [0,1] 0.9995489884455135 Centerline is valid? [True, True] Translation: X:271.72, Y:-35.26, Z:-8.15 [[ 9.81302965e-01 1.91420093e-01 2.00708510e-02 2.71717846e+02] [-1.91387747e-01 9.81508131e-01 -3.53814245e-03 -3.52632152e+01] [-2.03769750e-02 -3.69325278e-04 9.99792300e-01 -8.14967308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76587156 meters Centerline goodness [0,1] 0.9997855917667239 Centerline is valid? [True, True] Translation: X:271.75, Y:-35.27, Z:-8.15 [[ 9.81314855e-01 1.91277519e-01 2.08342460e-02 2.71747955e+02] [-1.91242639e-01 9.81535922e-01 -3.67249583e-03 -3.52720855e+01] [-2.11520267e-02 -3.80521452e-04 9.99776198e-01 -8.15075587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79587156 meters Centerline goodness [0,1] 0.9997850525546503 Centerline is valid? [True, True] Translation: X:271.78, Y:-35.28, Z:-8.15 [[ 9.81232605e-01 1.91677430e-01 2.10318344e-02 2.71778062e+02] [-1.91641971e-01 9.81457900e-01 -3.70757891e-03 -3.52761501e+01] [-2.13525192e-02 -3.92584894e-04 9.99771932e-01 -8.15176330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82587156 meters Centerline goodness [0,1] 0.9997401472498917 Centerline is valid? [True, True] Translation: X:271.81, Y:-35.28, Z:-8.15 [[ 9.81028381e-01 1.92647905e-01 2.16818096e-02 2.71809311e+02] [-1.92610450e-01 9.81267855e-01 -3.82249024e-03 -3.52830711e+01] [-2.20120576e-02 -4.26171685e-04 9.99757614e-01 -8.15037562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85587156 meters Centerline goodness [0,1] 0.9996149650259899 Centerline is valid? [True, True] Translation: X:271.84, Y:-35.29, Z:-8.15 [[ 9.80923732e-01 1.93136116e-01 2.20697111e-02 2.71840402e+02] [-1.93097342e-01 9.81171874e-01 -3.89491805e-03 -3.52871136e+01] [-2.24064292e-02 -4.40985015e-04 9.99748847e-01 -8.15160455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88587156 meters Centerline goodness [0,1] 0.9995330276787231 Centerline is valid? [True, True] Translation: X:271.87, Y:-35.29, Z:-8.15 [[ 9.80906651e-01 1.93207767e-01 2.22013826e-02 2.71871129e+02] [-1.93168443e-01 9.81157767e-01 -3.92279324e-03 -3.52929503e+01] [-2.25409732e-02 -4.40712532e-04 9.99745823e-01 -8.15234380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91587156 meters Centerline goodness [0,1] 0.9995510902094913 Centerline is valid? [True, True] Translation: X:271.90, Y:-35.30, Z:-8.15 [[ 9.80926096e-01 1.93096275e-01 2.23119674e-02 2.71901363e+02] [-1.93056516e-01 9.81179716e-01 -3.94287733e-03 -3.52994114e+01] [-2.26534047e-02 -4.39799422e-04 9.99743282e-01 -8.15315483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94587156 meters Centerline goodness [0,1] 0.9995510902094913 Centerline is valid? [True, True] Translation: X:271.93, Y:-35.30, Z:-8.15 [[ 9.80921588e-01 1.93119184e-01 2.23118752e-02 2.71931711e+02] [-1.93079420e-01 9.81175207e-01 -3.94339887e-03 -3.53048199e+01] [-2.26534047e-02 -4.39798841e-04 9.99743282e-01 -8.15408507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97587156000003 meters Centerline goodness [0,1] 0.999763907967033 Centerline is valid? [True, True] Translation: X:271.96, Y:-35.31, Z:-8.15 [[ 9.81013206e-01 1.92642527e-01 2.24041432e-02 2.71961956e+02] [-1.92602296e-01 9.81268909e-01 -3.96024900e-03 -3.53113793e+01] [-2.27474015e-02 -4.30032853e-04 9.99741152e-01 -8.15437200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00587156 meters Centerline goodness [0,1] 0.9996584553643855 Centerline is valid? [True, True] Translation: X:271.99, Y:-35.32, Z:-8.16 [[ 9.81039097e-01 1.92496794e-01 2.25227743e-02 2.71993117e+02] [-1.92456085e-01 9.81297509e-01 -3.98176418e-03 -3.53167674e+01] [-2.28680192e-02 -4.28378650e-04 9.99738401e-01 -8.15501462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03587156000003 meters Centerline goodness [0,1] 0.999551942648659 Centerline is valid? [True, True] Translation: X:272.02, Y:-35.32, Z:-8.15 [[ 9.81025281e-01 1.92558569e-01 2.25963841e-02 2.72023311e+02] [-1.92517595e-01 9.81285388e-01 -3.99540853e-03 -3.53219617e+01] [-2.29428517e-02 -4.30604763e-04 9.99736685e-01 -8.15470356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06587156 meters Centerline goodness [0,1] 0.9996807355852116 Centerline is valid? [True, True] Translation: X:272.05, Y:-35.33, Z:-8.16 [[ 9.81034443e-01 1.92529832e-01 2.24429237e-02 2.72053008e+02] [-1.92489407e-01 9.81291028e-01 -3.96822367e-03 -3.53278916e+01] [-2.27870411e-02 -4.27060969e-04 9.99740250e-01 -8.15755320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09587156000003 meters Centerline goodness [0,1] 0.9998933219543418 Centerline is valid? [True, True] Translation: X:272.08, Y:-35.33, Z:-8.16 [[ 9.81014563e-01 1.92671314e-01 2.20950712e-02 2.72083665e+02] [-1.92632136e-01 9.81263261e-01 -3.90815958e-03 -3.53332182e+01] [-2.24340718e-02 -4.22259294e-04 9.99748235e-01 -8.15872129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12587156 meters Centerline goodness [0,1] 0.9997195979465942 Centerline is valid? [True, True] Translation: X:272.11, Y:-35.34, Z:-8.16 [[ 9.80857428e-01 1.93457983e-01 2.21971833e-02 2.72113041e+02] [-1.93418625e-01 9.81108462e-01 -3.92702047e-03 -3.53353716e+01] [-2.25375578e-02 -4.41501475e-04 9.99745899e-01 -8.16043771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15587156 meters Centerline goodness [0,1] 0.9998078770413065 Centerline is valid? [True, True] Translation: X:272.14, Y:-35.34, Z:-8.16 [[ 9.80768395e-01 1.93896970e-01 2.23006889e-02 2.72142022e+02] [-1.93857364e-01 9.81021793e-01 -3.94506476e-03 -3.53388411e+01] [-2.26423979e-02 -4.53957941e-04 9.99743525e-01 -8.16097572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18587156 meters Centerline goodness [0,1] 0.9995485133188571 Centerline is valid? [True, True] Translation: X:272.17, Y:-35.34, Z:-8.16 [[ 9.80603904e-01 1.94733775e-01 2.22427744e-02 2.72171814e+02] [-1.94694594e-01 9.80856021e-01 -3.93464695e-03 -3.53400121e+01] [-2.25831679e-02 -4.72217769e-04 9.99744856e-01 -8.16243700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21587156 meters Centerline goodness [0,1] 0.9996565860359297 Centerline is valid? [True, True] Translation: X:272.20, Y:-35.34, Z:-8.16 [[ 9.80618711e-01 1.94663819e-01 2.22022679e-02 2.72200317e+02] [-1.94624771e-01 9.80869908e-01 -3.92705318e-03 -3.53429226e+01] [-2.25419916e-02 -4.70169477e-04 9.99745786e-01 -8.16432933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24587156 meters Centerline goodness [0,1] 0.9996774401651506 Centerline is valid? [True, True] Translation: X:272.23, Y:-35.35, Z:-8.17 [[ 9.80679497e-01 1.94389240e-01 2.19214055e-02 2.72229380e+02] [-1.94351125e-01 9.80924366e-01 -3.87654088e-03 -3.53479478e+01] [-2.22567986e-02 -4.58805647e-04 9.99752181e-01 -8.16585911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27587156 meters Centerline goodness [0,1] 0.9996772527756261 Centerline is valid? [True, True] Translation: X:272.26, Y:-35.35, Z:-8.17 [[ 9.80908353e-01 1.93282977e-01 2.14591047e-02 2.72257348e+02] [-1.93246199e-01 9.81142961e-01 -3.79430366e-03 -3.53530326e+01] [-2.17878238e-02 -4.25026242e-04 9.99762527e-01 -8.16814404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30587156 meters Centerline goodness [0,1] 0.999786009287197 Centerline is valid? [True, True] Translation: X:272.29, Y:-35.36, Z:-8.17 [[ 9.81038883e-01 1.92621661e-01 2.14384357e-02 2.72287104e+02] [-1.92584810e-01 9.81273014e-01 -3.78996728e-03 -3.53597082e+01] [-2.17669882e-02 -4.10611796e-04 9.99762987e-01 -8.16831391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33587156 meters Centerline goodness [0,1] 0.9997886907277491 Centerline is valid? [True, True] Translation: X:272.32, Y:-35.36, Z:-8.17 [[ 9.81297224e-01 1.91385444e-01 2.06729335e-02 2.72316947e+02] [-1.91350901e-01 9.81514888e-01 -3.65474575e-03 -3.53623258e+01] [-2.09902572e-02 -3.69392602e-04 9.99779612e-01 -8.17170986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36587156 meters Centerline goodness [0,1] 0.9998515093018816 Centerline is valid? [True, True] Translation: X:272.35, Y:-35.37, Z:-8.17 [[ 9.81352039e-01 1.91119920e-01 2.05268570e-02 2.72346230e+02] [-1.91085809e-01 9.81566628e-01 -3.62877986e-03 -3.53677363e+01] [-2.08420099e-02 -3.61280558e-04 9.99782716e-01 -8.17328189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39587156 meters Centerline goodness [0,1] 0.999957483897026 Centerline is valid? [True, True] Translation: X:272.38, Y:-35.37, Z:-8.17 [[ 9.81433614e-01 1.90736408e-01 2.01911971e-02 2.72375367e+02] [-1.90703332e-01 9.81641229e-01 -3.56899343e-03 -3.53720964e+01] [-2.05012485e-02 -3.47798426e-04 9.99789767e-01 -8.17478229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42587156 meters Centerline goodness [0,1] 0.9999143982194829 Centerline is valid? [True, True] Translation: X:272.40, Y:-35.38, Z:-8.17 [[ 9.81417009e-01 1.90847352e-01 1.99485158e-02 2.72404451e+02] [-1.90815097e-01 9.81619666e-01 -3.52567007e-03 -3.53772922e+01] [-2.02547202e-02 -3.46325408e-04 9.99794792e-01 -8.17467397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45587156 meters Centerline goodness [0,1] 0.9998502577705521 Centerline is valid? [True, True] Translation: X:272.43, Y:-35.38, Z:-8.18 [[ 9.81380102e-01 1.91026183e-01 2.00522599e-02 2.72434362e+02] [-1.90993639e-01 9.81584878e-01 -3.54352024e-03 -3.53809791e+01] [-2.03599002e-02 -3.52313826e-04 9.99792654e-01 -8.17550270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48587156 meters Centerline goodness [0,1] 0.9998079016456426 Centerline is valid? [True, True] Translation: X:272.46, Y:-35.38, Z:-8.17 [[ 9.81225400e-01 1.91735490e-01 2.08378386e-02 2.72464665e+02] [-1.91700517e-01 9.81446563e-01 -3.68181935e-03 -3.53826809e+01] [-2.11571605e-02 -3.81929772e-04 9.99776089e-01 -8.17447960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51587156 meters Centerline goodness [0,1] 0.9998510035971989 Centerline is valid? [True, True] Translation: X:272.49, Y:-35.38, Z:-8.18 [[ 9.81179354e-01 1.91944689e-01 2.10786881e-02 2.72493975e+02] [-1.91908962e-01 9.81405667e-01 -3.72386664e-03 -3.53811347e+01] [-2.14015204e-02 -3.91408082e-04 9.99770885e-01 -8.17700514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54587156 meters Centerline goodness [0,1] 0.9998067840274796 Centerline is valid? [True, True] Translation: X:272.52, Y:-35.39, Z:-8.17 [[ 9.81151428e-01 1.91971376e-01 2.21103125e-02 2.72523510e+02] [-1.91932085e-01 9.81400439e-01 -3.90554236e-03 -3.53874990e+01] [-2.24488227e-02 -4.11749916e-04 9.99747909e-01 -8.17381709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57587156 meters Centerline goodness [0,1] 0.999679418679205 Centerline is valid? [True, True] Translation: X:272.55, Y:-35.39, Z:-8.17 [[ 9.81185020e-01 1.91735947e-01 2.26557372e-02 2.72552549e+02] [-1.91694644e-01 9.81446459e-01 -4.00132815e-03 -3.53916370e+01] [-2.30025915e-02 -4.16940243e-04 9.99735318e-01 -8.17366751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60587156 meters Centerline goodness [0,1] 0.9995736880248967 Centerline is valid? [True, True] Translation: X:272.58, Y:-35.40, Z:-8.17 [[ 9.81187133e-01 1.91657694e-01 2.32193335e-02 2.72582269e+02] [-1.91614302e-01 9.81461740e-01 -4.10029462e-03 -3.53953141e+01] [-2.35747404e-02 -4.26000052e-04 9.99721986e-01 -8.17207599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63587156 meters Centerline goodness [0,1] 0.9997648266130756 Centerline is valid? [True, True] Translation: X:272.61, Y:-35.40, Z:-8.17 [[ 9.81227694e-01 1.91486611e-01 2.29148542e-02 2.72612191e+02] [-1.91444320e-01 9.81495137e-01 -4.04581553e-03 -3.54006928e+01] [-2.32655374e-02 -4.17052432e-04 9.99729234e-01 -8.17431557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66587156 meters Centerline goodness [0,1] 0.9998495852851433 Centerline is valid? [True, True] Translation: X:272.64, Y:-35.40, Z:-8.18 [[ 9.81205602e-01 1.91638851e-01 2.25857633e-02 2.72641108e+02] [-1.91597800e-01 9.81465424e-01 -3.98797310e-03 -3.54027038e+01] [-2.29313964e-02 -4.14361021e-04 9.99736955e-01 -8.17615323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69587156 meters Centerline goodness [0,1] 0.9999137986768097 Centerline is valid? [True, True] Translation: X:272.67, Y:-35.41, Z:-8.18 [[ 9.81186771e-01 1.91776196e-01 2.22353639e-02 2.72670435e+02] [-1.91736465e-01 9.81438598e-01 -3.92520978e-03 -3.54053337e+01] [-2.25754061e-02 -4.11966150e-04 9.99745058e-01 -8.17787281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72587156000003 meters Centerline goodness [0,1] 0.9998715175913832 Centerline is valid? [True, True] Translation: X:272.70, Y:-35.41, Z:-8.18 [[ 9.81214916e-01 1.91674299e-01 2.18689545e-02 2.72699839e+02] [-1.91635853e-01 9.81458507e-01 -3.86000879e-03 -3.54084539e+01] [-2.22033359e-02 -4.03377545e-04 9.99753394e-01 -8.17966451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75587156 meters Centerline goodness [0,1] 0.9999353113679489 Centerline is valid? [True, True] Translation: X:272.73, Y:-35.41, Z:-8.18 [[ 9.81290523e-01 1.91316839e-01 2.16050171e-02 2.72729151e+02] [-1.91279239e-01 9.81528254e-01 -3.81291359e-03 -3.54115649e+01] [-2.19354092e-02 -3.91015260e-04 9.99759313e-01 -8.18023365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78587156000003 meters Centerline goodness [0,1] 0.9998932011876028 Centerline is valid? [True, True] Translation: X:272.76, Y:-35.41, Z:-8.18 [[ 9.81372504e-01 1.90905045e-01 2.15237645e-02 2.72757856e+02] [-1.90867638e-01 9.81608435e-01 -3.79814230e-03 -3.54146427e+01] [-2.18529933e-02 -3.80797688e-04 9.99761122e-01 -8.18152272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81587156 meters Centerline goodness [0,1] 0.9998927705934075 Centerline is valid? [True, True] Translation: X:272.79, Y:-35.42, Z:-8.18 [[ 9.81617194e-01 1.89575227e-01 2.21114972e-02 2.72786576e+02] [-1.89535429e-01 9.81866133e-01 -3.90110020e-03 -3.54180964e+01] [-2.24500822e-02 -3.61525074e-04 9.99747900e-01 -8.18093670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84587156000003 meters Centerline goodness [0,1] 0.9998497209102619 Centerline is valid? [True, True] Translation: X:272.81, Y:-35.42, Z:-8.18 [[ 9.81753030e-01 1.88823227e-01 2.25116950e-02 2.72814937e+02] [-1.88781805e-01 9.82011031e-01 -3.97048820e-03 -3.54221952e+01] [-2.28564532e-02 -3.51759585e-04 9.99738695e-01 -8.18156402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87587156 meters Centerline goodness [0,1] 0.9998924754306359 Centerline is valid? [True, True] Translation: X:272.84, Y:-35.43, Z:-8.18 [[ 9.81906347e-01 1.88011374e-01 2.26196702e-02 2.72843817e+02] [-1.87969360e-01 9.82166794e-01 -3.98861321e-03 -3.54277587e+01] [-2.29661936e-02 -3.35360304e-04 9.99736186e-01 -8.18178900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90587156 meters Centerline goodness [0,1] 0.9999364272091544 Centerline is valid? [True, True] Translation: X:272.87, Y:-35.43, Z:-8.18 [[ 9.82207756e-01 1.86401909e-01 2.28528468e-02 2.72872949e+02] [-1.86358601e-01 9.82473530e-01 -4.02915618e-03 -3.54303116e+01] [-2.32033595e-02 -3.01356109e-04 9.99730720e-01 -8.18302400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93587156 meters Centerline goodness [0,1] 0.9998936034387369 Centerline is valid? [True, True] Translation: X:272.90, Y:-35.43, Z:-8.18 [[ 9.82320703e-01 1.85793186e-01 2.29549110e-02 2.72901811e+02] [-1.85749338e-01 9.82588830e-01 -4.04658069e-03 -3.54349539e+01] [-2.33070663e-02 -2.88819539e-04 9.99728312e-01 -8.18338603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96587156 meters Centerline goodness [0,1] 0.9999133936690772 Centerline is valid? [True, True] Translation: X:272.93, Y:-35.44, Z:-8.18 [[ 9.82562463e-01 1.84468904e-01 2.32858329e-02 2.72931349e+02] [-1.84423424e-01 9.82838316e-01 -4.10434656e-03 -3.54398477e+01] [-2.36433331e-02 -2.61676170e-04 9.99720423e-01 -8.18289660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99587156 meters Centerline goodness [0,1] 0.9998934333638825 Centerline is valid? [True, True] Translation: X:272.96, Y:-35.44, Z:-8.18 [[ 9.82682551e-01 1.83791951e-01 2.35695290e-02 2.72959858e+02] [-1.83745176e-01 9.82965135e-01 -4.15373996e-03 -3.54437160e+01] [-2.39314492e-02 -2.48979468e-04 9.99713571e-01 -8.18405641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02587156 meters Centerline goodness [0,1] 0.999891922270497 Centerline is valid? [True, True] Translation: X:272.99, Y:-35.45, Z:-8.18 [[ 9.83144076e-01 1.81317690e-01 2.34866070e-02 2.72989666e+02] [-1.81270554e-01 9.83424557e-01 -4.13842587e-03 -3.54517037e+01] [-2.38476759e-02 -1.88761385e-04 9.99715586e-01 -8.18435623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.02, Y:-35.46, Z:-8.19 [[ 9.83449377e-01 1.79668460e-01 2.33787967e-02 2.73018605e+02] [-1.79621288e-01 9.83727209e-01 -4.11950802e-03 -3.54576634e+01] [-2.37385041e-02 -1.48001979e-04 9.99718191e-01 -8.18640957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.05, Y:-35.47, Z:-8.19 [[ 9.83794159e-01 1.77753335e-01 2.35117889e-02 2.73048656e+02] [-1.77705086e-01 9.84075069e-01 -4.14257036e-03 -3.54652873e+01] [-2.38737210e-02 -1.02727960e-04 9.99714977e-01 -8.18757653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.08, Y:-35.48, Z:-8.19 [[ 9.84550784e-01 1.73584756e-01 2.29801213e-02 2.73078033e+02] [-1.73537532e-01 9.84818934e-01 -4.04872778e-03 -3.54763983e+01] [-2.33340559e-02 -1.73542656e-06 9.99727724e-01 -8.18872390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14587156 meters Centerline goodness [0,1] 0.9997840452641127 Centerline is valid? [True, True] Translation: X:273.11, Y:-35.49, Z:-8.19 [[ 9.84844177e-01 1.71944045e-01 2.27418509e-02 2.73108471e+02] [-1.71897367e-01 9.85106717e-01 -4.00635873e-03 -3.54850564e+01] [-2.30920197e-02 3.63747671e-05 9.99733343e-01 -8.18897504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.14, Y:-35.50, Z:-8.19 [[ 9.85440413e-01 1.68539981e-01 2.23934575e-02 2.73139047e+02] [-1.68493765e-01 9.85694811e-01 -3.94842846e-03 -3.54964115e+01] [-2.27385829e-02 1.17783009e-04 9.99741438e-01 -8.19189399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.17, Y:-35.50, Z:-8.19 [[ 9.85621915e-01 1.67534032e-01 2.19496691e-02 2.73169972e+02] [-1.67489298e-01 9.85866283e-01 -3.87388298e-03 -3.55040495e+01] [-2.22884459e-02 1.41849286e-04 9.99751572e-01 -8.19399532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.20, Y:-35.51, Z:-8.20 [[ 9.85760101e-01 1.66750772e-01 2.17072000e-02 2.73200529e+02] [-1.66706747e-01 9.85999064e-01 -3.83490736e-03 -3.55125502e+01] [-2.20427527e-02 1.61561967e-04 9.99757016e-01 -8.19607284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.23, Y:-35.52, Z:-8.20 [[ 9.85888924e-01 1.65968913e-01 2.18483278e-02 2.73231828e+02] [-1.65924045e-01 9.86130968e-01 -3.86331026e-03 -3.55211248e+01] [-2.21865021e-02 1.83631858e-04 9.99753832e-01 -8.19699426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.26, Y:-35.53, Z:-8.20 [[ 9.86016598e-01 1.65239905e-01 2.16111364e-02 2.73262960e+02] [-1.65195753e-01 9.86253382e-01 -3.82492193e-03 -3.55307292e+01] [-2.19460861e-02 2.01368547e-04 9.99759135e-01 -8.19755534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.29, Y:-35.54, Z:-8.20 [[ 9.85914808e-01 1.65832589e-01 2.17150638e-02 2.73294105e+02] [-1.65788075e-01 9.86153900e-01 -3.84691915e-03 -3.55396066e+01] [-2.20523395e-02 1.92635919e-04 9.99756799e-01 -8.19927869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.33, Y:-35.54, Z:-8.20 [[ 9.85810764e-01 1.66463580e-01 2.16104864e-02 2.73326531e+02] [-1.66419564e-01 9.86047587e-01 -3.83210749e-03 -3.55446939e+01] [-2.19468743e-02 1.81325089e-04 9.99759122e-01 -8.19892734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.36, Y:-35.55, Z:-8.20 [[ 9.85655093e-01 1.67396423e-01 2.15052271e-02 2.73358100e+02] [-1.67352961e-01 9.85889654e-01 -3.81780385e-03 -3.55516301e+01] [-2.18408676e-02 1.64074374e-04 9.99761446e-01 -8.20038562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.39, Y:-35.56, Z:-8.20 [[ 9.85501041e-01 1.68326589e-01 2.13039378e-02 2.73390226e+02] [-1.68284071e-01 9.85731271e-01 -3.78591710e-03 -3.55581074e+01] [-2.16372282e-02 1.45911856e-04 9.99765877e-01 -8.20196747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.42, Y:-35.56, Z:-8.20 [[ 9.85114253e-01 1.70576321e-01 2.12985171e-02 2.73421551e+02] [-1.70534257e-01 9.85344462e-01 -3.78929208e-03 -3.55635408e+01] [-2.16327394e-02 1.00758842e-04 9.99765980e-01 -8.20213573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.45, Y:-35.57, Z:-8.20 [[ 9.84531558e-01 1.73888059e-01 2.14605488e-02 2.73452278e+02] [-1.73846041e-01 9.84765425e-01 -3.82255615e-03 -3.55684426e+01] [-2.17983034e-02 3.25957004e-05 9.99762388e-01 -8.20352203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.48, Y:-35.57, Z:-8.20 [[ 9.84202333e-01 1.75756104e-01 2.13438396e-02 2.73483998e+02] [-1.75714949e-01 9.84433742e-01 -3.80327256e-03 -3.55738883e+01] [-2.16800442e-02 -7.24196586e-06 9.99764960e-01 -8.20398013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.51, Y:-35.58, Z:-8.20 [[ 9.83821082e-01 1.77857026e-01 2.15164351e-02 2.73514105e+02] [-1.77815593e-01 9.84056338e-01 -3.83913007e-03 -3.55779370e+01] [-2.18562006e-02 -4.89405518e-05 9.99761124e-01 -8.20443910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56587156 meters Centerline goodness [0,1] 0.9999786356741514 Centerline is valid? [True, True] Translation: X:273.54, Y:-35.58, Z:-8.20 [[ 9.83002977e-01 1.82248231e-01 2.21523923e-02 2.73544371e+02] [-1.82205416e-01 9.83252541e-01 -3.95307209e-03 -3.55781243e+01] [-2.25018364e-02 -1.50404217e-04 9.99746790e-01 -8.20450171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.57, Y:-35.58, Z:-8.20 [[ 9.82536599e-01 1.84722798e-01 2.23454466e-02 2.73574835e+02] [-1.84679881e-01 9.82790641e-01 -3.98715710e-03 -3.55815321e+01] [-2.26974146e-02 -2.09226627e-04 9.99742359e-01 -8.20478011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62587156 meters Centerline goodness [0,1] 0.9999357161223965 Centerline is valid? [True, True] Translation: X:273.60, Y:-35.58, Z:-8.21 [[ 9.82102173e-01 1.86995105e-01 2.25422278e-02 2.73604070e+02] [-1.86952025e-01 9.82360810e-01 -4.02235714e-03 -3.55836451e+01] [-2.28967623e-02 -2.63949444e-04 9.99737800e-01 -8.20534890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65587156 meters Centerline goodness [0,1] 0.9999577952224192 Centerline is valid? [True, True] Translation: X:273.63, Y:-35.58, Z:-8.21 [[ 9.81318610e-01 1.91078540e-01 2.24226780e-02 2.73633422e+02] [-1.91036983e-01 9.81574686e-01 -4.00092497e-03 -3.55830492e+01] [-2.27740240e-02 -3.57378631e-04 9.99740574e-01 -8.20700161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68587156 meters Centerline goodness [0,1] 0.999935747788653 Centerline is valid? [True, True] Translation: X:273.66, Y:-35.59, Z:-8.21 [[ 9.80972957e-01 1.92898855e-01 2.19565504e-02 2.73662375e+02] [-1.92859482e-01 9.81218568e-01 -3.91689272e-03 -3.55878539e+01] [-2.22997391e-02 -3.92163117e-04 9.99751253e-01 -8.20794737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71587156 meters Centerline goodness [0,1] 0.999892422221266 Centerline is valid? [True, True] Translation: X:273.69, Y:-35.59, Z:-8.21 [[ 9.80412203e-01 1.95780875e-01 2.14886191e-02 2.73691036e+02] [-1.95743863e-01 9.80647566e-01 -3.83300270e-03 -3.55885386e+01] [-2.18231906e-02 -4.48342693e-04 9.99761745e-01 -8.20955478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74587156 meters Centerline goodness [0,1] 0.9997211198112196 Centerline is valid? [True, True] Translation: X:273.72, Y:-35.59, Z:-8.21 [[ 9.80169091e-01 1.96985354e-01 2.15713729e-02 2.73720211e+02] [-1.96948364e-01 9.80406315e-01 -3.84705868e-03 -3.55913004e+01] [-2.19065244e-02 -4.77678588e-04 9.99759909e-01 -8.20897716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77587156 meters Centerline goodness [0,1] 0.999828646089918 Centerline is valid? [True, True] Translation: X:273.75, Y:-35.59, Z:-8.21 [[ 9.79987248e-01 1.97880958e-01 2.16360833e-02 2.73747908e+02] [-1.97843984e-01 9.80225931e-01 -3.85763914e-03 -3.55916578e+01] [-2.19716032e-02 -5.00131755e-04 9.99758470e-01 -8.21203331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80587156 meters Centerline goodness [0,1] 0.9996562983330469 Centerline is valid? [True, True] Translation: X:273.78, Y:-35.60, Z:-8.21 [[ 9.79982547e-01 1.97893557e-01 2.17335526e-02 2.73776479e+02] [-1.97856284e-01 9.80223386e-01 -3.87360955e-03 -3.55972258e+01] [-2.20702989e-02 -5.04050209e-04 9.99756294e-01 -8.21046420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83587156 meters Centerline goodness [0,1] 0.9996562983330469 Centerline is valid? [True, True] Translation: X:273.80, Y:-35.60, Z:-8.21 [[ 9.79991788e-01 1.97847773e-01 2.17337342e-02 2.73804381e+02] [-1.97810511e-01 9.80232628e-01 -3.87259069e-03 -3.56021075e+01] [-2.20702988e-02 -5.04053984e-04 9.99756294e-01 -8.21131891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86587156 meters Centerline goodness [0,1] 0.9998931738062173 Centerline is valid? [True, True] Translation: X:273.83, Y:-35.61, Z:-8.21 [[ 9.80155104e-01 1.97017814e-01 2.19078331e-02 2.73831408e+02] [-1.96979768e-01 9.80399786e-01 -3.90263648e-03 -3.56075982e+01] [-2.22473238e-02 -4.90210810e-04 9.99752377e-01 -8.21338205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89587156 meters Centerline goodness [0,1] 0.9997432770682241 Centerline is valid? [True, True] Translation: X:273.86, Y:-35.61, Z:-8.21 [[ 9.80432345e-01 1.95499505e-01 2.30729528e-02 2.73860265e+02] [-1.95456923e-01 9.80703682e-01 -4.10847352e-03 -3.56149675e+01] [-2.34309343e-02 -4.81688051e-04 9.99725342e-01 -8.21053745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92587156 meters Centerline goodness [0,1] 0.9998913350574837 Centerline is valid? [True, True] Translation: X:273.89, Y:-35.62, Z:-8.21 [[ 9.80643614e-01 1.94382799e-01 2.35250824e-02 2.73887785e+02] [-1.94338219e-01 9.80925640e-01 -4.18862651e-03 -3.56196518e+01] [-2.38905534e-02 -4.64272773e-04 9.99714472e-01 -8.21218263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95587156 meters Centerline goodness [0,1] 0.9999146466370775 Centerline is valid? [True, True] Translation: X:273.92, Y:-35.62, Z:-8.21 [[ 9.80894775e-01 1.93103269e-01 2.35916872e-02 2.73915267e+02] [-1.93058100e-01 9.81178341e-01 -4.19906633e-03 -3.56238519e+01] [-2.39585060e-02 -4.35724087e-04 9.99712859e-01 -8.21328447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98587156 meters Centerline goodness [0,1] 0.9999352387531302 Centerline is valid? [True, True] Translation: X:273.94, Y:-35.63, Z:-8.21 [[ 9.81024394e-01 1.92475248e-01 2.33327526e-02 2.73943739e+02] [-1.92430922e-01 9.81301740e-01 -4.15154879e-03 -3.56284829e+01] [-2.36955411e-02 -4.17172461e-04 9.99719134e-01 -8.21408979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01587156 meters Centerline goodness [0,1] 0.9999144147035539 Centerline is valid? [True, True] Translation: X:273.97, Y:-35.63, Z:-8.22 [[ 9.81150564e-01 1.91845508e-01 2.32136187e-02 2.73970829e+02] [-1.91801481e-01 9.81425056e-01 -4.12936225e-03 -3.56321694e+01] [-2.35746266e-02 -4.00880333e-04 9.99721999e-01 -8.21565492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04587156 meters Centerline goodness [0,1] 0.9999357023447212 Centerline is valid? [True, True] Translation: X:274.00, Y:-35.64, Z:-8.22 [[ 9.81475816e-01 1.90295225e-01 2.22024625e-02 2.73998812e+02] [-1.90254585e-01 9.81726849e-01 -3.94809360e-03 -3.56390070e+01] [-2.25480569e-02 -3.49161900e-04 9.99745699e-01 -8.21860580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07587156 meters Centerline goodness [0,1] 0.9998923411493659 Centerline is valid? [True, True] Translation: X:274.03, Y:-35.64, Z:-8.22 [[ 9.81618990e-01 1.89582254e-01 2.19710733e-02 2.74026051e+02] [-1.89542299e-01 9.81864787e-01 -3.90602246e-03 -3.56434940e+01] [-2.23131357e-02 -3.30221919e-04 9.99750976e-01 -8.22033637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.05, Y:-35.65, Z:-8.22 [[ 9.81773396e-01 1.88767729e-01 2.20849028e-02 2.74053994e+02] [-1.88727183e-01 9.82021713e-01 -3.92487296e-03 -3.56486613e+01] [-2.24287435e-02 -3.14685654e-04 9.99748395e-01 -8.22090772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13587156 meters Centerline goodness [0,1] 0.999828719463892 Centerline is valid? [True, True] Translation: X:274.08, Y:-35.65, Z:-8.22 [[ 9.81970339e-01 1.87763117e-01 2.18921344e-02 2.74081761e+02] [-1.87723048e-01 9.82214298e-01 -3.88969817e-03 -3.56533712e+01] [-2.22331093e-02 -2.90089959e-04 9.99752772e-01 -8.22016274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.11, Y:-35.66, Z:-8.22 [[ 9.82447536e-01 1.85234631e-01 2.20220251e-02 2.74110005e+02] [-1.85193476e-01 9.82694294e-01 -3.91159477e-03 -3.56621129e+01] [-2.23654812e-02 -2.35398720e-04 9.99749834e-01 -8.22231183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19587156 meters Centerline goodness [0,1] 0.9999575551782682 Centerline is valid? [True, True] Translation: X:274.14, Y:-35.67, Z:-8.22 [[ 9.82667792e-01 1.84061673e-01 2.20297811e-02 2.74138588e+02] [-1.84020233e-01 9.82914674e-01 -3.91123223e-03 -3.56683822e+01] [-2.23733030e-02 -2.10483500e-04 9.99749664e-01 -8.22309789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22587156000003 meters Centerline goodness [0,1] 0.9999144750908702 Centerline is valid? [True, True] Translation: X:274.17, Y:-35.67, Z:-8.22 [[ 9.82865382e-01 1.83060930e-01 2.15484967e-02 2.74166567e+02] [-1.83021063e-01 9.83101552e-01 -3.82473382e-03 -3.56732271e+01] [-2.18845199e-02 -1.84630299e-04 9.99760488e-01 -8.22322294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.20, Y:-35.68, Z:-8.22 [[ 9.82864791e-01 1.83059272e-01 2.15894767e-02 2.74196287e+02] [-1.83019275e-01 9.83101861e-01 -3.83098873e-03 -3.56804710e+01] [-2.19259527e-02 -1.85946429e-04 9.99759580e-01 -8.22363183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.23, Y:-35.69, Z:-8.23 [[ 9.82828422e-01 1.83277072e-01 2.13964652e-02 2.74225738e+02] [-1.83237836e-01 9.83061280e-01 -3.79684361e-03 -3.56850218e+01] [-2.17299109e-02 -1.88996178e-04 9.99763860e-01 -8.22544874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.25, Y:-35.68, Z:-8.23 [[ 9.82643989e-01 1.84369288e-01 2.04635352e-02 2.74254530e+02] [-1.84333637e-01 9.82857021e-01 -3.63127729e-03 -3.56839425e+01] [-2.07822253e-02 -2.03865066e-04 9.99784005e-01 -8.23104462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34587156000003 meters Centerline goodness [0,1] 0.9999787852430151 Centerline is valid? [True, True] Translation: X:274.28, Y:-35.69, Z:-8.23 [[ 9.82503086e-01 1.85179030e-01 1.99101311e-02 2.74284156e+02] [-1.85145464e-01 9.82704778e-01 -3.53224631e-03 -3.56890909e+01] [-2.02198789e-02 -2.15827555e-04 9.99795534e-01 -8.23102231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.31, Y:-35.69, Z:-8.23 [[ 9.82424756e-01 1.85648782e-01 1.93940260e-02 2.74313486e+02] [-1.85617034e-01 9.82616141e-01 -3.44023772e-03 -3.56925775e+01] [-1.96955589e-02 -2.20086886e-04 9.99805999e-01 -8.23235437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40587156 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:274.34, Y:-35.69, Z:-8.24 [[ 9.82250450e-01 1.86621827e-01 1.88771782e-02 2.74342211e+02] [-1.86591930e-01 9.82431799e-01 -3.34850686e-03 -3.56907915e+01] [-1.91704446e-02 -2.33256741e-04 9.99816203e-01 -8.23551646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.37, Y:-35.70, Z:-8.24 [[ 9.82254722e-01 1.86609184e-01 1.87796044e-02 2.74370255e+02] [-1.86579617e-01 9.82434200e-01 -3.32992994e-03 -3.56984884e+01] [-1.90711211e-02 -2.33051974e-04 9.99818102e-01 -8.23532182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.40, Y:-35.70, Z:-8.24 [[ 9.82264339e-01 1.86541490e-01 1.89483680e-02 2.74399251e+02] [-1.86511394e-01 9.82447056e-01 -3.35891807e-03 -3.57022207e+01] [-1.92423460e-02 -2.34741101e-04 9.99814821e-01 -8.23620334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.43, Y:-35.70, Z:-8.24 [[ 9.82220205e-01 1.86769977e-01 1.89853929e-02 2.74427470e+02] [-1.86739821e-01 9.82403643e-01 -3.36473947e-03 -3.57000996e+01] [-1.92797515e-02 -2.40413781e-04 9.99814099e-01 -8.23955656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.46, Y:-35.71, Z:-8.24 [[ 9.82239118e-01 1.86655391e-01 1.91332362e-02 2.74455491e+02] [-1.86624770e-01 9.82425420e-01 -3.38948943e-03 -3.57070242e+01] [-1.94296441e-02 -2.41446693e-04 9.99811197e-01 -8.23763042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.48, Y:-35.71, Z:-8.24 [[ 9.82282549e-01 1.86411683e-01 1.92789486e-02 2.74483949e+02] [-1.86380559e-01 9.82471693e-01 -3.41469216e-03 -3.57101900e+01] [-1.95775598e-02 -2.39028695e-04 9.99808313e-01 -8.23867321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.51, Y:-35.71, Z:-8.24 [[ 9.82482935e-01 1.85338097e-01 1.94183439e-02 2.74511576e+02] [-1.85306345e-01 9.82674789e-01 -3.43764631e-03 -3.57138707e+01] [-1.97190438e-02 -2.20913505e-04 9.99805536e-01 -8.24013655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.54, Y:-35.72, Z:-8.24 [[ 9.82611786e-01 1.84659379e-01 1.93647268e-02 2.74539985e+02] [-1.84627697e-01 9.82802559e-01 -3.42679473e-03 -3.57199388e+01] [-1.96644929e-02 -2.08056031e-04 9.99806614e-01 -8.24109366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.57, Y:-35.73, Z:-8.24 [[ 9.82968384e-01 1.82790162e-01 1.89977014e-02 2.74567545e+02] [-1.82759335e-01 9.83151936e-01 -3.36109757e-03 -3.57253783e+01] [-1.92920025e-02 -1.68154629e-04 9.99813878e-01 -8.24319236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.60, Y:-35.73, Z:-8.24 [[ 9.83131372e-01 1.81943203e-01 1.86915920e-02 2.74595880e+02] [-1.81913232e-01 9.83309030e-01 -3.30573333e-03 -3.57308957e+01] [-1.89810669e-02 -1.50277762e-04 9.99819832e-01 -8.24464962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.62, Y:-35.74, Z:-8.25 [[ 9.83232558e-01 1.81372168e-01 1.89175398e-02 2.74623706e+02] [-1.81341379e-01 9.83414519e-01 -3.34478755e-03 -3.57361100e+01] [-1.92104347e-02 -1.41828745e-04 9.99815453e-01 -8.24533036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.65, Y:-35.74, Z:-8.25 [[ 9.83321683e-01 1.80865072e-01 1.91388178e-02 2.74650684e+02] [-1.80833478e-01 9.83507909e-01 -3.38312347e-03 -3.57408687e+01] [-1.94350675e-02 -1.34240311e-04 9.99811112e-01 -8.24573648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.68, Y:-35.75, Z:-8.25 [[ 9.83435534e-01 1.80241760e-01 1.91692153e-02 2.74678159e+02] [-1.80209968e-01 9.83622332e-01 -3.38742400e-03 -3.57458189e+01] [-1.94658235e-02 -1.23170554e-04 9.99810515e-01 -8.24690567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79587156 meters Centerline goodness [0,1] 0.999978708001533 Centerline is valid? [True, True] Translation: X:274.71, Y:-35.75, Z:-8.25 [[ 9.83462980e-01 1.80092153e-01 1.91672527e-02 2.74706315e+02] [-1.80060365e-01 9.83649735e-01 -3.38573419e-03 -3.57511895e+01] [-1.94636072e-02 -1.21518270e-04 9.99810559e-01 -8.24854127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.73, Y:-35.76, Z:-8.25 [[ 9.83458556e-01 1.80210772e-01 1.82577974e-02 2.74733907e+02] [-1.80181962e-01 9.83628011e-01 -3.22444229e-03 -3.57568417e+01] [-1.85399602e-02 -1.18620398e-04 9.99828113e-01 -8.25150711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.76, Y:-35.76, Z:-8.25 [[ 9.83422868e-01 1.80454605e-01 1.77650600e-02 2.74762360e+02] [-1.80427389e-01 9.83583307e-01 -3.13632007e-03 -3.57614974e+01] [-1.80393798e-02 -1.20974500e-04 9.99837270e-01 -8.25338464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.79, Y:-35.77, Z:-8.25 [[ 9.83375042e-01 1.80728824e-01 1.76243604e-02 2.74790509e+02] [-1.80702096e-01 9.83532956e-01 -3.11068749e-03 -3.57658874e+01] [-1.78963302e-02 -1.25786413e-04 9.99839840e-01 -8.25468985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.82, Y:-35.77, Z:-8.26 [[ 9.83201302e-01 1.81680526e-01 1.75324442e-02 2.74817931e+02] [-1.81654238e-01 9.83357598e-01 -3.09380868e-03 -3.57681315e+01] [-1.78027470e-02 -1.43006080e-04 9.99841508e-01 -8.25557057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.85, Y:-35.77, Z:-8.26 [[ 9.83060034e-01 1.82456563e-01 1.73945778e-02 2.74846290e+02] [-1.82430828e-01 9.83213902e-01 -3.06836930e-03 -3.57713959e+01] [-1.76624348e-02 -1.56915997e-04 9.99843995e-01 -8.25688092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.88, Y:-35.77, Z:-8.26 [[ 9.82902543e-01 1.83264664e-01 1.77947885e-02 2.74875345e+02] [-1.83237879e-01 9.83063595e-01 -3.13813798e-03 -3.57743656e+01] [-1.80685185e-02 -1.76195500e-04 9.99836735e-01 -8.25711742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.90, Y:-35.78, Z:-8.25 [[ 9.82349650e-01 1.86176391e-01 1.80974396e-02 2.74904400e+02] [-1.86149194e-01 9.82516309e-01 -3.19074255e-03 -3.57775177e+01] [-1.83750705e-02 -2.34398977e-04 9.99831137e-01 -8.25299003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03587156000003 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:274.93, Y:-35.78, Z:-8.26 [[ 9.82067161e-01 1.87626315e-01 1.84514690e-02 2.74932689e+02] [-1.87598315e-01 9.82240446e-01 -3.25234555e-03 -3.57753890e+01] [-1.87340048e-02 -2.67442739e-04 9.99824467e-01 -8.25762936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06587156 meters Centerline goodness [0,1] 0.9999568723853883 Centerline is valid? [True, True] Translation: X:274.96, Y:-35.78, Z:-8.26 [[ 9.81749504e-01 1.89242753e-01 1.88438965e-02 2.74961718e+02] [-1.89213874e-01 9.81930286e-01 -3.32010384e-03 -3.57775923e+01] [-1.91316983e-02 -3.06016360e-04 9.99816925e-01 -8.25755719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09587156000003 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:274.99, Y:-35.78, Z:-8.26 [[ 9.81199632e-01 1.91982512e-01 1.97483594e-02 2.74991258e+02] [-1.91951367e-01 9.81398274e-01 -3.47852625e-03 -3.57751504e+01] [-2.00488220e-02 -3.77595905e-04 9.99798931e-01 -8.25598136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.02, Y:-35.78, Z:-8.25 [[ 9.80997636e-01 1.92997975e-01 1.98851549e-02 2.75019593e+02] [-1.92966623e-01 9.81199073e-01 -3.50176970e-03 -3.57825571e+01] [-2.01871300e-02 -4.01943389e-04 9.99796138e-01 -8.25373800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15587156 meters Centerline goodness [0,1] 0.9997448545671033 Centerline is valid? [True, True] Translation: X:275.05, Y:-35.78, Z:-8.25 [[ 9.80683825e-01 1.94532741e-01 2.04021408e-02 2.75047903e+02] [-1.94500088e-01 9.80895924e-01 -3.59188530e-03 -3.57826033e+01] [-2.07111161e-02 -4.45714365e-04 9.99785402e-01 -8.25206961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18587156 meters Centerline goodness [0,1] 0.9999359316604378 Centerline is valid? [True, True] Translation: X:275.08, Y:-35.79, Z:-8.25 [[ 9.80586558e-01 1.94972921e-01 2.08701237e-02 2.75076689e+02] [-1.94938883e-01 9.80808514e-01 -3.67285257e-03 -3.57865130e+01] [-2.11857018e-02 -4.66848739e-04 9.99775449e-01 -8.25417776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21587156 meters Centerline goodness [0,1] 0.9999569299681281 Centerline is valid? [True, True] Translation: X:275.11, Y:-35.78, Z:-8.26 [[ 9.80562815e-01 1.95117907e-01 2.06293119e-02 2.75105731e+02] [-1.95084700e-01 9.80779683e-01 -3.62960747e-03 -3.57823194e+01] [-2.09410114e-02 -4.65404999e-04 9.99780605e-01 -8.25802146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24587156 meters Centerline goodness [0,1] 0.9999571036376115 Centerline is valid? [True, True] Translation: X:275.13, Y:-35.79, Z:-8.26 [[ 9.80652580e-01 1.94711804e-01 2.01948218e-02 2.75133208e+02] [-1.94679920e-01 9.80860394e-01 -3.55194727e-03 -3.57851009e+01] [-2.04999069e-02 -4.48300036e-04 9.99789754e-01 -8.26019897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27587156 meters Centerline goodness [0,1] 0.9998935354739801 Centerline is valid? [True, True] Translation: X:275.16, Y:-35.79, Z:-8.26 [[ 9.80697687e-01 1.94508241e-01 1.99647609e-02 2.75160156e+02] [-1.94477055e-01 9.80900785e-01 -3.51062377e-03 -3.57877821e+01] [-2.02662949e-02 -4.39827289e-04 9.99794521e-01 -8.26215155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30587156 meters Centerline goodness [0,1] 0.9999356250804686 Centerline is valid? [True, True] Translation: X:275.19, Y:-35.80, Z:-8.26 [[ 9.80688534e-01 1.94587251e-01 1.96418270e-02 2.75188287e+02] [-1.94557115e-01 9.80885117e-01 -3.45210923e-03 -3.57950830e+01] [-1.99381122e-02 -4.36013257e-04 9.99801121e-01 -8.26010099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33587156 meters Centerline goodness [0,1] 0.9998709677419355 Centerline is valid? [True, True] Translation: X:275.22, Y:-35.80, Z:-8.26 [[ 9.80644867e-01 1.94817732e-01 1.95370697e-02 2.75216701e+02] [-1.94787981e-01 9.80839364e-01 -3.43280947e-03 -3.58004458e+01] [-1.98314992e-02 -4.39219376e-04 9.99803240e-01 -8.25727931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36587156 meters Centerline goodness [0,1] 0.9998278385125248 Centerline is valid? [True, True] Translation: X:275.25, Y:-35.79, Z:-8.26 [[ 9.80593238e-01 1.95038402e-01 1.99229472e-02 2.75245738e+02] [-1.95007528e-01 9.80795502e-01 -3.49971359e-03 -3.57930939e+01] [-2.02229156e-02 -4.53329202e-04 9.99795393e-01 -8.26428664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39587156 meters Centerline goodness [0,1] 0.9998494137893944 Centerline is valid? [True, True] Translation: X:275.27, Y:-35.80, Z:-8.26 [[ 9.80593489e-01 1.95029040e-01 2.00020774e-02 2.75272526e+02] [-1.94997940e-01 9.80797362e-01 -3.51250734e-03 -3.58042974e+01] [-2.03030257e-02 -4.56022071e-04 9.99793768e-01 -8.25830325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.30, Y:-35.81, Z:-8.26 [[ 9.80727151e-01 1.94331471e-01 2.02369488e-02 2.75300267e+02] [-1.94299522e-01 9.80935818e-01 -3.55209290e-03 -3.58052103e+01] [-2.05414313e-02 -4.48395533e-04 9.99788902e-01 -8.26187362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45587156 meters Centerline goodness [0,1] 0.999894539241948 Centerline is valid? [True, True] Translation: X:275.33, Y:-35.80, Z:-8.27 [[ 9.80860060e-01 1.93619478e-01 2.06165296e-02 2.75328972e+02] [-1.93586185e-01 9.81076603e-01 -3.61760975e-03 -3.58012177e+01] [-2.09268346e-02 -4.42706417e-04 9.99780912e-01 -8.26585781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48587156 meters Centerline goodness [0,1] 0.9999566527232927 Centerline is valid? [True, True] Translation: X:275.36, Y:-35.81, Z:-8.26 [[ 9.81189694e-01 1.91876393e-01 2.12187092e-02 2.75356312e+02] [-1.91840766e-01 9.81419010e-01 -3.72109973e-03 -3.58108467e+01] [-2.15384358e-02 -4.19508718e-04 9.99767933e-01 -8.26257052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51587156 meters Centerline goodness [0,1] 0.9998067757310318 Centerline is valid? [True, True] Translation: X:275.38, Y:-35.82, Z:-8.26 [[ 9.81379585e-01 1.90913622e-01 2.11210482e-02 2.75384495e+02] [-1.90878120e-01 9.81606760e-01 -3.70301624e-03 -3.58177633e+01] [-2.14395199e-02 -3.97481442e-04 9.99770068e-01 -8.26055177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54587156 meters Centerline goodness [0,1] 0.9999361226445225 Centerline is valid? [True, True] Translation: X:275.41, Y:-35.81, Z:-8.27 [[ 9.81619661e-01 1.89640612e-01 2.14307878e-02 2.75412935e+02] [-1.89603778e-01 9.81853501e-01 -3.75636799e-03 -3.58134692e+01] [-2.17542539e-02 -3.76033657e-04 9.99763277e-01 -8.26732365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.44, Y:-35.83, Z:-8.26 [[ 9.81670048e-01 1.89385708e-01 2.13768818e-02 2.75440417e+02] [-1.89349029e-01 9.81902702e-01 -3.74556234e-03 -3.58260479e+01] [-2.16993739e-02 -3.70785447e-04 9.99764472e-01 -8.26389610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.47, Y:-35.83, Z:-8.27 [[ 9.81701392e-01 1.89242442e-01 2.12055228e-02 2.75467382e+02] [-1.89206331e-01 9.81930326e-01 -3.71481811e-03 -3.58256328e+01] [-2.15253471e-02 -3.65377043e-04 9.99768236e-01 -8.26688435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63587156 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:275.49, Y:-35.83, Z:-8.27 [[ 9.81750375e-01 1.89007103e-01 2.10360882e-02 2.75494633e+02] [-1.88971552e-01 9.81975655e-01 -3.68328153e-03 -3.58337402e+01] [-2.13530929e-02 -3.59159209e-04 9.99771932e-01 -8.26591474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.52, Y:-35.84, Z:-8.27 [[ 9.81925509e-01 1.88153340e-01 2.05089350e-02 2.75522375e+02] [-1.88119396e-01 9.82139608e-01 -3.58935773e-03 -3.58352150e+01] [-2.08179870e-02 -3.33646543e-04 9.99783227e-01 -8.26944912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69587156 meters Centerline goodness [0,1] 0.9999570944351482 Centerline is valid? [True, True] Translation: X:275.55, Y:-35.84, Z:-8.27 [[ 9.82035249e-01 1.87611633e-01 2.02149809e-02 2.75551357e+02] [-1.87578571e-01 9.82243235e-01 -3.53641265e-03 -3.58395248e+01] [-2.05195004e-02 -3.19015366e-04 9.99789402e-01 -8.27062579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72587156000003 meters Centerline goodness [0,1] 0.999978350292271 Centerline is valid? [True, True] Translation: X:275.58, Y:-35.84, Z:-8.27 [[ 9.82403470e-01 1.85679651e-01 2.01615840e-02 2.75579080e+02] [-1.85646363e-01 9.82610294e-01 -3.52680078e-03 -3.58431344e+01] [-2.04658351e-02 -2.78183405e-04 9.99790514e-01 -8.27187341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75587156 meters Centerline goodness [0,1] 0.999978350292271 Centerline is valid? [True, True] Translation: X:275.61, Y:-35.85, Z:-8.27 [[ 9.82416502e-01 1.85610652e-01 2.01618967e-02 2.75606175e+02] [-1.85577386e-01 9.82623330e-01 -3.52501168e-03 -3.58477314e+01] [-2.04658298e-02 -2.78562440e-04 9.99790514e-01 -8.27270281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.63, Y:-35.86, Z:-8.27 [[ 9.82678019e-01 1.84217309e-01 2.01963827e-02 2.75634013e+02] [-1.84183668e-01 9.82885507e-01 -3.52936324e-03 -3.58550193e+01] [-2.05009017e-02 -2.51616177e-04 9.99789803e-01 -8.27246659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.66, Y:-35.86, Z:-8.27 [[ 9.82952576e-01 1.82740939e-01 2.02480189e-02 2.75661698e+02] [-1.82706835e-01 9.83161075e-01 -3.53737233e-03 -3.58614479e+01] [-2.05534868e-02 -2.22382202e-04 9.99788730e-01 -8.27307059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.69, Y:-35.87, Z:-8.27 [[ 9.83358008e-01 1.80544430e-01 2.02666649e-02 2.75688639e+02] [-1.80509814e-01 9.83566814e-01 -3.53972827e-03 -3.58660669e+01] [-2.05726972e-02 -1.77511783e-04 9.99788344e-01 -8.27493324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.72, Y:-35.87, Z:-8.28 [[ 9.83463861e-01 1.79953170e-01 2.03884874e-02 2.75717018e+02] [-1.79918039e-01 9.83675164e-01 -3.55959399e-03 -3.58702775e+01] [-2.06962090e-02 -1.67524635e-04 9.99785796e-01 -8.27545018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.74, Y:-35.87, Z:-8.28 [[ 9.83481328e-01 1.79850898e-01 2.04482907e-02 2.75744403e+02] [-1.79815554e-01 9.83693868e-01 -3.56927193e-03 -3.58743600e+01] [-2.07567950e-02 -1.66608435e-04 9.99784541e-01 -8.27590713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.77, Y:-35.88, Z:-8.28 [[ 9.83429760e-01 1.80060713e-01 2.10724330e-02 2.75772912e+02] [-1.80023265e-01 9.83655482e-01 -3.67640153e-03 -3.58773812e+01] [-2.13899897e-02 -1.78045517e-04 9.99771192e-01 -8.27538185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.80, Y:-35.88, Z:-8.28 [[ 9.83386880e-01 1.80310790e-01 2.09347526e-02 2.75801122e+02] [-1.80273906e-01 9.83609671e-01 -3.65146942e-03 -3.58801127e+01] [-2.12500244e-02 -1.83182500e-04 9.99774176e-01 -8.27663817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.83, Y:-35.88, Z:-8.28 [[ 9.83376536e-01 1.80502869e-01 1.97307493e-02 2.75829941e+02] [-1.80470169e-01 9.83574442e-01 -3.44024135e-03 -3.58821788e+01] [-2.00276341e-02 -1.77759048e-04 9.99799411e-01 -8.28021674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.86, Y:-35.89, Z:-8.28 [[ 9.83450011e-01 1.80090046e-01 1.98406214e-02 2.75857303e+02] [-1.80056915e-01 9.83650114e-01 -3.45855033e-03 -3.58859710e+01] [-2.01390799e-02 -1.71129710e-04 9.99797174e-01 -8.28137111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.88, Y:-35.89, Z:-8.28 [[ 9.83562184e-01 1.79506234e-01 1.95688828e-02 2.75884508e+02] [-1.79473909e-01 9.83756823e-01 -3.41015317e-03 -3.58910375e+01] [-1.98631658e-02 -1.58006192e-04 9.99802695e-01 -8.28242735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.91, Y:-35.90, Z:-8.28 [[ 9.83855706e-01 1.77918507e-01 1.93120524e-02 2.75912338e+02] [-1.77886750e-01 9.84045217e-01 -3.36377723e-03 -3.58972288e+01] [-1.96024110e-02 -1.25886826e-04 9.99807846e-01 -8.28344061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.94, Y:-35.90, Z:-8.28 [[ 9.84051072e-01 1.76795784e-01 1.96656948e-02 2.75939692e+02] [-1.76762646e-01 9.84247550e-01 -3.42450930e-03 -3.59023881e+01] [-1.99613508e-02 -1.06268217e-04 9.99800747e-01 -8.28425190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.97, Y:-35.91, Z:-8.28 [[ 9.84193595e-01 1.75968797e-01 1.99486827e-02 2.75966530e+02] [-1.75934555e-01 9.84395741e-01 -3.47253098e-03 -3.59079271e+01] [-2.02484554e-02 -9.20198669e-05 9.99794975e-01 -8.28460433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17587156 meters Centerline goodness [0,1] 0.9999355379359247 Centerline is valid? [True, True] Translation: X:275.99, Y:-35.92, Z:-8.28 [[ 9.84436084e-01 1.74575332e-01 2.02249871e-02 2.75994643e+02] [-1.74539868e-01 9.84643818e-01 -3.51930138e-03 -3.59151821e+01] [-2.05287917e-02 -6.55392914e-05 9.99789260e-01 -8.28193684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.02, Y:-35.92, Z:-8.28 [[ 9.84502226e-01 1.74147177e-01 2.06912680e-02 2.76023467e+02] [-1.74109988e-01 9.84719634e-01 -3.59928606e-03 -3.59203596e+01] [-2.10019033e-02 -5.90512815e-05 9.99779434e-01 -8.28377591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.05, Y:-35.92, Z:-8.28 [[ 9.84522685e-01 1.73997485e-01 2.09751571e-02 2.76052196e+02] [-1.73959249e-01 9.84746095e-01 -3.64799462e-03 -3.59249524e+01] [-2.12899459e-02 -5.72891156e-05 9.99773342e-01 -8.28427683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.08, Y:-35.93, Z:-8.29 [[ 9.84535218e-01 1.73937458e-01 2.08845847e-02 2.76079260e+02] [-1.73899554e-01 9.84756700e-01 -3.63149199e-03 -3.59291405e+01] [-2.11978872e-02 -5.64881949e-05 9.99775298e-01 -8.28545596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.11, Y:-35.93, Z:-8.29 [[ 9.84521197e-01 1.74014364e-01 2.09048816e-02 2.76106635e+02] [-1.73976438e-01 9.84743112e-01 -3.63336239e-03 -3.59335077e+01] [-2.12181955e-02 -5.98345642e-05 9.99774867e-01 -8.28630273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.13, Y:-35.94, Z:-8.29 [[ 9.84511079e-01 1.74083839e-01 2.08027157e-02 2.76134562e+02] [-1.74046330e-01 9.84730833e-01 -3.61412555e-03 -3.59380377e+01] [-2.11142364e-02 -6.24896679e-05 9.99777068e-01 -8.28728949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.16, Y:-35.94, Z:-8.29 [[ 9.84448084e-01 1.74505204e-01 2.02460659e-02 2.76163259e+02] [-1.74469798e-01 9.84656249e-01 -3.51577689e-03 -3.59433300e+01] [-2.05489367e-02 -7.12272120e-05 9.99788846e-01 -8.28861629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.19, Y:-35.95, Z:-8.29 [[ 9.84381805e-01 1.74851723e-01 2.04777051e-02 2.76190205e+02] [-1.74815587e-01 9.84594774e-01 -3.55553614e-03 -3.59477590e+01] [-2.07839331e-02 -7.98169675e-05 9.99783988e-01 -8.28997875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.22, Y:-35.95, Z:-8.29 [[ 9.84091346e-01 1.76374449e-01 2.13606119e-02 2.76216739e+02] [-1.76335546e-01 9.84323138e-01 -3.70618102e-03 -3.59505156e+01] [-2.16794202e-02 -1.19414489e-04 9.99764967e-01 -8.28870431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.25, Y:-35.95, Z:-8.29 [[ 9.83834686e-01 1.77746616e-01 2.18048599e-02 2.76245578e+02] [-1.77706462e-01 9.84076276e-01 -3.78113326e-03 -3.59532097e+01] [-2.21297290e-02 -1.54854463e-04 9.99755096e-01 -8.28827579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.27, Y:-35.95, Z:-8.29 [[ 9.83181667e-01 1.81227450e-01 2.25924827e-02 2.76274271e+02] [-1.81185284e-01 9.83441179e-01 -3.91667239e-03 -3.59511665e+01] [-2.29281864e-02 -2.42624889e-04 9.99737085e-01 -8.28803426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.30, Y:-35.95, Z:-8.29 [[ 9.82753203e-01 1.83528015e-01 2.26629417e-02 2.76303295e+02] [-1.83486229e-01 9.83014435e-01 -3.92745810e-03 -3.59523156e+01] [-2.29987974e-02 -2.98615686e-04 9.99735448e-01 -8.28786134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.33, Y:-35.95, Z:-8.29 [[ 9.82316628e-01 1.85865907e-01 2.25367704e-02 2.76332739e+02] [-1.85825225e-01 9.82575056e-01 -3.90453330e-03 -3.59520543e+01] [-2.28697881e-02 -3.52412455e-04 9.99738390e-01 -8.28863538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.36, Y:-35.95, Z:-8.29 [[ 9.81520881e-01 1.90082296e-01 2.20336416e-02 2.76362421e+02] [-1.90044494e-01 9.81768061e-01 -3.81634897e-03 -3.59457434e+01] [-2.23573459e-02 -4.41546063e-04 9.99749946e-01 -8.29197653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59587156000003 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:276.39, Y:-35.95, Z:-8.29 [[ 9.81281648e-01 1.91378738e-01 2.14594205e-02 2.76390959e+02] [-1.91343205e-01 9.81516158e-01 -3.71624998e-03 -3.59467669e+01] [-2.17739792e-02 -4.59426385e-04 9.99762813e-01 -8.29384218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62587156 meters Centerline goodness [0,1] 0.9999568695952211 Centerline is valid? [True, True] Translation: X:276.42, Y:-35.94, Z:-8.30 [[ 9.80914362e-01 1.93252741e-01 2.14567807e-02 2.76420179e+02] [-1.93217710e-01 9.81148880e-01 -3.71365199e-03 -3.59436094e+01] [-2.17699698e-02 -5.03055471e-04 9.99762880e-01 -8.29523167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65587156 meters Centerline goodness [0,1] 0.9999786288254402 Centerline is valid? [True, True] Translation: X:276.45, Y:-35.95, Z:-8.30 [[ 9.80850227e-01 1.93574009e-01 2.14926688e-02 2.76448859e+02] [-1.93538947e-01 9.81085542e-01 -3.71946953e-03 -3.59451659e+01] [-2.18061392e-02 -5.11425940e-04 9.99762087e-01 -8.29633069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68587156 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:276.48, Y:-35.95, Z:-8.30 [[ 9.80904773e-01 1.93325018e-01 2.12429563e-02 2.76476643e+02] [-1.93290777e-01 9.81134641e-01 -3.67302252e-03 -3.59472376e+01] [-2.15522875e-02 -5.03182214e-04 9.99767596e-01 -8.29784096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71587156 meters Centerline goodness [0,1] 0.9999358316221766 Centerline is valid? [True, True] Translation: X:276.50, Y:-35.95, Z:-8.30 [[ 9.80990532e-01 1.92891106e-01 2.12272697e-02 2.76504685e+02] [-1.92856923e-01 9.81220043e-01 -3.66525737e-03 -3.59491407e+01] [-2.15356181e-02 -4.98243157e-04 9.99767958e-01 -8.29958358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74587156 meters Centerline goodness [0,1] 0.9999570123589469 Centerline is valid? [True, True] Translation: X:276.53, Y:-35.95, Z:-8.30 [[ 9.81479842e-01 1.90355641e-01 2.14953303e-02 2.76533049e+02] [-1.90320011e-01 9.81715095e-01 -3.71016731e-03 -3.59537315e+01] [-2.18085415e-02 -4.49537090e-04 9.99762064e-01 -8.30013712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77587156 meters Centerline goodness [0,1] 0.9999151733644365 Centerline is valid? [True, True] Translation: X:276.56, Y:-35.96, Z:-8.30 [[ 9.81873728e-01 1.88298498e-01 2.16254224e-02 2.76561106e+02] [-1.88261958e-01 9.82111760e-01 -3.73163249e-03 -3.59600230e+01] [-2.19412425e-02 -4.07252472e-04 9.99759179e-01 -8.30082144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.59, Y:-35.97, Z:-8.30 [[ 9.82875261e-01 1.82958745e-01 2.19617800e-02 2.76588893e+02] [-1.82919753e-01 9.83120548e-01 -3.78848159e-03 -3.59721095e+01] [-2.22842130e-02 -2.93638535e-04 9.99751633e-01 -8.29996149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.62, Y:-35.98, Z:-8.30 [[ 9.83487796e-01 1.79590065e-01 2.23419727e-02 2.76615824e+02] [-1.79548848e-01 9.83741511e-01 -3.85377944e-03 -3.59784417e+01] [-2.26708265e-02 -2.21330417e-04 9.99742959e-01 -8.30220912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.64, Y:-35.99, Z:-8.30 [[ 9.84771356e-01 1.72327576e-01 2.29909276e-02 2.76642574e+02] [-1.72281984e-01 9.85039696e-01 -3.96416443e-03 -3.59937305e+01] [-2.33301112e-02 -5.71270562e-05 9.99727814e-01 -8.30193811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89587156 meters Centerline goodness [0,1] 0.9998718277364779 Centerline is valid? [True, True] Translation: X:276.67, Y:-36.00, Z:-8.30 [[ 9.85357356e-01 1.68946295e-01 2.29788990e-02 2.76669956e+02] [-1.68899856e-01 9.85625258e-01 -3.96106227e-03 -3.60028878e+01] [-2.33177901e-02 2.19291189e-05 9.99728103e-01 -8.30081725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.70, Y:-36.01, Z:-8.30 [[ 9.85857469e-01 1.66032073e-01 2.27684360e-02 2.76697593e+02] [-1.65985725e-01 9.86120349e-01 -3.92380688e-03 -3.60101611e+01] [-2.31038958e-02 8.90789584e-05 9.99733065e-01 -8.30198521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.72, Y:-36.02, Z:-8.30 [[ 9.86513234e-01 1.62115090e-01 2.25906338e-02 2.76723763e+02] [-1.62068458e-01 9.86771841e-01 -3.89218870e-03 -3.60193117e+01] [-2.29227838e-02 1.78466468e-04 9.99737223e-01 -8.30455195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.75, Y:-36.03, Z:-8.31 [[ 9.86710907e-01 1.60956663e-01 2.22382025e-02 2.76751238e+02] [-1.60911211e-01 9.86961454e-01 -3.83015824e-03 -3.60252591e+01] [-2.25647382e-02 2.00882825e-04 9.99745364e-01 -8.30610197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.78, Y:-36.03, Z:-8.31 [[ 9.86881659e-01 1.59898064e-01 2.22980024e-02 2.76780142e+02] [-1.59852125e-01 9.87133506e-01 -3.83917890e-03 -3.60295371e+01] [-2.26249825e-02 2.24432181e-04 9.99743997e-01 -8.30572367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.81, Y:-36.04, Z:-8.31 [[ 9.87168037e-01 1.58051132e-01 2.27839084e-02 2.76806585e+02] [-1.58002700e-01 9.87430892e-01 -3.92183076e-03 -3.60395458e+01] [-2.31173847e-02 2.71586940e-04 9.99732721e-01 -8.30792947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.83, Y:-36.05, Z:-8.31 [[ 9.87350606e-01 1.56920106e-01 2.26905483e-02 2.76834411e+02] [-1.56871804e-01 9.87611256e-01 -3.90434327e-03 -3.60461894e+01] [-2.30221109e-02 2.95448433e-04 9.99734912e-01 -8.30887067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10587156 meters Centerline goodness [0,1] 0.9999572786500054 Centerline is valid? [True, True] Translation: X:276.86, Y:-36.05, Z:-8.31 [[ 9.87621585e-01 1.55215486e-01 2.26220614e-02 2.76862395e+02] [-1.55167051e-01 9.87880581e-01 -3.89158606e-03 -3.60541498e+01] [-2.29519296e-02 3.33215831e-04 9.99736514e-01 -8.31020135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.89, Y:-36.06, Z:-8.31 [[ 9.88251660e-01 1.51195641e-01 2.23278659e-02 2.76890969e+02] [-1.51147457e-01 9.88503769e-01 -3.83989033e-03 -3.60646930e+01] [-2.26517543e-02 4.19977850e-04 9.99743328e-01 -8.31073674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16587156 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:276.92, Y:-36.07, Z:-8.31 [[ 9.88611414e-01 1.48846881e-01 2.21828142e-02 2.76918360e+02] [-1.48798736e-01 9.88860144e-01 -3.81461018e-03 -3.60746988e+01] [-2.25034937e-02 4.70392450e-04 9.99746654e-01 -8.31229157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19587156 meters Centerline goodness [0,1] 0.9999576316068213 Centerline is valid? [True, True] Translation: X:276.95, Y:-36.08, Z:-8.31 [[ 9.88919998e-01 1.46798288e-01 2.20794300e-02 2.76946782e+02] [-1.46750106e-01 9.89166315e-01 -3.79568629e-03 -3.60849932e+01] [-2.23974287e-02 5.13471372e-04 9.99749014e-01 -8.31360123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22587156000003 meters Centerline goodness [0,1] 0.999978427819484 Centerline is valid? [True, True] Translation: X:276.98, Y:-36.10, Z:-8.31 [[ 9.89427457e-01 1.43343300e-01 2.20455185e-02 2.76975821e+02] [-1.43294424e-01 9.89672850e-01 -3.78918881e-03 -3.60971905e+01] [-2.23610060e-02 5.90127567e-04 9.99749787e-01 -8.31385924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25587156 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:277.00, Y:-36.11, Z:-8.31 [[ 9.89584003e-01 1.42259612e-01 2.20386653e-02 2.77003784e+02] [-1.42210494e-01 9.89829190e-01 -3.78818769e-03 -3.61061771e+01] [-2.23534203e-02 6.14600457e-04 9.99749942e-01 -8.31474521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28587156000003 meters Centerline goodness [0,1] 0.9999140948822026 Centerline is valid? [True, True] Translation: X:277.03, Y:-36.11, Z:-8.31 [[ 9.89749177e-01 1.41100058e-01 2.20757784e-02 2.77033652e+02] [-1.41050503e-01 9.89995133e-01 -3.79378981e-03 -3.61137070e+01] [-2.23902172e-02 6.41100685e-04 9.99749102e-01 -8.31428674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31587156 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:277.06, Y:-36.12, Z:-8.31 [[ 9.89720268e-01 1.41248966e-01 2.24169669e-02 2.77061669e+02] [-1.41197895e-01 9.89973893e-01 -3.85287623e-03 -3.61223899e+01] [-2.27364268e-02 6.48041138e-04 9.99741284e-01 -8.31492518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34587156000003 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:277.09, Y:-36.13, Z:-8.32 [[ 9.89686390e-01 1.41506164e-01 2.22902454e-02 2.77091555e+02] [-1.41455743e-01 9.89937169e-01 -3.83073958e-03 -3.61298527e+01] [-2.26080157e-02 6.38147599e-04 9.99744202e-01 -8.31631319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.12, Y:-36.14, Z:-8.32 [[ 9.89478239e-01 1.43030330e-01 2.17976932e-02 2.77120145e+02] [-1.42982484e-01 9.89718130e-01 -3.74599580e-03 -3.61432829e+01] [-2.21093632e-02 5.89893004e-04 9.99755384e-01 -8.31902698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40587156 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:277.15, Y:-36.15, Z:-8.32 [[ 9.89301802e-01 1.44211227e-01 2.20242426e-02 2.77150426e+02] [-1.44162665e-01 9.89546764e-01 -3.78528936e-03 -3.61466840e+01] [-2.23398992e-02 5.69720066e-04 9.99750271e-01 -8.31833729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43587156 meters Centerline goodness [0,1] 0.9996995256798231 Centerline is valid? [True, True] Translation: X:277.18, Y:-36.16, Z:-8.32 [[ 9.89056475e-01 1.45864065e-01 2.21577143e-02 2.77179175e+02] [-1.45815327e-01 9.89304497e-01 -3.80822903e-03 -3.61557975e+01] [-2.24762102e-02 5.35619217e-04 9.99747235e-01 -8.31846860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46587156 meters Centerline goodness [0,1] 0.9998923063668476 Centerline is valid? [True, True] Translation: X:277.21, Y:-36.16, Z:-8.32 [[ 9.88594254e-01 1.49013873e-01 2.18235486e-02 2.77209381e+02] [-1.48967361e-01 9.88835000e-01 -3.75079623e-03 -3.61601661e+01] [-2.21388094e-02 4.57019151e-04 9.99754802e-01 -8.31940095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.24, Y:-36.16, Z:-8.32 [[ 9.88361489e-01 1.50619767e-01 2.13366693e-02 2.77239640e+02] [-1.50575681e-01 9.88591683e-01 -3.66711667e-03 -3.61648627e+01] [-2.16455941e-02 4.11653373e-04 9.99765622e-01 -8.32177873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52587156 meters Centerline goodness [0,1] 0.9998068047654824 Centerline is valid? [True, True] Translation: X:277.27, Y:-36.17, Z:-8.32 [[ 9.87756994e-01 1.54395167e-01 2.23215722e-02 2.77268433e+02] [-1.54347878e-01 9.88009116e-01 -3.83648147e-03 -3.61715069e+01] [-2.26462510e-02 3.44224109e-04 9.99743482e-01 -8.32048771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.30, Y:-36.18, Z:-8.32 [[ 9.87504967e-01 1.55962449e-01 2.25755124e-02 2.77296949e+02] [-1.55914494e-01 9.87762936e-01 -3.87984529e-03 -3.61794418e+01] [-2.29043646e-02 3.11516912e-04 9.99737612e-01 -8.32332460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.33, Y:-36.18, Z:-8.32 [[ 9.87290994e-01 1.57270429e-01 2.28583781e-02 2.77326845e+02] [-1.57221623e-01 9.87555533e-01 -3.92810081e-03 -3.61834926e+01] [-2.31916919e-02 2.84347241e-04 9.99730996e-01 -8.32301012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.36, Y:-36.19, Z:-8.32 [[ 9.86926533e-01 1.59476340e-01 2.33091213e-02 2.77356508e+02] [-1.59426204e-01 9.87201723e-01 -4.00555882e-03 -3.61926021e+01] [-2.36495965e-02 2.37107553e-04 9.99720281e-01 -8.32324179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.39, Y:-36.20, Z:-8.32 [[ 9.86926533e-01 1.59476340e-01 2.33091213e-02 2.77386064e+02] [-1.59426204e-01 9.87201723e-01 -4.00555882e-03 -3.61976810e+01] [-2.36495965e-02 2.37107553e-04 9.99720281e-01 -8.32414670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.41, Y:-36.21, Z:-8.33 [[ 9.86789192e-01 1.60293721e-01 2.35162230e-02 2.77414848e+02] [-1.60242921e-01 9.87069336e-01 -4.04122227e-03 -3.62055173e+01] [-2.38599252e-02 2.19526208e-04 9.99715287e-01 -8.32544125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70587156 meters Centerline goodness [0,1] 0.9998923898071626 Centerline is valid? [True, True] Translation: X:277.44, Y:-36.21, Z:-8.32 [[ 9.86670079e-01 1.61058452e-01 2.32879616e-02 2.77444960e+02] [-1.61008855e-01 9.86944849e-01 -4.00164497e-03 -3.62122264e+01] [-2.36284325e-02 1.98735324e-04 9.99720790e-01 -8.32431319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.47, Y:-36.22, Z:-8.33 [[ 9.86533040e-01 1.61996814e-01 2.25741557e-02 2.77474350e+02] [-1.61950457e-01 9.86791266e-01 -3.87898941e-03 -3.62224761e+01] [-2.29043636e-02 1.70856402e-04 9.99737646e-01 -8.32872718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.50, Y:-36.23, Z:-8.33 [[ 9.86451540e-01 1.62578139e-01 2.19478346e-02 2.77502904e+02] [-1.62534465e-01 9.86695660e-01 -3.77127535e-03 -3.62298417e+01] [-2.22689601e-02 1.52900815e-04 9.99752004e-01 -8.33132027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79587156 meters Centerline goodness [0,1] 0.9997849323612276 Centerline is valid? [True, True] Translation: X:277.53, Y:-36.24, Z:-8.33 [[ 9.86338107e-01 1.63423714e-01 2.07323004e-02 2.77533201e+02] [-1.63384929e-01 9.86555966e-01 -3.56252021e-03 -3.62388999e+01] [-2.10357749e-02 1.26504021e-04 9.99778716e-01 -8.33174275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.56, Y:-36.25, Z:-8.33 [[ 9.86252321e-01 1.63887680e-01 2.11468284e-02 2.77563546e+02] [-1.63847423e-01 9.86478998e-01 -3.63428023e-03 -3.62458027e+01] [-2.14565158e-02 1.19463986e-04 9.99769775e-01 -8.33364591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.59, Y:-36.25, Z:-8.33 [[ 9.86177951e-01 1.64258460e-01 2.17303483e-02 2.77594245e+02] [-1.64216027e-01 9.86417328e-01 -3.73512726e-03 -3.62532597e+01] [-2.20487184e-02 1.15028669e-04 9.99756891e-01 -8.33401809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.62, Y:-36.26, Z:-8.34 [[ 9.86123951e-01 1.64619978e-01 2.14433112e-02 2.77624083e+02] [-1.64578747e-01 9.86357061e-01 -3.68572136e-03 -3.62627945e+01] [-2.17575048e-02 1.05464831e-04 9.99763272e-01 -8.33839620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.66, Y:-36.27, Z:-8.34 [[ 9.85927861e-01 1.65834778e-01 2.10969055e-02 2.77655325e+02] [-1.65795090e-01 9.86153548e-01 -3.62880253e-03 -3.62691414e+01] [-2.14065699e-02 7.99741684e-05 9.99770850e-01 -8.33748161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.69, Y:-36.27, Z:-8.34 [[ 9.85773127e-01 1.66706032e-01 2.14578811e-02 2.77686589e+02] [-1.66665169e-01 9.86006640e-01 -3.69142066e-03 -3.62746446e+01] [-2.17729954e-02 6.26219115e-05 9.99762938e-01 -8.33778189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97587156000003 meters Centerline goodness [0,1] 0.9999140967270853 Centerline is valid? [True, True] Translation: X:277.72, Y:-36.28, Z:-8.34 [[ 9.85515929e-01 1.68120149e-01 2.22254173e-02 2.77717758e+02] [-1.68076656e-01 9.85766511e-01 -3.82403218e-03 -3.62800020e+01] [-2.25519690e-02 3.30708043e-05 9.99745671e-01 -8.33567951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.75, Y:-36.29, Z:-8.34 [[ 9.85471937e-01 1.68366999e-01 2.23072752e-02 2.77747353e+02] [-1.68323234e-01 9.85724380e-01 -3.83876723e-03 -3.62857656e+01] [-2.26351467e-02 2.81646797e-05 9.99743792e-01 -8.33908675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.78, Y:-36.30, Z:-8.34 [[ 9.85536881e-01 1.67964657e-01 2.24706685e-02 2.77777150e+02] [-1.67920151e-01 9.85793017e-01 -3.86656364e-03 -3.62951093e+01] [-2.28008742e-02 3.73630145e-05 9.99740026e-01 -8.34078539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.81, Y:-36.30, Z:-8.34 [[ 9.85673320e-01 1.67141672e-01 2.26222713e-02 2.77808452e+02] [-1.67096309e-01 9.85932887e-01 -3.89429340e-03 -3.63042117e+01] [-2.29549400e-02 5.84030646e-05 9.99736499e-01 -8.34123678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.84, Y:-36.31, Z:-8.34 [[ 9.85774253e-01 1.66441421e-01 2.33746762e-02 2.77839313e+02] [-1.66392694e-01 9.86051341e-01 -4.02796850e-03 -3.63131647e+01] [-2.37190516e-02 8.12922895e-05 9.99718660e-01 -8.34130542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.87, Y:-36.32, Z:-8.34 [[ 9.86067979e-01 1.64662915e-01 2.35810485e-02 2.77871238e+02] [-1.64612723e-01 9.86349891e-01 -4.06739472e-03 -3.63231798e+01] [-2.39289137e-02 1.28987086e-04 9.99713654e-01 -8.34133948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.90, Y:-36.33, Z:-8.34 [[ 9.86244603e-01 1.63629538e-01 2.33871105e-02 2.77901645e+02] [-1.63579753e-01 9.86521844e-01 -4.03920677e-03 -3.63311532e+01] [-2.37328289e-02 1.57988113e-04 9.99718324e-01 -8.34279923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.93, Y:-36.34, Z:-8.35 [[ 9.86397337e-01 1.62756230e-01 2.30370034e-02 2.77931671e+02] [-1.62707646e-01 9.86666295e-01 -3.98046085e-03 -3.63398169e+01] [-2.33776796e-02 1.78019387e-04 9.99726689e-01 -8.34504584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.96, Y:-36.35, Z:-8.35 [[ 9.86683146e-01 1.61109362e-01 2.23638783e-02 2.77961072e+02] [-1.61063076e-01 9.86936537e-01 -3.86756621e-03 -3.63510692e+01] [-2.26948297e-02 2.14067371e-04 9.99742416e-01 -8.34787751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.99, Y:-36.36, Z:-8.35 [[ 9.86745082e-01 1.60758044e-01 2.21584022e-02 2.77991996e+02] [-1.60712443e-01 9.86993820e-01 -3.83527039e-03 -3.63606796e+01] [-2.24867566e-02 2.23303249e-04 9.99747116e-01 -8.34972387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.02, Y:-36.37, Z:-8.35 [[ 9.86786370e-01 1.60508728e-01 2.21271031e-02 2.78024191e+02] [-1.60463106e-01 9.87034394e-01 -3.83372060e-03 -3.63680014e+01] [-2.24555574e-02 2.32479552e-04 9.99747815e-01 -8.35010040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.06, Y:-36.38, Z:-8.35 [[ 9.86736260e-01 1.60971020e-01 2.09733898e-02 2.78055040e+02] [-1.60930055e-01 9.86959110e-01 -3.63767551e-03 -3.63770892e+01] [-2.12854385e-02 2.14177562e-04 9.99773416e-01 -8.35359031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33587156 meters Centerline goodness [0,1] 0.999936153911637 Centerline is valid? [True, True] Translation: X:278.09, Y:-36.38, Z:-8.35 [[ 9.86555201e-01 1.62113345e-01 2.06905587e-02 2.78086681e+02] [-1.62073650e-01 9.86772125e-01 -3.59234394e-03 -3.63811511e+01] [-2.09992334e-02 1.90651232e-04 9.99779474e-01 -8.35284040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.12, Y:-36.39, Z:-8.36 [[ 9.86106048e-01 1.64833660e-01 2.06089034e-02 2.78117849e+02] [-1.64794796e-01 9.86321371e-01 -3.58177282e-03 -3.63852754e+01] [-2.09173985e-02 1.35767824e-04 9.99781198e-01 -8.35630137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39587156 meters Centerline goodness [0,1] 0.9998923828587417 Centerline is valid? [True, True] Translation: X:278.15, Y:-36.39, Z:-8.35 [[ 9.85776081e-01 1.66790686e-01 2.06490950e-02 2.78149723e+02] [-1.66752033e-01 9.85992321e-01 -3.59191460e-03 -3.63888509e+01] [-2.09589470e-02 9.75449377e-05 9.99780332e-01 -8.35438754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42587156 meters Centerline goodness [0,1] 0.9999570797029915 Centerline is valid? [True, True] Translation: X:278.18, Y:-36.39, Z:-8.36 [[ 9.85396815e-01 1.68957611e-01 2.11291945e-02 2.78181202e+02] [-1.68917558e-01 9.85623317e-01 -3.67914560e-03 -3.63926291e+01] [-2.14470464e-02 5.63264334e-05 9.99769984e-01 -8.35536835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.21, Y:-36.39, Z:-8.36 [[ 9.84542967e-01 1.73801728e-01 2.16357588e-02 2.78213107e+02] [-1.73760803e-01 9.84780665e-01 -3.77174329e-03 -3.63927163e+01] [-2.19620124e-02 -4.60034947e-05 9.99758805e-01 -8.35757157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.25, Y:-36.39, Z:-8.36 [[ 9.84082115e-01 1.76355402e-01 2.19354204e-02 2.78245641e+02] [-1.76313935e-01 9.84326552e-01 -3.82552883e-03 -3.63949348e+01] [-2.22662694e-02 -1.02885777e-04 9.99752071e-01 -8.35713433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.28, Y:-36.40, Z:-8.36 [[ 9.83649868e-01 1.78739555e-01 2.20251689e-02 2.78275885e+02] [-1.78698234e-01 9.83896411e-01 -3.84615579e-03 -3.63953854e+01] [-2.23579448e-02 -1.52588145e-04 9.99750018e-01 -8.35832706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.31, Y:-36.39, Z:-8.36 [[ 9.82922923e-01 1.82786288e-01 2.12532455e-02 2.78306251e+02] [-1.82748746e-01 9.83152642e-01 -3.71189924e-03 -3.63920567e+01] [-2.15736687e-02 -2.35493114e-04 9.99767234e-01 -8.36133792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57587156 meters Centerline goodness [0,1] 0.9999785646917603 Centerline is valid? [True, True] Translation: X:278.34, Y:-36.40, Z:-8.36 [[ 9.82623124e-01 1.84426843e-01 2.09412648e-02 2.78335771e+02] [-1.84390778e-01 9.82846208e-01 -3.65694943e-03 -3.63953706e+01] [-2.12564823e-02 -2.67973036e-04 9.99774020e-01 -8.36187020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60587156 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:278.36, Y:-36.40, Z:-8.36 [[ 9.82431537e-01 1.85455246e-01 2.08476922e-02 2.78364097e+02] [-1.85419750e-01 9.82652669e-01 -3.63984058e-03 -3.63968639e+01] [-2.11610680e-02 -2.89679710e-04 9.99776038e-01 -8.36375162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.39, Y:-36.40, Z:-8.36 [[ 9.82302539e-01 1.86149827e-01 2.07355863e-02 2.78393682e+02] [-1.86114857e-01 9.82521323e-01 -3.62068691e-03 -3.64001269e+01] [-2.10471459e-02 -3.02590734e-04 9.99778438e-01 -8.36469720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66587156 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:278.42, Y:-36.40, Z:-8.37 [[ 9.82360002e-01 1.85816449e-01 2.10017615e-02 2.78423388e+02] [-1.85780511e-01 9.82584428e-01 -3.66665789e-03 -3.64048198e+01] [-2.13173292e-02 -2.99739944e-04 9.99772715e-01 -8.36511580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69587156 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:278.45, Y:-36.41, Z:-8.37 [[ 9.82666517e-01 1.84177821e-01 2.10961377e-02 2.78453012e+02] [-1.84141197e-01 9.82892903e-01 -3.68242295e-03 -3.64127351e+01] [-2.14134647e-02 -2.66074315e-04 9.99770670e-01 -8.36558128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.48, Y:-36.42, Z:-8.37 [[ 9.82904918e-01 1.82929442e-01 2.08504763e-02 2.78482380e+02] [-1.82893382e-01 9.83126016e-01 -3.63965167e-03 -3.64175234e+01] [-2.11644452e-02 -2.35982609e-04 9.99775980e-01 -8.36747094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.51, Y:-36.42, Z:-8.37 [[ 9.83125629e-01 1.81740986e-01 2.08377657e-02 2.78512152e+02] [-1.81704711e-01 9.83346414e-01 -3.63706431e-03 -3.64239183e+01] [-2.11517458e-02 -2.10629067e-04 9.99776255e-01 -8.36838317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.54, Y:-36.43, Z:-8.37 [[ 9.83725637e-01 1.78431582e-01 2.11197047e-02 2.78540454e+02] [-1.78393559e-01 9.83952311e-01 -3.68609924e-03 -3.64315435e+01] [-2.14384988e-02 -1.41508971e-04 9.99770159e-01 -8.37165360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.57, Y:-36.44, Z:-8.37 [[ 9.84072809e-01 1.76485591e-01 2.12965338e-02 2.78569658e+02] [-1.76446460e-01 9.84303219e-01 -3.71757300e-03 -3.64418416e+01] [-2.16183448e-02 -9.93354969e-05 9.99766291e-01 -8.36953553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.60, Y:-36.45, Z:-8.37 [[ 9.84784353e-01 1.72456501e-01 2.14134097e-02 2.78600788e+02] [-1.72416018e-01 9.85017134e-01 -3.73654146e-03 -3.64532858e+01] [-2.17369663e-02 -1.23272543e-05 9.99763724e-01 -8.37016677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.63, Y:-36.46, Z:-8.37 [[ 9.85103348e-01 1.70645456e-01 2.12490435e-02 2.78631830e+02] [-1.70605094e-01 9.85332496e-01 -3.71139488e-03 -3.64620970e+01] [-2.15707058e-02 3.09124465e-05 9.99767325e-01 -8.37238901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90587156 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:278.66, Y:-36.47, Z:-8.37 [[ 9.85372911e-01 1.69137117e-01 2.08053247e-02 2.78663051e+02] [-1.69098007e-01 9.85592528e-01 -3.63773192e-03 -3.64711455e+01] [-2.11208481e-02 6.63835521e-05 9.99776928e-01 -8.37171391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.69, Y:-36.48, Z:-8.37 [[ 9.85568673e-01 1.67954158e-01 2.11137785e-02 2.78693934e+02] [-1.67913531e-01 9.85794802e-01 -3.69524916e-03 -3.64800145e+01] [-2.14344855e-02 9.66327245e-05 9.99770250e-01 -8.37436898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.72, Y:-36.49, Z:-8.38 [[ 9.85819881e-01 1.66499759e-01 2.09043624e-02 2.78723773e+02] [-1.66459523e-01 9.86041487e-01 -3.66249946e-03 -3.64895909e+01] [-2.12223739e-02 1.30834587e-04 9.99774772e-01 -8.37653201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.76, Y:-36.50, Z:-8.38 [[ 9.85826286e-01 1.66448683e-01 2.10088164e-02 2.78755768e+02] [-1.66407961e-01 9.86050109e-01 -3.68417252e-03 -3.64960673e+01] [-2.13289713e-02 1.35919810e-04 9.99772502e-01 -8.37687595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.79, Y:-36.50, Z:-8.38 [[ 9.85797187e-01 1.66616995e-01 2.10400483e-02 2.78787974e+02] [-1.66576104e-01 9.86021683e-01 -3.69368194e-03 -3.65035964e+01] [-2.13613740e-02 1.36452001e-04 9.99771811e-01 -8.37758731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.82, Y:-36.51, Z:-8.38 [[ 9.85727434e-01 1.67054333e-01 2.08392769e-02 2.78820465e+02] [-1.67014233e-01 9.85947683e-01 -3.66239693e-03 -3.65098055e+01] [-2.11582560e-02 1.29669281e-04 9.99776131e-01 -8.37952538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.85, Y:-36.52, Z:-8.38 [[ 9.85634254e-01 1.67685239e-01 2.01687449e-02 2.78852356e+02] [-1.67647731e-01 9.85840579e-01 -3.54839402e-03 -3.65152139e+01] [-2.04781804e-02 1.16174368e-04 9.99790293e-01 -8.38192638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11587156 meters Centerline goodness [0,1] 0.9999569670367502 Centerline is valid? [True, True] Translation: X:278.88, Y:-36.52, Z:-8.38 [[ 9.85392803e-01 1.69199088e-01 1.93052457e-02 2.78884352e+02] [-1.69164951e-01 9.85581890e-01 -3.39972084e-03 -3.65206542e+01] [-1.96021302e-02 8.42895073e-05 9.99807856e-01 -8.38357035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.92, Y:-36.53, Z:-8.39 [[ 9.85135620e-01 1.70630443e-01 1.98257958e-02 2.78915964e+02] [-1.70594652e-01 9.85335094e-01 -3.49518936e-03 -3.65253295e+01] [-2.01314381e-02 6.10607978e-05 9.99797340e-01 -8.38522174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.95, Y:-36.52, Z:-8.39 [[ 9.84396900e-01 1.74818324e-01 2.00323762e-02 2.78946891e+02] [-1.74782549e-01 9.84600707e-01 -3.53657654e-03 -3.65239780e+01] [-2.03421502e-02 -1.99147991e-05 9.99793077e-01 -8.38538236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.98, Y:-36.52, Z:-8.39 [[ 9.83956660e-01 1.77323777e-01 1.96359268e-02 2.78976558e+02] [-1.77289904e-01 9.84152566e-01 -3.46648527e-03 -3.65246571e+01] [-1.99394380e-02 -7.03803056e-05 9.99801187e-01 -8.38729173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.01, Y:-36.52, Z:-8.39 [[ 9.83094769e-01 1.82080806e-01 1.92679646e-02 2.79005837e+02] [-1.82049092e-01 9.83283557e-01 -3.40211907e-03 -3.65213598e+01] [-1.95653334e-02 -1.63109998e-04 9.99808567e-01 -8.38903039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.03, Y:-36.52, Z:-8.39 [[ 9.82792320e-01 1.83682191e-01 1.94963808e-02 2.79034744e+02] [-1.83650044e-01 9.82985663e-01 -3.44205189e-03 -3.65226964e+01] [-1.97969065e-02 -1.97689041e-04 9.99804002e-01 -8.39040479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.06, Y:-36.52, Z:-8.39 [[ 9.82545135e-01 1.85001824e-01 1.94777286e-02 2.79063545e+02] [-1.84970015e-01 9.82738152e-01 -3.43786413e-03 -3.65244226e+01] [-1.97775181e-02 -2.24939080e-04 9.99804380e-01 -8.39126733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32587156 meters Centerline goodness [0,1] 0.9999784978605372 Centerline is valid? [True, True] Translation: X:279.09, Y:-36.53, Z:-8.39 [[ 9.82398836e-01 1.85724231e-01 1.99758927e-02 2.79092951e+02] [-1.85690943e-01 9.82601877e-01 -3.52483872e-03 -3.65264372e+01] [-2.02829976e-02 -2.46544910e-04 9.99794248e-01 -8.39182860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35587156 meters Centerline goodness [0,1] 0.9999355683941497 Centerline is valid? [True, True] Translation: X:279.12, Y:-36.53, Z:-8.39 [[ 9.82462963e-01 1.85364481e-01 2.01627162e-02 2.79121346e+02] [-1.85330511e-01 9.82669807e-01 -3.55688681e-03 -3.65326923e+01] [-2.04726129e-02 -2.42256934e-04 9.99790385e-01 -8.39014764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.15, Y:-36.54, Z:-8.39 [[ 9.82748998e-01 1.83792953e-01 2.06047979e-02 2.79149196e+02] [-1.83757154e-01 9.82964956e-01 -3.63377814e-03 -3.65378704e+01] [-2.09216571e-02 -2.15187189e-04 9.99781095e-01 -8.39182179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.18, Y:-36.54, Z:-8.39 [[ 9.82936616e-01 1.82767127e-01 2.07794759e-02 2.79177164e+02] [-1.82730502e-01 9.83156213e-01 -3.66395127e-03 -3.65420470e+01] [-2.10991206e-02 -1.95612192e-04 9.99777370e-01 -8.39350149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44587156 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:279.21, Y:-36.55, Z:-8.39 [[ 9.83136744e-01 1.81727140e-01 2.04301179e-02 2.79206531e+02] [-1.81691536e-01 9.83348980e-01 -3.60122536e-03 -3.65484180e+01] [-2.07443760e-02 -1.71482521e-04 9.99784798e-01 -8.39443002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.24, Y:-36.56, Z:-8.40 [[ 9.83466209e-01 1.80034439e-01 1.95401430e-02 2.79236098e+02] [-1.80001548e-01 9.83660299e-01 -3.44371574e-03 -3.65582854e+01] [-1.98408504e-02 -1.30477931e-04 9.99803142e-01 -8.39650294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.27, Y:-36.56, Z:-8.40 [[ 9.83570509e-01 1.79483329e-01 1.93594453e-02 2.79265890e+02] [-1.79450936e-01 9.83761008e-01 -3.41186993e-03 -3.65638967e+01] [-1.96574412e-02 -1.18255936e-04 9.99806767e-01 -8.39592071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.30, Y:-36.57, Z:-8.40 [[ 9.83749248e-01 1.78438262e-01 1.99299708e-02 2.79295268e+02] [-1.78403720e-01 9.83951105e-01 -3.51226973e-03 -3.65666359e+01] [-2.02368401e-02 -1.00388225e-04 9.99795209e-01 -8.39697139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.32, Y:-36.57, Z:-8.40 [[ 9.83749247e-01 1.78438275e-01 1.99298936e-02 2.79324801e+02] [-1.78403725e-01 9.83951102e-01 -3.51270739e-03 -3.65718409e+01] [-2.02368422e-02 -9.99439960e-05 9.99795209e-01 -8.39787631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.35, Y:-36.58, Z:-8.40 [[ 9.83843796e-01 1.77896367e-01 2.01064064e-02 2.79353756e+02] [-1.77861091e-01 9.84049224e-01 -3.54369175e-03 -3.65767585e+01] [-2.04161035e-02 -8.97082320e-05 9.99791566e-01 -8.39883796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.38, Y:-36.58, Z:-8.40 [[ 9.83948296e-01 1.77287795e-01 2.03663789e-02 2.79383527e+02] [-1.77251462e-01 9.84159048e-01 -3.58990798e-03 -3.65821749e+01] [-2.06802030e-02 -7.76866085e-05 9.99786139e-01 -8.39891408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.41, Y:-36.59, Z:-8.40 [[ 9.84079217e-01 1.76515735e-01 2.07434132e-02 2.79413462e+02] [-1.76477872e-01 9.84297816e-01 -3.65636644e-03 -3.65878359e+01] [-2.10631025e-02 -6.25991954e-05 9.99778146e-01 -8.39933397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.44, Y:-36.59, Z:-8.40 [[ 9.84256411e-01 1.75465671e-01 2.12394974e-02 2.79442404e+02] [-1.75425734e-01 9.84485549e-01 -3.74369282e-03 -3.65918471e+01] [-2.15668679e-02 -4.12007603e-05 9.99767407e-01 -8.39936190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71587156 meters Centerline goodness [0,1] 0.999957138571 Centerline is valid? [True, True] Translation: X:279.47, Y:-36.60, Z:-8.40 [[ 9.84271043e-01 1.75392244e-01 2.11677628e-02 2.79472820e+02] [-1.75352551e-01 9.84498633e-01 -3.73145666e-03 -3.65955006e+01] [-2.14941021e-02 -3.90564601e-05 9.99768974e-01 -8.39951976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.50, Y:-36.60, Z:-8.40 [[ 9.84222561e-01 1.75604062e-01 2.16601819e-02 2.79503158e+02] [-1.75562552e-01 9.84460873e-01 -3.81826037e-03 -3.65973942e+01] [-2.19941036e-02 -4.46987938e-05 9.99758099e-01 -8.40162460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.53, Y:-36.60, Z:-8.40 [[ 9.84164609e-01 1.75865921e-01 2.21630318e-02 2.79533970e+02] [-1.75822527e-01 9.84414128e-01 -3.90690284e-03 -3.66007250e+01] [-2.25046927e-02 -5.17247460e-05 9.99746736e-01 -8.40116819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.56, Y:-36.60, Z:-8.40 [[ 9.83936757e-01 1.77130503e-01 2.22090667e-02 2.79563666e+02] [-1.77087249e-01 9.84187369e-01 -3.91510843e-03 -3.66011264e+01] [-2.25513681e-02 -8.07234302e-05 9.99745682e-01 -8.40196660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83587156 meters Centerline goodness [0,1] 0.9999785720407989 Centerline is valid? [True, True] Translation: X:279.59, Y:-36.60, Z:-8.40 [[ 9.83777737e-01 1.78071877e-01 2.17202764e-02 2.79593913e+02] [-1.78030743e-01 9.84017478e-01 -3.82859139e-03 -3.66035994e+01] [-2.20548960e-02 -1.00393964e-04 9.99756756e-01 -8.40205885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.62, Y:-36.60, Z:-8.41 [[ 9.83621869e-01 1.78978343e-01 2.13253790e-02 2.79622962e+02] [-1.78938897e-01 9.83853007e-01 -3.75929543e-03 -3.66045245e+01] [-2.16538707e-02 -1.18214589e-04 9.99765520e-01 -8.40531806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.65, Y:-36.60, Z:-8.41 [[ 9.83289196e-01 1.80981494e-01 1.96991447e-02 2.79652407e+02] [-1.80948248e-01 9.83486490e-01 -3.47208358e-03 -3.66005964e+01] [-2.00022256e-02 -1.50463449e-04 9.99799924e-01 -8.40943900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.68, Y:-36.60, Z:-8.41 [[ 9.83137365e-01 1.81851674e-01 1.92585344e-02 2.79681839e+02] [-1.81820083e-01 9.83325959e-01 -3.39351895e-03 -3.66010964e+01] [-1.95545339e-02 -1.65293048e-04 9.99808778e-01 -8.41181267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.71, Y:-36.60, Z:-8.41 [[ 9.83044675e-01 1.82338678e-01 1.93848539e-02 2.79710017e+02] [-1.82306781e-01 9.83235768e-01 -3.41500232e-03 -3.66015004e+01] [-1.96825687e-02 -1.76890461e-04 9.99806264e-01 -8.41347669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.74, Y:-36.60, Z:-8.42 [[ 9.83151663e-01 1.81833415e-01 1.86926723e-02 2.79739204e+02] [-1.81803690e-01 9.83329336e-01 -3.29171461e-03 -3.66017644e+01] [-1.89795968e-02 -1.62142110e-04 9.99819858e-01 -8.41561209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01587156 meters Centerline goodness [0,1] 0.9999783835195953 Centerline is valid? [True, True] Translation: X:279.77, Y:-36.61, Z:-8.42 [[ 9.83289296e-01 1.81107120e-01 1.85032825e-02 2.79767325e+02] [-1.81077880e-01 9.83463364e-01 -3.25761132e-03 -3.66051919e+01] [-1.87872770e-02 -1.47360830e-04 9.99823493e-01 -8.41663121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.80, Y:-36.61, Z:-8.42 [[ 9.83644831e-01 1.79174183e-01 1.84244090e-02 2.79796202e+02] [-1.79144876e-01 9.83817361e-01 -3.24248449e-03 -3.66080537e+01] [-1.87072229e-02 -1.11185343e-04 9.99824998e-01 -8.41855606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.82, Y:-36.61, Z:-8.42 [[ 9.83876396e-01 1.77868177e-01 1.87122550e-02 2.79824084e+02] [-1.77837725e-01 9.84054320e-01 -3.29234312e-03 -3.66111183e+01] [-1.89994784e-02 -8.84861733e-05 9.99819490e-01 -8.42087205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.85, Y:-36.62, Z:-8.42 [[ 9.84086365e-01 1.76697933e-01 1.87580990e-02 2.79852906e+02] [-1.76667144e-01 9.84265125e-01 -3.29913241e-03 -3.66155732e+01] [-1.90458926e-02 -6.73085631e-05 9.99818608e-01 -8.42101303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.88, Y:-36.62, Z:-8.42 [[ 9.84339538e-01 1.75255164e-01 1.90079356e-02 2.79881009e+02] [-1.75223298e-01 9.84523045e-01 -3.34217413e-03 -3.66204467e+01] [-1.92994839e-02 -4.07990262e-05 9.99813747e-01 -8.42078253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.91, Y:-36.63, Z:-8.42 [[ 9.84850699e-01 1.72281034e-01 1.97065217e-02 2.79909114e+02] [-1.72246206e-01 9.85047839e-01 -3.46400712e-03 -3.66261822e+01] [-2.00086494e-02 1.71562341e-05 9.99799807e-01 -8.42082201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.94, Y:-36.63, Z:-8.42 [[ 9.85127505e-01 1.70699366e-01 1.96348092e-02 2.79937485e+02] [-1.70664496e-01 9.85323157e-01 -3.45043513e-03 -3.66316151e+01] [-1.99356192e-02 4.81537349e-05 9.99801265e-01 -8.42153154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.97, Y:-36.64, Z:-8.42 [[ 9.85623383e-01 1.67833379e-01 1.94551792e-02 2.79965459e+02] [-1.67798605e-01 9.85815371e-01 -3.41792655e-03 -3.66371610e+01] [-1.97528569e-02 1.04236404e-04 9.99804888e-01 -8.42247158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.99, Y:-36.64, Z:-8.42 [[ 9.85880267e-01 1.66328210e-01 1.93655949e-02 2.79992199e+02] [-1.66293484e-01 9.86070438e-01 -3.40116481e-03 -3.66426146e+01] [-1.96615503e-02 1.32769021e-04 9.99806684e-01 -8.42454908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.02, Y:-36.65, Z:-8.42 [[ 9.86059849e-01 1.65221640e-01 1.96922083e-02 2.80020623e+02] [-1.65185529e-01 9.86256450e-01 -3.45773149e-03 -3.66472124e+01] [-1.99928595e-02 1.56662349e-04 9.99800111e-01 -8.42485739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.05, Y:-36.65, Z:-8.43 [[ 9.86444658e-01 1.62927587e-01 1.95329830e-02 2.80048834e+02] [-1.62891627e-01 9.86638009e-01 -3.42884137e-03 -3.66535358e+01] [-1.98306364e-02 2.00602877e-04 9.99803333e-01 -8.42586340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.08, Y:-36.66, Z:-8.43 [[ 9.86610090e-01 1.61895268e-01 1.97598563e-02 2.80076806e+02] [-1.61858279e-01 9.86807921e-01 -3.46770134e-03 -3.66588956e+01] [-2.00605872e-02 2.22972796e-04 9.99798741e-01 -8.42655331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.11, Y:-36.66, Z:-8.43 [[ 9.86830419e-01 1.60488448e-01 2.02282598e-02 2.80105912e+02] [-1.60449414e-01 9.87037685e-01 -3.54868551e-03 -3.66621305e+01] [-2.05355778e-02 2.56338362e-04 9.99789090e-01 -8.42628275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.13, Y:-36.67, Z:-8.43 [[ 9.86962051e-01 1.59755810e-01 1.95956905e-02 2.80133733e+02] [-1.59719042e-01 9.87156529e-01 -3.43737341e-03 -3.66691307e+01] [-1.98931542e-02 2.62752189e-04 9.99802077e-01 -8.42975628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.16, Y:-36.67, Z:-8.43 [[ 9.87050967e-01 1.59249105e-01 1.92382759e-02 2.80163260e+02] [-1.59213586e-01 9.87238396e-01 -3.37385986e-03 -3.66723286e+01] [-1.95300488e-02 2.67176744e-04 9.99809235e-01 -8.43015495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46587156 meters Centerline goodness [0,1] 0.9998053464832598 Centerline is valid? [True, True] Translation: X:280.19, Y:-36.68, Z:-8.43 [[ 9.87165831e-01 1.58641002e-01 1.83481642e-02 2.80192529e+02] [-1.58608597e-01 9.87336296e-01 -3.21734184e-03 -3.66766540e+01] [-1.86262108e-02 2.65873348e-04 9.99826482e-01 -8.42959161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.22, Y:-36.68, Z:-8.43 [[ 9.87245595e-01 1.58137977e-01 1.83988070e-02 2.80220356e+02] [-1.58105311e-01 9.87416986e-01 -3.22589825e-03 -3.66831040e+01] [-1.86774315e-02 2.75804743e-04 9.99825524e-01 -8.43479905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.25, Y:-36.69, Z:-8.44 [[ 9.87327198e-01 1.57689723e-01 1.78593321e-02 2.80249243e+02] [-1.57658885e-01 9.87488671e-01 -3.13052469e-03 -3.66883242e+01] [-1.81295397e-02 2.75169774e-04 9.99835609e-01 -8.43619798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.28, Y:-36.69, Z:-8.44 [[ 9.87364070e-01 1.57545517e-01 1.70764141e-02 2.80277346e+02] [-1.57517307e-01 9.87511691e-01 -2.99305522e-03 -3.66948400e+01] [-1.73347010e-02 2.65404431e-04 9.99849708e-01 -8.43948245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.31, Y:-36.70, Z:-8.44 [[ 9.87347588e-01 1.57665309e-01 1.69231066e-02 2.80306080e+02] [-1.57637629e-01 9.87492573e-01 -2.96573041e-03 -3.66998143e+01] [-1.71790349e-02 2.60488361e-04 9.99852396e-01 -8.44018839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.33, Y:-36.70, Z:-8.44 [[ 9.87202143e-01 1.58569898e-01 1.69563081e-02 2.80334809e+02] [-1.58542256e-01 9.87347724e-01 -2.97075855e-03 -3.67022505e+01] [-1.72128451e-02 2.44447875e-04 9.99851818e-01 -8.43989324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.36, Y:-36.71, Z:-8.44 [[ 9.87118357e-01 1.59051562e-01 1.73190620e-02 2.80362936e+02] [-1.59022814e-01 9.87270248e-01 -3.03343102e-03 -3.67060718e+01] [-1.75810666e-02 2.40229476e-04 9.99845412e-01 -8.44009021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.39, Y:-36.71, Z:-8.44 [[ 9.87025596e-01 1.59590448e-01 1.76454249e-02 2.80391264e+02] [-1.59560711e-01 9.87183283e-01 -3.08953585e-03 -3.67118328e+01] [-1.79123289e-02 2.33934423e-04 9.99839534e-01 -8.44150340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.42, Y:-36.71, Z:-8.44 [[ 9.86768430e-01 1.61111106e-01 1.82010270e-02 2.80419198e+02] [-1.61079734e-01 9.86936253e-01 -3.18635174e-03 -3.67149848e+01] [-1.84766100e-02 2.12374719e-04 9.99829270e-01 -8.44161080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73587156 meters Centerline goodness [0,1] 0.9999141907111445 Centerline is valid? [True, True] Translation: X:280.45, Y:-36.72, Z:-8.44 [[ 9.86631420e-01 1.61999454e-01 1.77374535e-02 2.80447912e+02] [-1.61969824e-01 9.86790829e-01 -3.10405917e-03 -3.67190313e+01] [-1.80060123e-02 1.89630092e-04 9.99837861e-01 -8.44075562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.48, Y:-36.72, Z:-8.44 [[ 9.86310947e-01 1.63922487e-01 1.78922978e-02 2.80476668e+02] [-1.63892669e-01 9.86473210e-01 -3.13031741e-03 -3.67220200e+01] [-1.81634019e-02 1.55049888e-04 9.99835020e-01 -8.44276250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.50, Y:-36.73, Z:-8.44 [[ 9.86124981e-01 1.65022480e-01 1.80306076e-02 2.80504144e+02] [-1.64992396e-01 9.86289797e-01 -3.15380092e-03 -3.67256524e+01] [-1.83038523e-02 1.35128727e-04 9.99832461e-01 -8.44342346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.53, Y:-36.73, Z:-8.45 [[ 9.85953924e-01 1.66016361e-01 1.82600278e-02 2.80531937e+02] [-1.65985702e-01 9.86122991e-01 -3.19255673e-03 -3.67298834e+01] [-1.85366499e-02 1.16810293e-04 9.99828175e-01 -8.44555484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.56, Y:-36.73, Z:-8.44 [[ 9.85572822e-01 1.68124175e-01 1.95057526e-02 2.80561296e+02] [-1.68089622e-01 9.85765822e-01 -3.40933516e-03 -3.67318752e+01] [-1.98012959e-02 8.14334897e-05 9.99803932e-01 -8.44151271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.59, Y:-36.74, Z:-8.44 [[ 9.85406954e-01 1.69065907e-01 1.97447398e-02 2.80588300e+02] [-1.69030709e-01 9.85604746e-01 -3.45026214e-03 -3.67364927e+01] [-2.00438310e-02 6.24449355e-05 9.99799100e-01 -8.44301107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.62, Y:-36.74, Z:-8.45 [[ 9.85046258e-01 1.71135877e-01 1.99093277e-02 2.80616394e+02] [-1.71100540e-01 9.85247437e-01 -3.47763750e-03 -3.67393149e+01] [-2.02107626e-02 1.91370848e-05 9.99795741e-01 -8.44534207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.64, Y:-36.74, Z:-8.44 [[ 9.84836837e-01 1.72344070e-01 1.98475646e-02 2.80644871e+02] [-1.72309225e-01 9.85036812e-01 -3.46544903e-03 -3.67429433e+01] [-2.01478314e-02 -7.01662920e-06 9.99797012e-01 -8.44388343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97587156000003 meters Centerline goodness [0,1] 0.9998713909073371 Centerline is valid? [True, True] Translation: X:280.67, Y:-36.75, Z:-8.44 [[ 9.84656204e-01 1.73441435e-01 1.92413219e-02 2.80672253e+02] [-1.73408905e-01 9.84844184e-01 -3.35917326e-03 -3.67469007e+01] [-1.95323238e-02 -2.89857690e-05 9.99809226e-01 -8.44433327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.70, Y:-36.75, Z:-8.45 [[ 9.84299765e-01 1.75503208e-01 1.87775800e-02 2.80699385e+02] [-1.75472622e-01 9.84478857e-01 -3.27714163e-03 -3.67512285e+01] [-1.90612794e-02 -6.92614574e-05 9.99818315e-01 -8.44972592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.73, Y:-36.76, Z:-8.45 [[ 9.84124360e-01 1.76525624e-01 1.83833524e-02 2.80727291e+02] [-1.76496509e-01 9.84296041e-01 -3.20717248e-03 -3.67561265e+01] [-1.86608091e-02 -8.83409590e-05 9.99825868e-01 -8.45001515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.75, Y:-36.76, Z:-8.45 [[ 9.83756190e-01 1.78594060e-01 1.81085529e-02 2.80754461e+02] [-1.78566182e-01 9.83922835e-01 -3.15804999e-03 -3.67589034e+01] [-1.83814277e-02 -1.26823921e-04 9.99831039e-01 -8.45360614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.78, Y:-36.76, Z:-8.45 [[ 9.83620189e-01 1.79339779e-01 1.81264405e-02 2.80782440e+02] [-1.79312002e-01 9.83787184e-01 -3.15953604e-03 -3.67649795e+01] [-1.83991904e-02 -1.42504887e-04 9.99830710e-01 -8.45369918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.81, Y:-36.77, Z:-8.45 [[ 9.83532591e-01 1.79856123e-01 1.77599919e-02 2.80811051e+02] [-1.79829557e-01 9.83692916e-01 -3.09483811e-03 -3.67709859e+01] [-1.80270038e-02 -1.49897320e-04 9.99837489e-01 -8.45462086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15587156 meters Centerline goodness [0,1] 0.9999784728650464 Centerline is valid? [True, True] Translation: X:280.84, Y:-36.78, Z:-8.45 [[ 9.83356481e-01 1.80897460e-01 1.69156870e-02 2.80839050e+02] [-1.80873526e-01 9.83501949e-01 -2.94699695e-03 -3.67808288e+01] [-1.71697154e-02 -1.61651403e-04 9.99852577e-01 -8.45420961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.87, Y:-36.79, Z:-8.46 [[ 9.83306085e-01 1.81177936e-01 1.68433502e-02 2.80865871e+02] [-1.81154259e-01 9.83450318e-01 -2.93371250e-03 -3.67852949e+01] [-1.70961221e-02 -1.66507281e-04 9.99853837e-01 -8.45967560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.89, Y:-36.79, Z:-8.46 [[ 9.83231332e-01 1.81678351e-01 1.57836665e-02 2.80893719e+02] [-1.81657642e-01 9.83357997e-01 -2.74805805e-03 -3.67937370e+01] [-1.60202574e-02 -1.65246868e-04 9.99871654e-01 -8.46155714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24587156 meters Centerline goodness [0,1] 0.9998925008599931 Centerline is valid? [True, True] Translation: X:280.92, Y:-36.80, Z:-8.46 [[ 9.83153688e-01 1.82139301e-01 1.53003549e-02 2.80922177e+02] [-1.82119907e-01 9.83272723e-01 -2.66322611e-03 -3.67991271e+01] [-1.55294997e-02 -1.68138633e-04 9.99879396e-01 -8.46040271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27587156 meters Centerline goodness [0,1] 0.9999571404080233 Centerline is valid? [True, True] Translation: X:280.95, Y:-36.81, Z:-8.46 [[ 9.83142997e-01 1.82175628e-01 1.55527250e-02 2.80950380e+02] [-1.82155605e-01 9.83265992e-01 -2.70638970e-03 -3.68056042e+01] [-1.57855038e-02 -1.72247948e-04 9.99875386e-01 -8.46422312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.98, Y:-36.81, Z:-8.46 [[ 9.82990998e-01 1.82993191e-01 1.55624446e-02 2.80978484e+02] [-1.82973257e-01 9.83114163e-01 -2.70735531e-03 -3.68138926e+01] [-1.57950873e-02 -1.86205277e-04 9.99875232e-01 -8.46377699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.01, Y:-36.82, Z:-8.46 [[ 9.82870480e-01 1.83657579e-01 1.53464549e-02 2.81006756e+02] [-1.83638286e-01 9.82990262e-01 -2.66907519e-03 -3.68207144e+01] [-1.55756116e-02 -1.94841467e-04 9.99878674e-01 -8.46314984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36587156 meters Centerline goodness [0,1] 0.9999785679075848 Centerline is valid? [True, True] Translation: X:281.03, Y:-36.83, Z:-8.47 [[ 9.82585632e-01 1.85137278e-01 1.58007874e-02 2.81033853e+02] [-1.85117028e-01 9.82712642e-01 -2.74742030e-03 -3.68252401e+01] [-1.60362834e-02 -2.25419098e-04 9.99871385e-01 -8.46504194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.06, Y:-36.83, Z:-8.46 [[ 9.82423689e-01 1.85984658e-01 1.59186189e-02 2.81062326e+02] [-1.85964236e-01 9.82552619e-01 -2.76671822e-03 -3.68321290e+01] [-1.61554478e-02 -2.42204290e-04 9.99869463e-01 -8.46428314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.09, Y:-36.83, Z:-8.47 [[ 9.82236070e-01 1.87004713e-01 1.55415745e-02 2.81089901e+02] [-1.86985383e-01 9.82358984e-01 -2.70061607e-03 -3.68331725e+01] [-1.57724333e-02 -2.53404763e-04 9.99875575e-01 -8.46836168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.12, Y:-36.84, Z:-8.47 [[ 9.82248819e-01 1.86937725e-01 1.55417190e-02 2.81117007e+02] [-1.86918400e-01 9.82371733e-01 -2.69978449e-03 -3.68377394e+01] [-1.57724370e-02 -2.53173127e-04 9.99875575e-01 -8.46919114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.15, Y:-36.84, Z:-8.47 [[ 9.81850401e-01 1.89058634e-01 1.50540109e-02 2.81145885e+02] [-1.89040772e-01 9.81965760e-01 -2.61376519e-03 -3.68423382e+01] [-1.52766781e-02 -2.79495439e-04 9.99883266e-01 -8.46897311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.17, Y:-36.85, Z:-8.47 [[ 9.81716316e-01 1.89757541e-01 1.50050438e-02 2.81173247e+02] [-1.89739885e-01 9.81830938e-01 -2.60470598e-03 -3.68459688e+01] [-1.52266789e-02 -2.89972927e-04 9.99884025e-01 -8.47058158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54587156 meters Centerline goodness [0,1] 0.9999573451629414 Centerline is valid? [True, True] Translation: X:281.20, Y:-36.85, Z:-8.47 [[ 9.81648485e-01 1.90156966e-01 1.43728756e-02 2.81201070e+02] [-1.90140818e-01 9.81753659e-01 -2.49436612e-03 -3.68508019e+01] [-1.45849443e-02 -2.84279607e-04 9.99893594e-01 -8.47262075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57587156 meters Centerline goodness [0,1] 0.9996966808215617 Centerline is valid? [True, True] Translation: X:281.23, Y:-36.86, Z:-8.47 [[ 9.81570740e-01 1.90650657e-01 1.30847084e-02 2.81228188e+02] [-1.90637331e-01 9.81657912e-01 -2.26979710e-03 -3.68562387e+01] [-1.32774458e-02 -2.66467468e-04 9.99911815e-01 -8.47173699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60587156 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:281.26, Y:-36.86, Z:-8.48 [[ 9.81610806e-01 1.90435332e-01 1.32140321e-02 2.81255346e+02] [-1.90421734e-01 9.81699706e-01 -2.29140093e-03 -3.68608794e+01] [-1.34085751e-02 -2.66974978e-04 9.99910065e-01 -8.47630825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.28, Y:-36.87, Z:-8.48 [[ 9.81741796e-01 1.89744873e-01 1.34137471e-02 2.81283361e+02] [-1.89730810e-01 9.81833394e-01 -2.32500525e-03 -3.68681884e+01] [-1.36112226e-02 -2.62446260e-04 9.99907329e-01 -8.47619575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66587156 meters Centerline goodness [0,1] 0.9999782575609332 Centerline is valid? [True, True] Translation: X:281.31, Y:-36.87, Z:-8.48 [[ 9.81868349e-01 1.89062101e-01 1.37864959e-02 2.81311869e+02] [-1.89047187e-01 9.81965098e-01 -2.38891647e-03 -3.68744619e+01] [-1.39895114e-02 -2.60696791e-04 9.99902108e-01 -8.47583173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69587156 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:281.34, Y:-36.88, Z:-8.48 [[ 9.81989760e-01 1.88425235e-01 1.38579516e-02 2.81339691e+02] [-1.88410110e-01 9.82087505e-01 -2.40079910e-03 -3.68783224e+01] [-1.40620923e-02 -2.53418058e-04 9.99901092e-01 -8.47732402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.37, Y:-36.88, Z:-8.48 [[ 9.82107896e-01 1.87769478e-01 1.43772303e-02 2.81366960e+02] [-1.87753142e-01 9.82213092e-01 -2.48978538e-03 -3.68817875e+01] [-1.45890095e-02 -2.54132278e-04 9.99893542e-01 -8.47864452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75587156 meters Centerline goodness [0,1] 0.9999568686650852 Centerline is valid? [True, True] Translation: X:281.39, Y:-36.89, Z:-8.48 [[ 9.82159963e-01 1.87504777e-01 1.42746409e-02 2.81394644e+02] [-1.87488655e-01 9.82263659e-01 -2.47137801e-03 -3.68879062e+01] [-1.44848562e-02 -2.49044687e-04 9.99895058e-01 -8.47872727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.42, Y:-36.89, Z:-8.48 [[ 9.82202656e-01 1.87303095e-01 1.39819153e-02 2.81422736e+02] [-1.87287627e-01 9.82302139e-01 -2.41934477e-03 -3.68935755e+01] [-1.41876161e-02 -2.42352880e-04 9.99899321e-01 -8.47982768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81587156 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:281.45, Y:-36.90, Z:-8.48 [[ 9.82285133e-01 1.86888248e-01 1.37367966e-02 2.81449328e+02] [-1.86873277e-01 9.82381152e-01 -2.37686449e-03 -3.68972827e+01] [-1.39389781e-02 -2.32281545e-04 9.99902821e-01 -8.48337470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84587156000003 meters Centerline goodness [0,1] 0.9999784960110101 Centerline is valid? [True, True] Translation: X:281.48, Y:-36.90, Z:-8.48 [[ 9.82335006e-01 1.86662504e-01 1.32304916e-02 2.81477200e+02] [-1.86648617e-01 9.82424074e-01 -2.28764344e-03 -3.69046576e+01] [-1.34249707e-02 -2.22220729e-04 9.99909856e-01 -8.48276129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.50, Y:-36.91, Z:-8.49 [[ 9.82386964e-01 1.86411518e-01 1.29073203e-02 2.81504370e+02] [-1.86398285e-01 9.82471730e-01 -2.23137340e-03 -3.69075614e+01] [-1.30970310e-02 -2.13830236e-04 9.99914207e-01 -8.48643441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.53, Y:-36.91, Z:-8.49 [[ 9.82465568e-01 1.86009046e-01 1.27295689e-02 2.81531601e+02] [-1.85996149e-01 9.82548010e-01 -2.20009683e-03 -3.69141569e+01] [-1.29166505e-02 -2.06131408e-04 9.99916555e-01 -8.48524142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93587156 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:281.56, Y:-36.92, Z:-8.49 [[ 9.82502901e-01 1.85844862e-01 1.22367220e-02 2.81559603e+02] [-1.85832946e-01 9.82579080e-01 -2.11371139e-03 -3.69184622e+01] [-1.24163695e-02 -1.97258528e-04 9.99922894e-01 -8.48675976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96587156 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:281.59, Y:-36.92, Z:-8.49 [[ 9.82574176e-01 1.85469967e-01 1.22016542e-02 2.81588164e+02] [-1.85458097e-01 9.82649914e-01 -2.10706859e-03 -3.69227822e+01] [-1.23807524e-02 -1.92544382e-04 9.99923337e-01 -8.48772782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99587156 meters Centerline goodness [0,1] 0.9999354199853618 Centerline is valid? [True, True] Translation: X:281.62, Y:-36.93, Z:-8.49 [[ 9.82531960e-01 1.85667855e-01 1.25855413e-02 2.81617191e+02] [-1.85655252e-01 9.82612542e-01 -2.17270654e-03 -3.69259150e+01] [-1.27701125e-02 -2.01818235e-04 9.99918438e-01 -8.48751137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02587156 meters Centerline goodness [0,1] 0.9998708816630442 Centerline is valid? [True, True] Translation: X:281.65, Y:-36.93, Z:-8.48 [[ 9.82502662e-01 1.85833307e-01 1.24298492e-02 2.81645527e+02] [-1.85821034e-01 9.82581264e-01 -2.14528414e-03 -3.69317739e+01] [-1.26120022e-02 -2.01980058e-04 9.99920445e-01 -8.48398205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05587156 meters Centerline goodness [0,1] 0.9999563509384548 Centerline is valid? [True, True] Translation: X:281.67, Y:-36.94, Z:-8.49 [[ 9.82595845e-01 1.85339086e-01 1.24430454e-02 2.81674080e+02] [-1.85326755e-01 9.82674608e-01 -2.14694332e-03 -3.69367674e+01] [-1.26253772e-02 -1.96451638e-04 9.99920277e-01 -8.48703428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08587156 meters Centerline goodness [0,1] 0.9999350733670952 Centerline is valid? [True, True] Translation: X:281.70, Y:-36.94, Z:-8.49 [[ 9.82656312e-01 1.85009282e-01 1.25752981e-02 2.81702136e+02] [-1.84996668e-01 9.82736754e-01 -2.16912167e-03 -3.69423981e+01] [-1.27595153e-02 -1.94887161e-04 9.99918575e-01 -8.48737784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.73, Y:-36.95, Z:-8.49 [[ 9.82948836e-01 1.83436416e-01 1.27540665e-02 2.81729486e+02] [-1.83423317e-01 9.83031561e-01 -2.19929054e-03 -3.69472574e+01] [-1.29410799e-02 -1.77603105e-04 9.99916245e-01 -8.48860080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14587156 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:281.76, Y:-36.95, Z:-8.49 [[ 9.83426744e-01 1.80863203e-01 1.26625534e-02 2.81756323e+02] [-1.80850084e-01 9.83508252e-01 -2.18308205e-03 -3.69544647e+01] [-1.28485650e-02 -1.43122579e-04 9.99917444e-01 -8.49020393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17587156 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:281.78, Y:-36.96, Z:-8.49 [[ 9.83735415e-01 1.79154404e-01 1.29743474e-02 2.81784548e+02] [-1.79140498e-01 9.83820961e-01 -2.23561792e-03 -3.69637894e+01] [-1.31649557e-02 -1.24974539e-04 9.99913330e-01 -8.48885776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20587156 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:281.81, Y:-36.97, Z:-8.49 [[ 9.84062496e-01 1.77306510e-01 1.35427643e-02 2.81811811e+02] [-1.77291186e-01 9.84155674e-01 -2.33340416e-03 -3.69715094e+01] [-1.37419161e-02 -1.04797232e-04 9.99905570e-01 -8.48819950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.84, Y:-36.98, Z:-8.49 [[ 9.84693125e-01 1.73714703e-01 1.42355526e-02 2.81838712e+02] [-1.73697410e-01 9.84796019e-01 -2.45177712e-03 -3.69800229e+01] [-1.44450253e-02 -5.84305492e-05 9.99895663e-01 -8.48953379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.87, Y:-36.99, Z:-8.49 [[ 9.84998398e-01 1.71982684e-01 1.41460788e-02 2.81866875e+02] [-1.71965444e-01 9.85099972e-01 -2.43531740e-03 -3.69880863e+01] [-1.43541343e-02 -3.38529825e-05 9.99896974e-01 -8.49111256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.90, Y:-37.00, Z:-8.49 [[ 9.85612288e-01 1.68501191e-01 1.32577205e-02 2.81895195e+02] [-1.68485746e-01 9.85701450e-01 -2.28143872e-03 -3.70009623e+01] [-1.34525794e-02 1.48771044e-05 9.99909510e-01 -8.49157127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.92, Y:-37.01, Z:-8.49 [[ 9.85766099e-01 1.67631528e-01 1.28401508e-02 2.81923000e+02] [-1.67616968e-01 9.85849720e-01 -2.20948831e-03 -3.70075599e+01] [-1.30288390e-02 2.58115268e-05 9.99915121e-01 -8.49421050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.95, Y:-37.01, Z:-8.50 [[ 9.85881490e-01 1.66980099e-01 1.24633359e-02 2.81952021e+02] [-1.66966337e-01 9.85960266e-01 -2.14399796e-03 -3.70132329e+01] [-1.26463590e-02 3.27703536e-05 9.99920031e-01 -8.49601624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.98, Y:-37.02, Z:-8.50 [[ 9.85904037e-01 1.66850157e-01 1.24199322e-02 2.81981226e+02] [-1.66836485e-01 9.85982263e-01 -2.13624442e-03 -3.70205669e+01] [-1.26022655e-02 3.40341759e-05 9.99920588e-01 -8.49528117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.01, Y:-37.03, Z:-8.50 [[ 9.85849817e-01 1.67168524e-01 1.24427686e-02 2.82008860e+02] [-1.67154827e-01 9.85928336e-01 -2.14007179e-03 -3.70262123e+01] [-1.26254308e-02 2.99205444e-05 9.99920296e-01 -8.49762587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.04, Y:-37.03, Z:-8.50 [[ 9.85619276e-01 1.68529695e-01 1.23443810e-02 2.82038394e+02] [-1.68516330e-01 9.85696577e-01 -2.12250000e-03 -3.70284721e+01] [-1.25255184e-02 1.17471258e-05 9.99921553e-01 -8.49596178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47587156000003 meters Centerline goodness [0,1] 0.9998498917075891 Centerline is valid? [True, True] Translation: X:282.07, Y:-37.03, Z:-8.50 [[ 9.85431635e-01 1.69633588e-01 1.22040029e-02 2.82067187e+02] [-1.69620610e-01 9.85507202e-01 -2.09828379e-03 -3.70325570e+01] [-1.23830722e-02 -2.33519418e-06 9.99923327e-01 -8.49600531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.09, Y:-37.04, Z:-8.50 [[ 9.85377358e-01 1.69982524e-01 1.17219007e-02 2.82094249e+02] [-1.69970576e-01 9.85447077e-01 -2.01540753e-03 -3.70367805e+01] [-1.18938968e-02 -6.44127182e-06 9.99929265e-01 -8.50044869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.12, Y:-37.04, Z:-8.50 [[ 9.85161148e-01 1.71273237e-01 1.10900990e-02 2.82123045e+02] [-1.71262633e-01 9.85223567e-01 -1.90598413e-03 -3.70402581e+01] [-1.12526709e-02 -2.16180315e-05 9.99936686e-01 -8.50209373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.15, Y:-37.04, Z:-8.50 [[ 9.85026596e-01 1.72071211e-01 1.06819473e-02 2.82152050e+02] [-1.72061425e-01 9.85084513e-01 -1.83538762e-03 -3.70436782e+01] [-1.08384382e-02 -3.00454528e-05 9.99941262e-01 -8.50313474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59587156000003 meters Centerline goodness [0,1] 0.9998908963952169 Centerline is valid? [True, True] Translation: X:282.18, Y:-37.05, Z:-8.50 [[ 9.84890593e-01 1.72890464e-01 9.97029934e-03 2.82180290e+02] [-1.72881984e-01 9.84941057e-01 -1.71271923e-03 -3.70479281e+01] [-1.01162700e-02 -3.68440753e-05 9.99948829e-01 -8.50174810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62587156 meters Centerline goodness [0,1] 0.9999783456041577 Centerline is valid? [True, True] Translation: X:282.21, Y:-37.05, Z:-8.50 [[ 9.84554232e-01 1.74798314e-01 9.92546069e-03 2.82208280e+02] [-1.74790009e-01 9.84604259e-01 -1.70476754e-03 -3.70503865e+01] [-1.00706414e-02 -5.64352720e-05 9.99949288e-01 -8.50412209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.24, Y:-37.05, Z:-8.51 [[ 9.84392121e-01 1.75686849e-01 1.03093314e-02 2.82236278e+02] [-1.75677946e-01 9.84446101e-01 -1.76998825e-03 -3.70527929e+01] [-1.04599448e-02 -6.87596917e-05 9.99945291e-01 -8.50608861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.26, Y:-37.05, Z:-8.51 [[ 9.84114872e-01 1.77172836e-01 1.13006348e-02 2.82264702e+02] [-1.77162246e-01 9.84179749e-01 -1.93931224e-03 -3.70541066e+01] [-1.14654493e-02 -9.35398221e-05 9.99934265e-01 -8.50538681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.29, Y:-37.06, Z:-8.51 [[ 9.84095011e-01 1.77252446e-01 1.17720175e-02 2.82293279e+02] [-1.77240972e-01 9.84165413e-01 -2.01920777e-03 -3.70588399e+01] [-1.19435220e-02 -9.93915341e-05 9.99928669e-01 -8.50518365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.32, Y:-37.06, Z:-8.51 [[ 9.84139192e-01 1.77001875e-01 1.18484854e-02 2.82320575e+02] [-1.76990238e-01 9.84210509e-01 -2.03194978e-03 -3.70636585e+01] [-1.20210627e-02 -9.73448317e-05 9.99927740e-01 -8.50666221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.35, Y:-37.07, Z:-8.51 [[ 9.84396230e-01 1.75634174e-01 1.08027414e-02 2.82347078e+02] [-1.75624422e-01 9.84455500e-01 -1.85223152e-03 -3.70708390e+01] [-1.09601334e-02 -7.38955061e-05 9.99939933e-01 -8.51106476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80587156 meters Centerline goodness [0,1] 0.9999356637357925 Centerline is valid? [True, True] Translation: X:282.37, Y:-37.08, Z:-8.51 [[ 9.84520150e-01 1.74943503e-01 1.07165760e-02 2.82373864e+02] [-1.74933874e-01 9.84578471e-01 -1.83670551e-03 -3.70772159e+01] [-1.08726297e-02 -6.64185702e-05 9.99940889e-01 -8.51053257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83587156 meters Centerline goodness [0,1] 0.9999346761023408 Centerline is valid? [True, True] Translation: X:282.40, Y:-37.09, Z:-8.51 [[ 9.84808885e-01 1.73321161e-01 1.05467590e-02 2.82401569e+02] [-1.73311751e-01 9.84865358e-01 -1.80676526e-03 -3.70858688e+01] [-1.07002882e-02 -4.85587882e-05 9.99942749e-01 -8.50594243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.43, Y:-37.09, Z:-8.51 [[ 9.84948630e-01 1.72549606e-01 1.01404751e-02 2.82428462e+02] [-1.72540868e-01 9.85000828e-01 -1.73694591e-03 -3.70900227e+01] [-1.02880857e-02 -3.88438705e-05 9.99947075e-01 -8.51389704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.46, Y:-37.10, Z:-8.51 [[ 9.85095299e-01 1.71721804e-01 9.94353939e-03 2.82456627e+02] [-1.71713369e-01 9.85145482e-01 -1.70229314e-03 -3.70959151e+01] [-1.00881538e-02 -3.05176716e-05 9.99949113e-01 -8.51485937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.48, Y:-37.10, Z:-8.52 [[ 9.85446319e-01 1.69722926e-01 9.47001640e-03 2.82483338e+02] [-1.69715184e-01 9.85491820e-01 -1.62108427e-03 -3.71038088e+01] [-9.60775887e-03 -9.71405671e-06 9.99953844e-01 -8.51716413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.51, Y:-37.11, Z:-8.52 [[ 9.85665112e-01 1.68452856e-01 9.37667039e-03 2.82511458e+02] [-1.68445216e-01 9.85709711e-01 -1.60431464e-03 -3.71103589e+01] [-9.51292645e-03 1.86169849e-06 9.99954751e-01 -8.51808851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.54, Y:-37.12, Z:-8.51 [[ 9.86057246e-01 1.66133300e-01 9.53067365e-03 2.82540106e+02] [-1.66125308e-01 9.86103304e-01 -1.62976629e-03 -3.71197187e+01] [-9.66898723e-03 2.37567655e-05 9.99953254e-01 -8.51481925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.57, Y:-37.13, Z:-8.52 [[ 9.86247001e-01 1.64991523e-01 9.72882433e-03 2.82569093e+02] [-1.64983141e-01 9.86294984e-01 -1.66339778e-03 -3.71272022e+01] [-9.86993717e-03 3.54290786e-05 9.99951290e-01 -8.51517520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.60, Y:-37.13, Z:-8.52 [[ 9.86376153e-01 1.64217756e-01 9.72692791e-03 2.82598223e+02] [-1.64209343e-01 9.86424111e-01 -1.66283346e-03 -3.71339659e+01] [-9.86794300e-03 4.29268385e-05 9.99951310e-01 -8.51524885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.63, Y:-37.14, Z:-8.51 [[ 9.86545267e-01 1.63143495e-01 1.06130426e-02 2.82627403e+02] [-1.63133421e-01 9.86602350e-01 -1.81398795e-03 -3.71412753e+01] [-1.07667931e-02 5.82392788e-05 9.99942035e-01 -8.51406619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10587156 meters Centerline goodness [0,1] 0.9998273406138041 Centerline is valid? [True, True] Translation: X:282.66, Y:-37.15, Z:-8.51 [[ 9.86616943e-01 1.62658915e-01 1.13615734e-02 2.82655111e+02] [-1.62647338e-01 9.86682357e-01 -1.94181848e-03 -3.71477983e+01] [-1.15261181e-02 6.79013351e-05 9.99933570e-01 -8.51235026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.68, Y:-37.15, Z:-8.52 [[ 9.86714011e-01 1.62076012e-01 1.12617598e-02 2.82683830e+02] [-1.62064609e-01 9.86778274e-01 -1.92390225e-03 -3.71539726e+01] [-1.14246783e-02 7.32086155e-05 9.99934734e-01 -8.51544105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.71, Y:-37.16, Z:-8.51 [[ 9.86799161e-01 1.61543951e-01 1.14440787e-02 2.82714030e+02] [-1.61532145e-01 9.86865515e-01 -1.95468599e-03 -3.71603128e+01] [-1.16095343e-02 8.02959251e-05 9.99932604e-01 -8.51334050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19587156 meters Centerline goodness [0,1] 0.999935652696152 Centerline is valid? [True, True] Translation: X:282.74, Y:-37.17, Z:-8.51 [[ 9.86756580e-01 1.61778621e-01 1.17953548e-02 2.82742973e+02] [-1.61766098e-01 9.86827073e-01 -2.01442985e-03 -3.71669209e+01] [-1.19658671e-02 7.96633790e-05 9.99928403e-01 -8.51392596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.77, Y:-37.17, Z:-8.51 [[ 9.86654338e-01 1.62402179e-01 1.17791567e-02 2.82772794e+02] [-1.62389731e-01 9.86724646e-01 -2.01208611e-03 -3.71725522e+01] [-1.19495514e-02 7.24193951e-05 9.99928599e-01 -8.51473061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.80, Y:-37.18, Z:-8.52 [[ 9.86583117e-01 1.62864767e-01 1.13499278e-02 2.82802151e+02] [-1.62853237e-01 9.86648399e-01 -1.93899313e-03 -3.71773208e+01] [-1.15141817e-02 6.46054097e-05 9.99933708e-01 -8.51710592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28587156000003 meters Centerline goodness [0,1] 0.9998484454836755 Centerline is valid? [True, True] Translation: X:282.83, Y:-37.18, Z:-8.51 [[ 9.86480272e-01 1.63496785e-01 1.12014889e-02 2.82832857e+02] [-1.63485600e-01 9.86543865e-01 -1.91327205e-03 -3.71816664e+01] [-1.13635740e-02 5.61229988e-05 9.99935431e-01 -8.51496777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.86, Y:-37.19, Z:-8.52 [[ 9.86247057e-01 1.64869296e-01 1.16128557e-02 2.82863168e+02] [-1.64857369e-01 9.86315423e-01 -1.98353562e-03 -3.71861920e+01] [-1.17809628e-02 4.17913264e-05 9.99930601e-01 -8.51646063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.89, Y:-37.19, Z:-8.52 [[ 9.86070153e-01 1.65890938e-01 1.20768111e-02 2.82892385e+02] [-1.65878113e-01 9.86144105e-01 -2.06300019e-03 -3.71904433e+01] [-1.22517091e-02 3.09842792e-05 9.99924945e-01 -8.51982162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.92, Y:-37.20, Z:-8.52 [[ 9.86073928e-01 1.65868497e-01 1.20768036e-02 2.82921133e+02] [-1.65855670e-01 9.86147880e-01 -2.06304425e-03 -3.71953061e+01] [-1.22517083e-02 3.13078026e-05 9.99924945e-01 -8.52070143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.95, Y:-37.20, Z:-8.52 [[ 9.85854786e-01 1.67156630e-01 1.22066059e-02 2.82950600e+02] [-1.67143627e-01 9.85930353e-01 -2.08494910e-03 -3.71983989e+01] [-1.23833764e-02 1.52006569e-05 9.99923323e-01 -8.51877835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.98, Y:-37.20, Z:-8.52 [[ 9.85764278e-01 1.67719154e-01 1.17929870e-02 2.82979489e+02] [-1.67707061e-01 9.85834816e-01 -2.01405641e-03 -3.72022419e+01] [-1.19637331e-02 7.61766464e-06 9.99928432e-01 -8.52016033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.01, Y:-37.21, Z:-8.52 [[ 9.85642215e-01 1.68460909e-01 1.14169048e-02 2.83007609e+02] [-1.68449628e-01 9.85708335e-01 -1.94955237e-03 -3.72056570e+01] [-1.15821616e-02 -1.61224687e-06 9.99932925e-01 -8.52191397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.04, Y:-37.21, Z:-8.52 [[ 9.85277905e-01 1.70596184e-01 1.11531200e-02 2.83036647e+02] [-1.70585556e-01 9.85341028e-01 -1.90442965e-03 -3.72057198e+01] [-1.13145152e-02 -2.61687237e-05 9.99935988e-01 -8.52352351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.07, Y:-37.21, Z:-8.52 [[ 9.85085936e-01 1.71696209e-01 1.12299144e-02 2.83065267e+02] [-1.71685507e-01 9.85149943e-01 -1.91735901e-03 -3.72079719e+01] [-1.13923528e-02 -3.92501552e-05 9.99935104e-01 -8.52335117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.09, Y:-37.21, Z:-8.52 [[ 9.84750782e-01 1.73558838e-01 1.19677285e-02 2.83094229e+02] [-1.73546827e-01 9.84823500e-01 -2.04285873e-03 -3.72066125e+01] [-1.21406565e-02 -6.52545906e-05 9.99926297e-01 -8.52258671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.12, Y:-37.21, Z:-8.52 [[ 9.84628471e-01 1.74190210e-01 1.28275011e-02 2.83121765e+02] [-1.74176477e-01 9.84712021e-01 -2.18869281e-03 -3.72094409e+01] [-1.30126434e-02 -7.91997040e-05 9.99915329e-01 -8.52253623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.15, Y:-37.21, Z:-8.52 [[ 9.84606905e-01 1.74287780e-01 1.31534459e-02 2.83150653e+02] [-1.74273362e-01 9.84694756e-01 -2.24329399e-03 -3.72139062e+01] [-1.33431079e-02 -8.35324761e-05 9.99910973e-01 -8.52123759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.18, Y:-37.22, Z:-8.52 [[ 9.84650140e-01 1.74113985e-01 1.21828854e-02 2.83179817e+02] [-1.74101609e-01 9.84725502e-01 -2.07728279e-03 -3.72165896e+01] [-1.23584820e-02 -7.56631740e-05 9.99923628e-01 -8.52287492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.21, Y:-37.22, Z:-8.53 [[ 9.84753279e-01 1.73551189e-01 1.18728834e-02 2.83207288e+02] [-1.73539398e-01 9.84824848e-01 -2.02408285e-03 -3.72199909e+01] [-1.20439925e-02 -6.71908141e-05 9.99927466e-01 -8.52574694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.23, Y:-37.22, Z:-8.53 [[ 9.84967129e-01 1.72352023e-01 1.15989394e-02 2.83234348e+02] [-1.72340695e-01 9.85035419e-01 -1.97674120e-03 -3.72238540e+01] [-1.17660615e-02 -5.19441795e-05 9.99930776e-01 -8.52811764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.26, Y:-37.23, Z:-8.53 [[ 9.85154893e-01 1.71284598e-01 1.14640026e-02 2.83262378e+02] [-1.71273470e-01 9.85221592e-01 -1.95276487e-03 -3.72295323e+01] [-1.16290614e-02 -3.97036424e-05 9.99932379e-01 -8.52580463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.29, Y:-37.23, Z:-8.53 [[ 9.85418846e-01 1.69755917e-01 1.15163964e-02 2.83289735e+02] [-1.69744587e-01 9.85486138e-01 -1.96140434e-03 -3.72345832e+01] [-1.16822090e-02 -2.20411409e-05 9.99931760e-01 -8.52673111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.32, Y:-37.24, Z:-8.53 [[ 9.85993926e-01 1.66312739e-01 1.24919894e-02 2.83317265e+02] [-1.66299151e-01 9.86073056e-01 -2.12603381e-03 -3.72424090e+01] [-1.26716007e-02 1.88492009e-05 9.99919712e-01 -8.52670949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.34, Y:-37.25, Z:-8.53 [[ 9.86317679e-01 1.64347134e-01 1.29404431e-02 2.83344955e+02] [-1.64332391e-01 9.86402564e-01 -2.20183164e-03 -3.72501265e+01] [-1.31263510e-02 4.51715251e-05 9.99913845e-01 -8.52708742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.37, Y:-37.26, Z:-8.53 [[ 9.87054585e-01 1.59843054e-01 1.31698070e-02 2.83372650e+02] [-1.59827394e-01 9.87142435e-01 -2.23993029e-03 -3.72618480e+01] [-1.33585126e-02 1.06037528e-04 9.99910765e-01 -8.52753052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.40, Y:-37.27, Z:-8.53 [[ 9.87355635e-01 1.57990156e-01 1.29599560e-02 2.83403106e+02] [-1.57974842e-01 9.87440679e-01 -2.20346019e-03 -3.72692345e+01] [-1.31453128e-02 1.28251826e-04 9.99913588e-01 -8.52681994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91587156 meters Centerline goodness [0,1] 0.9998276790522348 Centerline is valid? [True, True] Translation: X:283.43, Y:-37.28, Z:-8.53 [[ 9.87630858e-01 1.56305198e-01 1.24085761e-02 2.83432890e+02] [-1.56291020e-01 9.87708795e-01 -2.11021409e-03 -3.72779703e+01] [-1.25858972e-02 1.44763536e-04 9.99920784e-01 -8.52666225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.46, Y:-37.29, Z:-8.53 [[ 9.88032023e-01 1.53823881e-01 1.14427187e-02 2.83462815e+02] [-1.53811659e-01 9.88098268e-01 -1.94584145e-03 -3.72876513e+01] [-1.16058474e-02 1.62530115e-04 9.99932637e-01 -8.53074164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.49, Y:-37.29, Z:-8.53 [[ 9.88085985e-01 1.53490872e-01 1.12533544e-02 2.83492505e+02] [-1.53479027e-01 9.88150052e-01 -1.91391570e-03 -3.72943741e+01] [-1.14137713e-02 1.63959397e-04 9.99934847e-01 -8.53285140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.52, Y:-37.30, Z:-8.53 [[ 9.88094367e-01 1.53453072e-01 1.10307132e-02 2.83522931e+02] [-1.53441680e-01 9.88155923e-01 -1.87678223e-03 -3.72995374e+01] [-1.11880626e-02 1.61866784e-04 9.99937399e-01 -8.53356715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.55, Y:-37.31, Z:-8.53 [[ 9.87987965e-01 1.54179743e-01 1.04109574e-02 2.83553267e+02] [-1.54169641e-01 9.88042806e-01 -1.77084972e-03 -3.73065731e+01] [-1.05595007e-02 1.44524645e-04 9.99944236e-01 -8.53497576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.58, Y:-37.31, Z:-8.54 [[ 9.87905369e-01 1.54690560e-01 1.06682912e-02 2.83583043e+02] [-1.54679979e-01 9.87962960e-01 -1.81491012e-03 -3.73146264e+01] [-1.08206260e-02 1.42788402e-04 9.99941445e-01 -8.53863137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.61, Y:-37.32, Z:-8.53 [[ 9.87522101e-01 1.57033337e-01 1.18588295e-02 2.83613583e+02] [-1.57020421e-01 9.87593294e-01 -2.01827492e-03 -3.73156699e+01] [-1.20286369e-02 1.31012687e-04 9.99927645e-01 -8.53406367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.64, Y:-37.32, Z:-8.54 [[ 9.87245609e-01 1.58744011e-01 1.21014868e-02 2.83643895e+02] [-1.58730692e-01 9.87319769e-01 -2.05935180e-03 -3.73192995e+01] [-1.22749469e-02 1.12208645e-04 9.99924654e-01 -8.53580350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.67, Y:-37.32, Z:-8.53 [[ 9.86878611e-01 1.61024004e-01 1.19112369e-02 2.83674298e+02] [-1.61011263e-01 9.86950487e-01 -2.02734384e-03 -3.73210665e+01] [-1.20822521e-02 8.28989680e-05 9.99927003e-01 -8.53477225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.70, Y:-37.32, Z:-8.53 [[ 9.85770660e-01 1.67599279e-01 1.29107649e-02 2.83704438e+02] [-1.67584867e-01 9.85855203e-01 -2.19788807e-03 -3.73180481e+01] [-1.30965092e-02 2.96475344e-06 9.99914237e-01 -8.53447781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21587156 meters Centerline goodness [0,1] 0.9999569318230759 Centerline is valid? [True, True] Translation: X:283.73, Y:-37.32, Z:-8.53 [[ 9.85132001e-01 1.71308148e-01 1.29791815e-02 2.83734019e+02] [-1.71293903e-01 9.85217497e-01 -2.20962338e-03 -3.73172707e+01] [-1.31658432e-02 -4.64839497e-05 9.99913325e-01 -8.53276644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.76, Y:-37.32, Z:-8.54 [[ 9.84474592e-01 1.75015445e-01 1.33930015e-02 2.83762702e+02] [-1.75000626e-01 9.84565683e-01 -2.27967242e-03 -3.73155786e+01] [-1.35852676e-02 -9.95040731e-05 9.99907711e-01 -8.53642899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27587156 meters Centerline goodness [0,1] 0.999913618105645 Centerline is valid? [True, True] Translation: X:283.79, Y:-37.31, Z:-8.53 [[ 9.83128027e-01 1.82458833e-01 1.29636377e-02 2.83793605e+02] [-1.82445613e-01 9.83213474e-01 -2.20521696e-03 -3.73099326e+01] [-1.31483845e-02 -1.97148215e-04 9.99913537e-01 -8.53468665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.82, Y:-37.31, Z:-8.54 [[ 9.82515985e-01 1.85696599e-01 1.33832720e-02 2.83823129e+02] [-1.85682813e-01 9.82607099e-01 -2.27628006e-03 -3.73082795e+01] [-1.35731955e-02 -2.48562055e-04 9.99907849e-01 -8.53714503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33587156 meters Centerline goodness [0,1] 0.9999357422837193 Centerline is valid? [True, True] Translation: X:283.85, Y:-37.30, Z:-8.54 [[ 9.81611832e-01 1.90377096e-01 1.39561268e-02 2.83854090e+02] [-1.90362591e-01 9.81710983e-01 -2.37276616e-03 -3.73017588e+01] [-1.41526033e-02 -3.27589110e-04 9.99899793e-01 -8.53765072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36587156 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:283.88, Y:-37.30, Z:-8.54 [[ 9.81353825e-01 1.91697578e-01 1.40252980e-02 2.83882155e+02] [-1.91683065e-01 9.81453981e-01 -2.38437719e-03 -3.73022363e+01] [-1.42222639e-02 -3.48494430e-04 9.99898798e-01 -8.53906058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39587156 meters Centerline goodness [0,1] 0.9999142844897784 Centerline is valid? [True, True] Translation: X:283.91, Y:-37.30, Z:-8.54 [[ 9.81233229e-01 1.92351719e-01 1.34969384e-02 2.83910182e+02] [-1.92338351e-01 9.81325989e-01 -2.29379030e-03 -3.73025848e+01] [-1.36861109e-02 -3.45235617e-04 9.99906281e-01 -8.54164873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42587156 meters Centerline goodness [0,1] 0.9998927199776858 Centerline is valid? [True, True] Translation: X:283.94, Y:-37.30, Z:-8.54 [[ 9.81327286e-01 1.91911034e-01 1.29194797e-02 2.83938554e+02] [-1.91898755e-01 9.81412273e-01 -2.19516253e-03 -3.73041979e+01] [-1.31006119e-02 -3.25059188e-04 9.99914130e-01 -8.54224452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45587156 meters Centerline goodness [0,1] 0.999871731834021 Centerline is valid? [True, True] Translation: X:283.97, Y:-37.31, Z:-8.54 [[ 9.81559582e-01 1.90711065e-01 1.30413224e-02 2.83967368e+02] [-1.90698465e-01 9.81646164e-01 -2.21449112e-03 -3.73081192e+01] [-1.32242921e-02 -3.13305185e-04 9.99912506e-01 -8.54346274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48587156 meters Centerline goodness [0,1] 0.9999346689895471 Centerline is valid? [True, True] Translation: X:284.00, Y:-37.32, Z:-8.54 [[ 9.82361525e-01 1.86531099e-01 1.31142044e-02 2.83995532e+02] [-1.86517999e-01 9.82449022e-01 -2.22584234e-03 -3.73193585e+01] [-1.32992261e-02 -2.59453285e-04 9.99911528e-01 -8.54036647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51587156 meters Centerline goodness [0,1] 0.9997848537005164 Centerline is valid? [True, True] Translation: X:284.02, Y:-37.32, Z:-8.54 [[ 9.82902392e-01 1.83621407e-01 1.36405920e-02 2.84022511e+02] [-1.83606950e-01 9.82997012e-01 -2.31546281e-03 -3.73247268e+01] [-1.38338298e-02 -2.28633570e-04 9.99904282e-01 -8.54091659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.05, Y:-37.33, Z:-8.54 [[ 9.83447045e-01 1.80626799e-01 1.43481715e-02 2.84049624e+02] [-1.80610500e-01 9.83551687e-01 -2.43445013e-03 -3.73316580e+01] [-1.45518953e-02 -1.97277655e-04 9.99894096e-01 -8.54380354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.08, Y:-37.34, Z:-8.55 [[ 9.84093967e-01 1.77087041e-01 1.41153911e-02 2.84077789e+02] [-1.77070911e-01 9.84195184e-01 -2.39436799e-03 -3.73405549e+01] [-1.43163115e-02 -1.43142076e-04 9.99897506e-01 -8.54500217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60587156 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:284.11, Y:-37.35, Z:-8.55 [[ 9.85422142e-01 1.69623967e-01 1.30733588e-02 2.84105200e+02] [-1.69609493e-01 9.85508858e-01 -2.21614847e-03 -3.73546858e+01] [-1.32598227e-02 -3.35239691e-05 9.99912084e-01 -8.54506020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.13, Y:-37.36, Z:-8.55 [[ 9.86068208e-01 1.65812537e-01 1.32548778e-02 2.84132996e+02] [-1.65797318e-01 9.86157291e-01 -2.24661204e-03 -3.73640197e+01] [-1.34439108e-02 1.76895195e-05 9.99909626e-01 -8.54663794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.16, Y:-37.38, Z:-8.55 [[ 9.87259295e-01 1.58489412e-01 1.41488466e-02 2.84160306e+02] [-1.58471334e-01 9.87360669e-01 -2.39692702e-03 -3.73803934e+01] [-1.43499022e-02 1.24201884e-04 9.99897027e-01 -8.54567756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.19, Y:-37.39, Z:-8.55 [[ 9.87737219e-01 1.55457312e-01 1.44295308e-02 2.84189312e+02] [-1.55438198e-01 9.87842596e-01 -2.44371822e-03 -3.73902285e+01] [-1.46339990e-02 1.70851181e-04 9.99892903e-01 -8.54576103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.22, Y:-37.41, Z:-8.55 [[ 9.88554871e-01 1.50145837e-01 1.46797312e-02 2.84218114e+02] [-1.50125504e-01 9.88663828e-01 -2.48366163e-03 -3.74073445e+01] [-1.48862307e-02 2.51433756e-04 9.99889162e-01 -8.54783098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75587156 meters Centerline goodness [0,1] 0.9999569938716267 Centerline is valid? [True, True] Translation: X:284.25, Y:-37.42, Z:-8.55 [[ 9.88823286e-01 1.48347190e-01 1.48868917e-02 2.84248970e+02] [-1.48326039e-01 9.88935301e-01 -2.52110211e-03 -3.74181060e+01] [-1.50961712e-02 2.84810788e-04 9.99886006e-01 -8.54876694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78587156000003 meters Centerline goodness [0,1] 0.9999356388912727 Centerline is valid? [True, True] Translation: X:284.28, Y:-37.43, Z:-8.55 [[ 9.89022705e-01 1.47031042e-01 1.46956595e-02 2.84280542e+02] [-1.47010251e-01 9.89131832e-01 -2.49108313e-03 -3.74271383e+01] [-1.49022112e-02 3.03325170e-04 9.99888910e-01 -8.54738389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.31, Y:-37.43, Z:-8.55 [[ 9.89064935e-01 1.46766180e-01 1.44997235e-02 2.84311657e+02] [-1.46745877e-01 9.89171166e-01 -2.46022552e-03 -3.74348225e+01] [-1.47037863e-02 3.05548159e-04 9.99891847e-01 -8.54937548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.34, Y:-37.44, Z:-8.55 [[ 9.88924555e-01 1.47708956e-01 1.45013290e-02 2.84343582e+02] [-1.47688713e-01 9.89030828e-01 -2.46291113e-03 -3.74401038e+01] [-1.47060555e-02 2.93950671e-04 9.99891817e-01 -8.54981263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.37, Y:-37.45, Z:-8.55 [[ 9.88446569e-01 1.50859917e-01 1.46514674e-02 2.84374190e+02] [-1.50839561e-01 9.88555118e-01 -2.49098525e-03 -3.74479076e+01] [-1.48595729e-02 2.52184903e-04 9.99889559e-01 -8.55330565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90587156 meters Centerline goodness [0,1] 0.9999352736844377 Centerline is valid? [True, True] Translation: X:284.41, Y:-37.45, Z:-8.55 [[ 9.88154710e-01 1.52835364e-01 1.38427243e-02 2.84406715e+02] [-1.52817358e-01 9.88251641e-01 -2.35555435e-03 -3.74493897e+01] [-1.40401070e-02 2.12243566e-04 9.99901410e-01 -8.55058036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.44, Y:-37.45, Z:-8.55 [[ 9.87757587e-01 1.55398384e-01 1.36488804e-02 2.84436900e+02] [-1.55381068e-01 9.87851867e-01 -2.32651346e-03 -3.74525540e+01] [-1.38446085e-02 1.77253703e-04 9.99904143e-01 -8.55405702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.47, Y:-37.45, Z:-8.56 [[ 9.86932161e-01 1.60520002e-01 1.40797150e-02 2.84467394e+02] [-1.60502067e-01 9.87032581e-01 -2.40201658e-03 -3.74528559e+01] [-1.42827092e-02 1.10804049e-04 9.99897991e-01 -8.55541105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.50, Y:-37.45, Z:-8.56 [[ 9.86523698e-01 1.63016142e-01 1.40260537e-02 2.84497449e+02] [-1.62998591e-01 9.86623399e-01 -2.39323928e-03 -3.74548632e+01] [-1.42285694e-02 7.47602866e-05 9.99898766e-01 -8.55601623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.53, Y:-37.45, Z:-8.56 [[ 9.85664189e-01 1.68154574e-01 1.37893360e-02 2.84528440e+02] [-1.68138116e-01 9.85760640e-01 -2.35254451e-03 -3.74522905e+01] [-1.39885758e-02 3.05887287e-07 9.99902155e-01 -8.55563408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.56, Y:-37.45, Z:-8.56 [[ 9.85233638e-01 1.70645662e-01 1.39548347e-02 2.84556808e+02] [-1.70629060e-01 9.85332460e-01 -2.38061808e-03 -3.74532964e+01] [-1.41563937e-02 -3.56353114e-05 9.99899793e-01 -8.55756434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.59, Y:-37.46, Z:-8.56 [[ 9.84858369e-01 1.72754945e-01 1.44817730e-02 2.84585915e+02] [-1.72737298e-01 9.84964834e-01 -2.47009429e-03 -3.74557256e+01] [-1.46907581e-02 -6.88493063e-05 9.99892083e-01 -8.55734397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.61, Y:-37.46, Z:-8.56 [[ 9.84532447e-01 1.74607344e-01 1.44269649e-02 2.84614421e+02] [-1.74590040e-01 9.84638140e-01 -2.46005826e-03 -3.74583866e+01] [-1.46348842e-02 -9.67972066e-05 9.99892900e-01 -8.55742474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.64, Y:-37.46, Z:-8.56 [[ 9.83995015e-01 1.77513305e-01 1.55832496e-02 2.84643938e+02] [-1.77493494e-01 9.84118389e-01 -2.65635651e-03 -3.74582200e+01] [-1.58073011e-02 -1.52083857e-04 9.99875045e-01 -8.55543557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17587156 meters Centerline goodness [0,1] 0.999957207351777 Centerline is valid? [True, True] Translation: X:284.67, Y:-37.46, Z:-8.55 [[ 9.83751563e-01 1.78746437e-01 1.68099068e-02 2.84671568e+02] [-1.78723578e-01 9.83895155e-01 -2.86466296e-03 -3.74597133e+01] [-1.70512341e-02 -1.86210006e-04 9.99854600e-01 -8.55463469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20587156 meters Centerline goodness [0,1] 0.9998928303504447 Centerline is valid? [True, True] Translation: X:284.70, Y:-37.46, Z:-8.55 [[ 9.83514068e-01 1.79992808e-01 1.73973525e-02 2.84699543e+02] [-1.79968538e-01 9.83667902e-01 -2.96364389e-03 -3.74614542e+01] [-1.76466518e-02 -2.16190625e-04 9.99844262e-01 -8.55280530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.73, Y:-37.47, Z:-8.55 [[ 9.83449762e-01 1.80300666e-01 1.78391383e-02 2.84728178e+02] [-1.80275221e-01 9.83611518e-01 -3.03762981e-03 -3.74657257e+01] [-1.80944686e-02 -2.28598294e-04 9.99836256e-01 -8.55494068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.76, Y:-37.47, Z:-8.56 [[ 9.83458152e-01 1.80254884e-01 1.78392801e-02 2.84756112e+02] [-1.80229446e-01 9.83619909e-01 -3.03679673e-03 -3.74703888e+01] [-1.80944685e-02 -2.28601086e-04 9.99836256e-01 -8.55579526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.78, Y:-37.48, Z:-8.55 [[ 9.83493074e-01 1.80068247e-01 1.77988688e-02 2.84784115e+02] [-1.80042908e-01 9.83654094e-01 -3.02910285e-03 -3.74756990e+01] [-1.80533754e-02 -2.25458428e-04 9.99836999e-01 -8.55486756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.81, Y:-37.48, Z:-8.56 [[ 9.83556909e-01 1.79790950e-01 1.70593197e-02 2.84811314e+02] [-1.79767642e-01 9.83704818e-01 -2.90267343e-03 -3.74782612e+01] [-1.73032094e-02 -2.11769150e-04 9.99850266e-01 -8.55907242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35587156 meters Centerline goodness [0,1] 0.9998715753424657 Centerline is valid? [True, True] Translation: X:284.84, Y:-37.48, Z:-8.56 [[ 9.83631966e-01 1.79474009e-01 1.60385355e-02 2.84839320e+02] [-1.79453386e-01 9.83762696e-01 -2.72770810e-03 -3.74830354e+01] [-1.62676656e-02 -1.95108615e-04 9.99867654e-01 -8.55943820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.87, Y:-37.49, Z:-8.56 [[ 9.83623188e-01 1.79499558e-01 1.62890136e-02 2.84866660e+02] [-1.79478300e-01 9.83758034e-01 -2.76965972e-03 -3.74852832e+01] [-1.65216007e-02 -1.99222948e-04 9.99863489e-01 -8.56246840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.89, Y:-37.49, Z:-8.56 [[ 9.83666014e-01 1.79254274e-01 1.64036184e-02 2.84894927e+02] [-1.79232701e-01 9.83802758e-01 -2.78799258e-03 -3.74899558e+01] [-1.66376846e-02 -1.97611287e-04 9.99861565e-01 -8.56275856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.92, Y:-37.50, Z:-8.56 [[ 9.83756493e-01 1.78780770e-01 1.61430452e-02 2.84923317e+02] [-1.78759825e-01 9.83888917e-01 -2.74296574e-03 -3.74955421e+01] [-1.63733528e-02 -1.87317571e-04 9.99865930e-01 -8.56316748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.95, Y:-37.50, Z:-8.57 [[ 9.84057488e-01 1.77149074e-01 1.57818165e-02 2.84950952e+02] [-1.77128856e-01 9.84184018e-01 -2.68100182e-03 -3.75005771e+01] [-1.60071486e-02 -1.57155179e-04 9.99871865e-01 -8.56561437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.98, Y:-37.51, Z:-8.56 [[ 9.84241010e-01 1.76108251e-01 1.59849438e-02 2.84978711e+02] [-1.76087390e-01 9.84370796e-01 -2.71433435e-03 -3.75073395e+01] [-1.62131285e-02 -1.43187855e-04 9.99868548e-01 -8.56421647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.01, Y:-37.51, Z:-8.57 [[ 9.84479040e-01 1.74744803e-01 1.62871967e-02 2.85006299e+02] [-1.74722970e-01 9.84613751e-01 -2.76500928e-03 -3.75124830e+01] [-1.65197689e-02 -1.23653708e-04 9.99863532e-01 -8.56570222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.03, Y:-37.52, Z:-8.57 [[ 9.85084856e-01 1.71292433e-01 1.63318039e-02 2.85033753e+02] [-1.71270030e-01 9.85220228e-01 -2.77113591e-03 -3.75206625e+01] [-1.65650982e-02 -6.73445167e-05 9.99862787e-01 -8.56745388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.06, Y:-37.53, Z:-8.57 [[ 9.85434198e-01 1.69293375e-01 1.60995504e-02 2.85062675e+02] [-1.69271350e-01 9.85565702e-01 -2.73097843e-03 -3.75282948e+01] [-1.63295012e-02 -3.39930835e-05 9.99866664e-01 -8.56836208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.09, Y:-37.54, Z:-8.57 [[ 9.85767928e-01 1.67337702e-01 1.61147618e-02 2.85090974e+02] [-1.67315380e-01 9.85899637e-01 -2.73316927e-03 -3.75360307e+01] [-1.63449000e-02 -1.97687934e-06 9.99866413e-01 -8.56929403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.12, Y:-37.55, Z:-8.57 [[ 9.86333651e-01 1.63977295e-01 1.60429438e-02 2.85120521e+02] [-1.63954739e-01 9.86464112e-01 -2.72026548e-03 -3.75454453e+01] [-1.62718500e-02 5.27727354e-05 9.99867603e-01 -8.56890896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.15, Y:-37.55, Z:-8.57 [[ 9.86539559e-01 1.62723015e-01 1.61529664e-02 2.85149157e+02] [-1.62699977e-01 9.86671787e-01 -2.73909154e-03 -3.75520776e+01] [-1.63833895e-02 7.41348882e-05 9.99865781e-01 -8.57021130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71587156 meters Centerline goodness [0,1] 0.9999357009666288 Centerline is valid? [True, True] Translation: X:285.18, Y:-37.56, Z:-8.57 [[ 9.86805647e-01 1.61062198e-01 1.65403663e-02 2.85177619e+02] [-1.61037817e-01 9.86944253e-01 -2.80425142e-03 -3.75618972e+01] [-1.67760784e-02 1.03626663e-04 9.99859266e-01 -8.57074357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74587156 meters Centerline goodness [0,1] 0.999806459937207 Centerline is valid? [True, True] Translation: X:285.21, Y:-37.57, Z:-8.57 [[ 9.86843610e-01 1.60828720e-01 1.65472988e-02 2.85207428e+02] [-1.60804280e-01 9.86982326e-01 -2.80576536e-03 -3.75665711e+01] [-1.67831391e-02 1.07975141e-04 9.99859147e-01 -8.56868275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.24, Y:-37.57, Z:-8.57 [[ 9.86769421e-01 1.61229144e-01 1.70667022e-02 2.85237007e+02] [-1.61203203e-01 9.86916994e-01 -2.89398738e-03 -3.75709994e+01] [-1.73100136e-02 1.04491194e-04 9.99850165e-01 -8.57105529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.27, Y:-37.57, Z:-8.57 [[ 9.86570694e-01 1.62301810e-01 1.83409085e-02 2.85266919e+02] [-1.62272038e-01 9.86741159e-01 -3.10994387e-03 -3.75726203e+01] [-1.86024788e-02 9.19628794e-05 9.99826955e-01 -8.56922621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.30, Y:-37.58, Z:-8.57 [[ 9.86469843e-01 1.62892419e-01 1.85286070e-02 2.85296688e+02] [-1.62862152e-01 9.86643833e-01 -3.14105019e-03 -3.75766960e+01] [-1.87927891e-02 8.09424768e-05 9.99823397e-01 -8.56944646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.33, Y:-37.58, Z:-8.57 [[ 9.86361660e-01 1.63551256e-01 1.84840889e-02 2.85326058e+02] [-1.63521250e-01 9.86534836e-01 -3.13350328e-03 -3.75828897e+01] [-1.87476860e-02 6.82261894e-05 9.99824244e-01 -8.57071461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.35, Y:-37.59, Z:-8.57 [[ 9.86369642e-01 1.63468534e-01 1.87874270e-02 2.85354973e+02] [-1.63437517e-01 9.86548546e-01 -3.18505911e-03 -3.75883570e+01] [-1.90553657e-02 7.10751850e-05 9.99818428e-01 -8.57153911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92587156 meters Centerline goodness [0,1] 0.9999781506729593 Centerline is valid? [True, True] Translation: X:285.39, Y:-37.59, Z:-8.57 [[ 9.86350482e-01 1.63595559e-01 1.86874034e-02 2.85385387e+02] [-1.63564901e-01 9.86527490e-01 -3.16774366e-03 -3.75922757e+01] [-1.89538660e-02 6.79021969e-05 9.99820357e-01 -8.56987531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.42, Y:-37.60, Z:-8.57 [[ 9.86287397e-01 1.64106706e-01 1.74974102e-02 2.85415995e+02] [-1.64079912e-01 9.86442591e-01 -2.96587003e-03 -3.75957944e+01] [-1.77469098e-02 5.42267066e-05 9.99842510e-01 -8.57363903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.45, Y:-37.60, Z:-8.58 [[ 9.86229903e-01 1.64454045e-01 1.74769938e-02 2.85445348e+02] [-1.64427358e-01 9.86384745e-01 -2.96294150e-03 -3.76011786e+01] [-1.77263077e-02 4.84455952e-05 9.99842875e-01 -8.57515903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.47, Y:-37.61, Z:-8.58 [[ 9.86113893e-01 1.65102333e-01 1.79055826e-02 2.85474079e+02] [-1.65074432e-01 9.86276441e-01 -3.03536100e-03 -3.76060560e+01] [-1.81609995e-02 3.74577678e-05 9.99835075e-01 -8.57577933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.50, Y:-37.61, Z:-8.57 [[ 9.85676138e-01 1.67599400e-01 1.87880902e-02 2.85504214e+02] [-1.67569137e-01 9.85855183e-01 -3.18484743e-03 -3.76067982e+01] [-1.90561146e-02 -9.07593980e-06 9.99818416e-01 -8.57355599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.53, Y:-37.60, Z:-8.57 [[ 9.84997634e-01 1.71409439e-01 1.99615973e-02 2.85534379e+02] [-1.71376070e-01 9.85199876e-01 -3.38325127e-03 -3.76049081e+01] [-2.02460844e-02 -8.84455919e-05 9.99795023e-01 -8.57164688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.56, Y:-37.61, Z:-8.57 [[ 9.84686510e-01 1.73226934e-01 1.96190304e-02 2.85563324e+02] [-1.73195068e-01 9.84881929e-01 -3.32482925e-03 -3.76055923e+01] [-1.98983785e-02 -1.24004790e-04 9.99802000e-01 -8.57458767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.59, Y:-37.61, Z:-8.58 [[ 9.84402416e-01 1.74871814e-01 1.92803483e-02 2.85592726e+02] [-1.74841366e-01 9.84591197e-01 -3.26683144e-03 -3.76071273e+01] [-1.95545380e-02 -1.55125689e-04 9.99808780e-01 -8.57603164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.62, Y:-37.61, Z:-8.58 [[ 9.84151686e-01 1.76282412e-01 1.92346083e-02 2.85622020e+02] [-1.76252396e-01 9.84339615e-01 -3.25816444e-03 -3.76090618e+01] [-1.95077440e-02 -1.83617778e-04 9.99809689e-01 -8.57709866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.65, Y:-37.61, Z:-8.58 [[ 9.83798496e-01 1.78237853e-01 1.92817937e-02 2.85650584e+02] [-1.78208082e-01 9.83987407e-01 -3.26523158e-03 -3.76114010e+01] [-1.95550300e-02 -2.23841552e-04 9.99808757e-01 -8.57781224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.68, Y:-37.61, Z:-8.58 [[ 9.83744327e-01 1.78558411e-01 1.90785871e-02 2.85678534e+02] [-1.78529339e-01 9.83929287e-01 -3.23007354e-03 -3.76145183e+01] [-1.93487374e-02 -2.28521012e-04 9.99812770e-01 -8.57931465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25587156 meters Centerline goodness [0,1] 0.9999784973981852 Centerline is valid? [True, True] Translation: X:285.71, Y:-37.62, Z:-8.58 [[ 9.83708583e-01 1.78787676e-01 1.87720564e-02 2.85707671e+02] [-1.78759600e-01 9.83887653e-01 -3.17672216e-03 -3.76180297e+01] [-1.90375532e-02 -2.30716434e-04 9.99818743e-01 -8.57950159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.74, Y:-37.62, Z:-8.58 [[ 9.83709560e-01 1.78809519e-01 1.85110141e-02 2.85735685e+02] [-1.78782237e-01 9.83883684e-01 -3.13178388e-03 -3.76207615e+01] [-1.87726775e-02 -2.28674761e-04 9.99823752e-01 -8.58184932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31587156 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:285.76, Y:-37.63, Z:-8.58 [[ 9.83738165e-01 1.78698010e-01 1.80622087e-02 2.85764303e+02] [-1.78672038e-01 9.83903944e-01 -3.05464450e-03 -3.76257858e+01] [-1.83173373e-02 -2.22241273e-04 9.99832199e-01 -8.58314254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.79, Y:-37.63, Z:-8.58 [[ 9.83875180e-01 1.77963815e-01 1.78468393e-02 2.85792207e+02] [-1.77938354e-01 9.84037010e-01 -3.01735739e-03 -3.76308328e+01] [-1.80989308e-02 -2.06934164e-04 9.99836180e-01 -8.58445780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.82, Y:-37.64, Z:-8.59 [[ 9.83997955e-01 1.77302504e-01 1.76591625e-02 2.85820726e+02] [-1.77277484e-01 9.84156382e-01 -2.98478732e-03 -3.76361624e+01] [-1.79085877e-02 -1.93547273e-04 9.99839610e-01 -8.58523973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.85, Y:-37.64, Z:-8.58 [[ 9.84298936e-01 1.75521007e-01 1.86542263e-02 2.85848752e+02] [-1.75492787e-01 9.84475671e-01 -3.15196830e-03 -3.76417834e+01] [-1.89178686e-02 -1.71203119e-04 9.99821026e-01 -8.58452898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.88, Y:-37.65, Z:-8.59 [[ 9.84505495e-01 1.74371383e-01 1.85351400e-02 2.85876063e+02] [-1.74343333e-01 9.84679947e-01 -3.13106542e-03 -3.76473163e+01] [-1.87971489e-02 -1.48926972e-04 9.99823307e-01 -8.58524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.90, Y:-37.65, Z:-8.59 [[ 9.84720405e-01 1.73141926e-01 1.86439776e-02 2.85903977e+02] [-1.73113350e-01 9.84896876e-01 -3.14814566e-03 -3.76539680e+01] [-1.89074713e-02 -1.27478156e-04 9.99821230e-01 -8.58610525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.93, Y:-37.66, Z:-8.59 [[ 9.85086225e-01 1.71137335e-01 1.78085065e-02 2.85931490e+02] [-1.71110953e-01 9.85247180e-01 -3.00610013e-03 -3.76615961e+01] [-1.80602367e-02 -8.59626785e-05 9.99836897e-01 -8.58875051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.96, Y:-37.67, Z:-8.59 [[ 9.85185103e-01 1.70529599e-01 1.81650484e-02 2.85960294e+02] [-1.70502057e-01 9.85352551e-01 -3.06573131e-03 -3.76667757e+01] [-1.84217747e-02 -7.68653078e-05 9.99830302e-01 -8.58889097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.99, Y:-37.67, Z:-8.59 [[ 9.85250763e-01 1.70153899e-01 1.81268950e-02 2.85987253e+02] [-1.70126423e-01 9.85417498e-01 -3.05854047e-03 -3.76714485e+01] [-1.83829821e-02 -7.04344607e-05 9.99831016e-01 -8.59046744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58587156 meters Centerline goodness [0,1] 0.9999138488046522 Centerline is valid? [True, True] Translation: X:286.02, Y:-37.68, Z:-8.59 [[ 9.85352045e-01 1.69587044e-01 1.79326813e-02 2.86015643e+02] [-1.69560081e-01 9.85515211e-01 -3.02454868e-03 -3.76766395e+01] [-1.81858545e-02 -6.04216759e-05 9.99834622e-01 -8.58917284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.04, Y:-37.68, Z:-8.59 [[ 9.85387479e-01 1.69306048e-01 1.86273476e-02 2.86044423e+02] [-1.69276924e-01 9.85563523e-01 -3.14075757e-03 -3.76813667e+01] [-1.88901836e-02 -5.83169216e-05 9.99821563e-01 -8.59045146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.07, Y:-37.69, Z:-8.59 [[ 9.85549680e-01 1.68321950e-01 1.89617670e-02 2.86072609e+02] [-1.68291609e-01 9.85732073e-01 -3.19605628e-03 -3.76876420e+01] [-1.92291883e-02 -4.12340297e-05 9.99815101e-01 -8.59104003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.10, Y:-37.69, Z:-8.59 [[ 9.85659785e-01 1.67689325e-01 1.88435176e-02 2.86101218e+02] [-1.67659261e-01 9.85839890e-01 -3.17531370e-03 -3.76935905e+01] [-1.91091575e-02 -2.95112228e-05 9.99817403e-01 -8.59160860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.13, Y:-37.70, Z:-8.59 [[ 9.85736119e-01 1.67246538e-01 1.87856282e-02 2.86130655e+02] [-1.67216587e-01 9.85915105e-01 -3.16510997e-03 -3.76989442e+01] [-1.90503883e-02 -2.13054204e-05 9.99818525e-01 -8.59267207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.16, Y:-37.70, Z:-8.59 [[ 9.85797022e-01 1.66861391e-01 1.90133471e-02 2.86158523e+02] [-1.66830644e-01 9.85980363e-01 -3.20313972e-03 -3.77049142e+01] [-1.92812672e-02 -1.43633504e-05 9.99814099e-01 -8.59367720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.19, Y:-37.71, Z:-8.59 [[ 9.85805783e-01 1.66844588e-01 1.87040521e-02 2.86187570e+02] [-1.66814845e-01 9.85983206e-01 -3.15025527e-03 -3.77102941e+01] [-1.89674843e-02 -1.45736980e-05 9.99820101e-01 -8.59493593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.22, Y:-37.72, Z:-8.60 [[ 9.85791970e-01 1.66943778e-01 1.85463208e-02 2.86216314e+02] [-1.66914561e-01 9.85966417e-01 -3.12326336e-03 -3.77151631e+01] [-1.88074589e-02 -1.67630470e-05 9.99823124e-01 -8.59578456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.24, Y:-37.72, Z:-8.60 [[ 9.85783729e-01 1.66931771e-01 1.90846194e-02 2.86244340e+02] [-1.66900840e-01 9.85968450e-01 -3.21341443e-03 -3.77199525e+01] [-1.93532535e-02 -1.75073357e-05 9.99812708e-01 -8.59619440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.27, Y:-37.72, Z:-8.60 [[ 9.85750734e-01 1.67066361e-01 1.96041286e-02 2.86272452e+02] [-1.67033754e-01 9.85945653e-01 -3.30066415e-03 -3.77244740e+01] [-1.98800353e-02 -2.09190862e-05 9.99802372e-01 -8.59613405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.30, Y:-37.73, Z:-8.60 [[ 9.85709012e-01 1.67251022e-01 2.01206297e-02 2.86300313e+02] [-1.67216730e-01 9.85914345e-01 -3.38676060e-03 -3.77286750e+01] [-2.04036566e-02 -2.61454622e-05 9.99791823e-01 -8.59559192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.33, Y:-37.73, Z:-8.60 [[ 9.85711082e-01 1.67198137e-01 2.04559301e-02 2.86328548e+02] [-1.67162709e-01 9.85923315e-01 -3.44188322e-03 -3.77337208e+01] [-2.07434549e-02 -2.67662547e-05 9.99784831e-01 -8.59599848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.36, Y:-37.74, Z:-8.60 [[ 9.85746447e-01 1.66964607e-01 2.06582407e-02 2.86356607e+02] [-1.66928444e-01 9.85962889e-01 -3.47496222e-03 -3.77397976e+01] [-2.09484544e-02 -2.30163057e-05 9.99780557e-01 -8.59654673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.38, Y:-37.75, Z:-8.60 [[ 9.85811821e-01 1.66526817e-01 2.10682874e-02 2.86384992e+02] [-1.66489127e-01 9.86036926e-01 -3.54284269e-03 -3.77461450e+01] [-2.13640877e-02 -1.50645721e-05 9.99771762e-01 -8.59676896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.41, Y:-37.75, Z:-8.60 [[ 9.85913682e-01 1.65865193e-01 2.15162628e-02 2.86414474e+02] [-1.65825743e-01 9.86148436e-01 -3.61732747e-03 -3.77526397e+01] [-2.18182176e-02 -1.57762692e-06 9.99761954e-01 -8.59650481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.44, Y:-37.76, Z:-8.60 [[ 9.86013443e-01 1.65279643e-01 2.14506259e-02 2.86442678e+02] [-1.65240304e-01 9.86246744e-01 -3.60590003e-03 -3.77592276e+01] [-2.17515918e-02 1.09579607e-05 9.99763406e-01 -8.59777009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.47, Y:-37.77, Z:-8.60 [[ 9.86135773e-01 1.64573100e-01 2.12586976e-02 2.86472791e+02] [-1.64534319e-01 9.86364889e-01 -3.57263307e-03 -3.77666919e+01] [-2.15567922e-02 2.53159365e-05 9.99767625e-01 -8.59749351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.50, Y:-37.78, Z:-8.60 [[ 9.86372389e-01 1.63230897e-01 2.06199846e-02 2.86501543e+02] [-1.63194120e-01 9.86587893e-01 -3.46520267e-03 -3.77754622e+01] [-2.09090553e-02 5.29199908e-05 9.99781380e-01 -8.60223507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.53, Y:-37.78, Z:-8.60 [[ 9.86492256e-01 1.62561986e-01 2.01650611e-02 2.86531478e+02] [-1.62526669e-01 9.86698331e-01 -3.38904390e-03 -3.77821439e+01] [-2.04477618e-02 6.59053578e-05 9.99790920e-01 -8.60141845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15587156 meters Centerline goodness [0,1] 0.999936039570186 Centerline is valid? [True, True] Translation: X:286.56, Y:-37.79, Z:-8.61 [[ 9.86769067e-01 1.60948640e-01 1.95536165e-02 2.86560080e+02] [-1.60915126e-01 9.86962778e-01 -3.28574166e-03 -3.77943353e+01] [-1.98275273e-02 9.57955590e-05 9.99803411e-01 -8.60527430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18587156 meters Centerline goodness [0,1] 0.999936039570186 Centerline is valid? [True, True] Translation: X:286.59, Y:-37.80, Z:-8.61 [[ 9.86772501e-01 1.60927618e-01 1.95533223e-02 2.86588839e+02] [-1.60894065e-01 9.86966206e-01 -3.28749154e-03 -3.77991206e+01] [-1.98275165e-02 9.79927314e-05 9.99803411e-01 -8.60615406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.62, Y:-37.81, Z:-8.61 [[ 9.86866612e-01 1.60405719e-01 1.90865098e-02 2.86617440e+02] [-1.60373661e-01 9.87051161e-01 -3.20848523e-03 -3.78058955e+01] [-1.93540210e-02 1.05373495e-04 9.99812688e-01 -8.60909800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24587156 meters Centerline goodness [0,1] 0.9999785958904109 Centerline is valid? [True, True] Translation: X:286.65, Y:-37.81, Z:-8.61 [[ 9.86915046e-01 1.60110510e-01 1.90608573e-02 2.86646310e+02] [-1.60078486e-01 9.87099089e-01 -3.20408219e-03 -3.78112132e+01] [-1.93279622e-02 1.10923738e-04 9.99813191e-01 -8.60968442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.68, Y:-37.82, Z:-8.61 [[ 9.86988777e-01 1.59599622e-01 1.95221406e-02 2.86676270e+02] [-1.59565942e-01 9.87181820e-01 -3.28095547e-03 -3.78181580e+01] [-1.97955415e-02 1.23197477e-04 9.99804041e-01 -8.60812654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.71, Y:-37.83, Z:-8.61 [[ 9.87024878e-01 1.59323741e-01 1.99458450e-02 2.86706561e+02] [-1.59288531e-01 9.87226382e-01 -3.35193000e-03 -3.78253481e+01] [-2.02251064e-02 1.31293946e-04 9.99795443e-01 -8.60700742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.74, Y:-37.83, Z:-8.61 [[ 9.86991881e-01 1.59488695e-01 2.02579231e-02 2.86737836e+02] [-1.59452427e-01 9.87199747e-01 -3.40350284e-03 -3.78327660e+01] [-2.05414368e-02 1.29054661e-04 9.99788994e-01 -8.60736399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36587156 meters Centerline goodness [0,1] 0.9999140210218601 Centerline is valid? [True, True] Translation: X:286.77, Y:-37.84, Z:-8.61 [[ 9.86944170e-01 1.59824053e-01 1.99368308e-02 2.86768954e+02] [-1.59788929e-01 9.87145509e-01 -3.35283541e-03 -3.78388793e+01] [-2.02164168e-02 1.23376518e-04 9.99795620e-01 -8.60846510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.80, Y:-37.85, Z:-8.61 [[ 9.86867035e-01 1.60385931e-01 1.92303938e-02 2.86799223e+02] [-1.60353296e-01 9.87054376e-01 -3.23721644e-03 -3.78466285e+01] [-1.95006483e-02 1.11045162e-04 9.99809838e-01 -8.61191851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.83, Y:-37.85, Z:-8.61 [[ 9.86741590e-01 1.61192786e-01 1.89187722e-02 2.86830664e+02] [-1.61161296e-01 9.86922933e-01 -3.18750464e-03 -3.78515883e+01] [-1.91851729e-02 9.62695456e-05 9.99815943e-01 -8.61312577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.86, Y:-37.86, Z:-8.61 [[ 9.86603958e-01 1.62062548e-01 1.86644463e-02 2.86861954e+02] [-1.62031967e-01 9.86780484e-01 -3.14926216e-03 -3.78555737e+01] [-1.89280888e-02 8.28375564e-05 9.99820844e-01 -8.61496352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.89, Y:-37.86, Z:-8.62 [[ 9.86280477e-01 1.64080449e-01 1.81225756e-02 2.86892483e+02] [-1.64051946e-01 9.86446960e-01 -3.05851686e-03 -3.78583756e+01] [-1.83788024e-02 4.35116776e-05 9.99831095e-01 -8.61710571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.92, Y:-37.86, Z:-8.62 [[ 9.86159857e-01 1.64856121e-01 1.76407397e-02 2.86922923e+02] [-1.64829238e-01 9.86317626e-01 -2.97719823e-03 -3.78630666e+01] [-1.78901819e-02 2.82836823e-05 9.99839957e-01 -8.61836223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.95, Y:-37.87, Z:-8.62 [[ 9.86061693e-01 1.65446693e-01 1.75991403e-02 2.86951627e+02] [-1.65420028e-01 9.86218734e-01 -2.97032306e-03 -3.78679219e+01] [-1.78480320e-02 1.76714986e-05 9.99840711e-01 -8.62078585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.98, Y:-37.87, Z:-8.62 [[ 9.86095931e-01 1.65183884e-01 1.81411191e-02 2.86980108e+02] [-1.65155511e-01 9.86262787e-01 -3.06156318e-03 -3.78742831e+01] [-1.83976316e-02 2.28891958e-05 9.99830749e-01 -8.62098996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.01, Y:-37.88, Z:-8.62 [[ 9.86241893e-01 1.64268212e-01 1.85171066e-02 2.87010238e+02] [-1.64238496e-01 9.86415710e-01 -3.12466504e-03 -3.78815383e+01] [-1.87788480e-02 4.04538248e-05 9.99823661e-01 -8.62081359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.04, Y:-37.89, Z:-8.62 [[ 9.86395569e-01 1.63270487e-01 1.91449740e-02 2.87040898e+02] [-1.63238538e-01 9.86581342e-01 -3.23036450e-03 -3.78888935e+01] [-1.94154973e-02 6.12196697e-05 9.99811500e-01 -8.62003999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.07, Y:-37.90, Z:-8.62 [[ 9.86779035e-01 1.60735759e-01 2.07641918e-02 2.87072585e+02] [-1.60697636e-01 9.86997468e-01 -3.50257229e-03 -3.79011183e+01] [-2.10571933e-02 1.19508365e-04 9.99778266e-01 -8.61628430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.10, Y:-37.91, Z:-8.62 [[ 9.86944350e-01 1.59648323e-01 2.12899770e-02 2.87104901e+02] [-1.59607899e-01 9.87173941e-01 -3.59561254e-03 -3.79108109e+01] [-2.15909440e-02 1.50620991e-04 9.99766877e-01 -8.61662399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.14, Y:-37.92, Z:-8.62 [[ 9.87110077e-01 1.58536014e-01 2.19095504e-02 2.87135162e+02] [-1.58492827e-01 9.87353178e-01 -3.70480615e-03 -3.79219314e+01] [-2.22198094e-02 1.84544912e-04 9.99753093e-01 -8.61594604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.17, Y:-37.93, Z:-8.62 [[ 9.87132660e-01 1.58404987e-01 2.18396838e-02 2.87167309e+02] [-1.58361957e-01 9.87374206e-01 -3.69687684e-03 -3.79295083e+01] [-2.21495442e-02 1.90732792e-04 9.99754651e-01 -8.61731159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.20, Y:-37.94, Z:-8.62 [[ 9.87102539e-01 1.58679015e-01 2.12025476e-02 2.87199194e+02] [-1.58638438e-01 9.87330207e-01 -3.59294606e-03 -3.79366200e+01] [-2.15040408e-02 1.83067148e-04 9.99768745e-01 -8.61916170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.23, Y:-37.94, Z:-8.62 [[ 9.87014746e-01 1.59398060e-01 1.98532003e-02 2.87229499e+02] [-1.59362539e-01 9.87214380e-01 -3.36875130e-03 -3.79442908e+01] [-2.01363373e-02 1.61150797e-04 9.99797230e-01 -8.62218602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.26, Y:-37.95, Z:-8.62 [[ 9.86900756e-01 1.60138119e-01 1.95622299e-02 2.87260583e+02] [-1.60103759e-01 9.87094606e-01 -3.32027768e-03 -3.79506715e+01] [-1.98414747e-02 1.44798005e-04 9.99803128e-01 -8.62355248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.29, Y:-37.96, Z:-8.62 [[ 9.86798261e-01 1.60782139e-01 1.94498566e-02 2.87292676e+02] [-1.60748232e-01 9.86989912e-01 -3.30454067e-03 -3.79570935e+01] [-1.97281234e-02 1.34384908e-04 9.99805373e-01 -8.62449476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.32, Y:-37.97, Z:-8.62 [[ 9.86566809e-01 1.62056889e-01 2.05790334e-02 2.87322493e+02] [-1.62019113e-01 9.86781410e-01 -3.50095800e-03 -3.79653225e+01] [-2.08743620e-02 1.19732224e-04 9.99782100e-01 -8.62445531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.35, Y:-37.97, Z:-8.62 [[ 9.86441837e-01 1.62634579e-01 2.19658030e-02 2.87354145e+02] [-1.62591584e-01 9.86686363e-01 -3.74131928e-03 -3.79747848e+01] [-2.22818262e-02 1.19139165e-04 9.99751722e-01 -8.62140005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.39, Y:-37.98, Z:-8.62 [[ 9.86283931e-01 1.63517281e-01 2.24967863e-02 2.87385855e+02] [-1.63472397e-01 9.86540465e-01 -3.83235907e-03 -3.79810967e+01] [-2.28206469e-02 1.02190595e-04 9.99739570e-01 -8.62137438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.42, Y:-37.99, Z:-8.62 [[ 9.86117025e-01 1.64498168e-01 2.26619715e-02 2.87418525e+02] [-1.64452799e-01 9.86377385e-01 -3.86408350e-03 -3.79868744e+01] [-2.29888909e-02 8.36138643e-05 9.99735717e-01 -8.62224372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.45, Y:-37.99, Z:-8.62 [[ 9.85940566e-01 1.65547361e-01 2.26996035e-02 2.87450674e+02] [-1.65502022e-01 9.86201839e-01 -3.87474447e-03 -3.79928682e+01] [-2.30278444e-02 6.34374921e-05 9.99734822e-01 -8.62310783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.48, Y:-38.00, Z:-8.62 [[ 9.85420516e-01 1.68587196e-01 2.29077135e-02 2.87481713e+02] [-1.68541736e-01 9.85686744e-01 -3.91482479e-03 -3.79970910e+01] [-2.32398188e-02 -3.15712779e-06 9.99729919e-01 -8.62353926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.51, Y:-38.00, Z:-8.62 [[ 9.85088974e-01 1.70499578e-01 2.30132098e-02 2.87514359e+02] [-1.70454144e-01 9.85357748e-01 -3.93609762e-03 -3.80008145e+01] [-2.33473475e-02 -4.52906062e-05 9.99727413e-01 -8.62432296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.55, Y:-38.00, Z:-8.63 [[ 9.84814257e-01 1.72128873e-01 2.26391168e-02 2.87547496e+02] [-1.72085241e-01 9.85074436e-01 -3.87622724e-03 -3.80049357e+01] [-2.29684258e-02 -7.84940166e-05 9.99736188e-01 -8.62606866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.58, Y:-38.01, Z:-8.63 [[ 9.84331656e-01 1.75038628e-01 2.12760427e-02 2.87578611e+02] [-1.75000685e-01 9.84561558e-01 -3.64679917e-03 -3.80082675e+01] [-2.15859045e-02 -1.33662189e-04 9.99766988e-01 -8.62965373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.61, Y:-38.01, Z:-8.63 [[ 9.84050983e-01 1.76649734e-01 2.09412236e-02 2.87610723e+02] [-1.76613277e-01 9.84273765e-01 -3.59243376e-03 -3.80125263e+01] [-2.12464995e-02 -1.63360146e-04 9.99774254e-01 -8.63183666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20587156 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:287.64, Y:-38.01, Z:-8.64 [[ 9.83560205e-01 1.79456881e-01 2.01134678e-02 2.87641781e+02] [-1.79423752e-01 9.83765817e-01 -3.45457906e-03 -3.80123924e+01] [-2.04068901e-02 -2.11047363e-04 9.99791735e-01 -8.63508793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.67, Y:-38.02, Z:-8.64 [[ 9.83322419e-01 1.80787691e-01 1.98199751e-02 2.87672549e+02] [-1.80755768e-01 9.83522118e-01 -3.40531298e-03 -3.80165275e+01] [-2.01090225e-02 -2.34054213e-04 9.99797766e-01 -8.63608221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.70, Y:-38.02, Z:-8.63 [[ 9.83083189e-01 1.82067473e-01 1.99719303e-02 2.87704477e+02] [-1.82035344e-01 9.83286004e-01 -3.43039723e-03 -3.80232335e+01] [-2.02626833e-02 -2.63231356e-04 9.99794656e-01 -8.63419683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.74, Y:-38.02, Z:-8.64 [[ 9.82781495e-01 1.83669845e-01 2.01474721e-02 2.87735639e+02] [-1.83637388e-01 9.82987946e-01 -3.46529780e-03 -3.80216346e+01] [-2.04411929e-02 -2.94198591e-04 9.99791014e-01 -8.63709337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32587156 meters Centerline goodness [0,1] 0.9999569216188856 Centerline is valid? [True, True] Translation: X:287.77, Y:-38.02, Z:-8.64 [[ 9.82210793e-01 1.86769024e-01 1.94753422e-02 2.87766869e+02] [-1.86739279e-01 9.82403793e-01 -3.35100148e-03 -3.80234231e+01] [-1.97585133e-02 -3.45421540e-04 9.99804722e-01 -8.63593873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35587156 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:287.80, Y:-38.02, Z:-8.64 [[ 9.81989411e-01 1.87935685e-01 1.94158594e-02 2.87797446e+02] [-1.87906333e-01 9.82181268e-01 -3.34162208e-03 -3.80192358e+01] [-1.96979035e-02 -3.66925453e-04 9.99805910e-01 -8.64157269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38587156 meters Centerline goodness [0,1] 0.9999142771419999 Centerline is valid? [True, True] Translation: X:287.83, Y:-38.02, Z:-8.64 [[ 9.81611849e-01 1.89936330e-01 1.90359525e-02 2.87826620e+02] [-1.89908493e-01 9.81796329e-01 -3.27613823e-03 -3.80245718e+01] [-1.93116860e-02 -3.99192962e-04 9.99813432e-01 -8.64036368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.86, Y:-38.03, Z:-8.64 [[ 9.81483602e-01 1.90606644e-01 1.89485093e-02 2.87855003e+02] [-1.90579195e-01 9.81666409e-01 -3.26066455e-03 -3.80263411e+01] [-1.92226195e-02 -4.10902876e-04 9.99815144e-01 -8.64188320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44587156 meters Centerline goodness [0,1] 0.9999149081007488 Centerline is valid? [True, True] Translation: X:287.88, Y:-38.02, Z:-8.65 [[ 9.81466871e-01 1.90670979e-01 1.91666073e-02 2.87884236e+02] [-1.90642910e-01 9.81653912e-01 -3.29801503e-03 -3.80226361e+01] [-1.94438108e-02 -4.17085297e-04 9.99810864e-01 -8.64538612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47587156000003 meters Centerline goodness [0,1] 0.9999784742552092 Centerline is valid? [True, True] Translation: X:287.91, Y:-38.03, Z:-8.64 [[ 9.81602312e-01 1.89930027e-01 1.95828187e-02 2.87912479e+02] [-1.89900610e-01 9.81797543e-01 -3.36808048e-03 -3.80322145e+01] [-1.98660629e-02 -4.12673626e-04 9.99802565e-01 -8.64023896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50587156 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:287.94, Y:-38.04, Z:-8.64 [[ 9.81729725e-01 1.89243118e-01 1.98441227e-02 2.87942574e+02] [-1.89212777e-01 9.81930180e-01 -3.41265316e-03 -3.80353026e+01] [-2.01313641e-02 -4.04458531e-04 9.99797262e-01 -8.64104970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53587156000003 meters Centerline goodness [0,1] 0.9999157912465001 Centerline is valid? [True, True] Translation: X:287.97, Y:-38.03, Z:-8.65 [[ 9.81960513e-01 1.88031741e-01 1.99402819e-02 2.87972375e+02] [-1.88000872e-01 9.82162878e-01 -3.42841690e-03 -3.80310886e+01] [-2.02292559e-02 -3.82220362e-04 9.99795295e-01 -8.64643301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.00, Y:-38.04, Z:-8.64 [[ 9.82577229e-01 1.84757042e-01 2.01698779e-02 2.88000699e+02] [-1.84724785e-01 9.82784174e-01 -3.46701330e-03 -3.80438167e+01] [-2.04631920e-02 -3.19268052e-04 9.99790556e-01 -8.64318758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.03, Y:-38.05, Z:-8.64 [[ 9.82900667e-01 1.83025265e-01 2.01997605e-02 2.88030498e+02] [-1.82992562e-01 9.83108169e-01 -3.47143072e-03 -3.80501585e+01] [-2.04939091e-02 -2.84334362e-04 9.99789937e-01 -8.64351959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.06, Y:-38.06, Z:-8.64 [[ 9.83645012e-01 1.78954321e-01 2.04411719e-02 2.88060597e+02] [-1.78919955e-01 9.83857363e-01 -3.51280491e-03 -3.80573296e+01] [-2.07398291e-02 -2.01980515e-04 9.99784886e-01 -8.64346463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.09, Y:-38.06, Z:-8.64 [[ 9.83991916e-01 1.76976892e-01 2.09544705e-02 2.88089513e+02] [-1.76940319e-01 9.84214993e-01 -3.60149456e-03 -3.80621827e+01] [-2.12610854e-02 -1.63849166e-04 9.99773944e-01 -8.64433429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.12, Y:-38.07, Z:-8.64 [[ 9.84353674e-01 1.74966797e-01 2.08438220e-02 2.88119103e+02] [-1.74930166e-01 9.84574327e-01 -3.58211708e-03 -3.80684513e+01] [-2.11490436e-02 -1.20143133e-04 9.99776327e-01 -8.64497437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.15, Y:-38.08, Z:-8.65 [[ 9.85087642e-01 1.70797359e-01 2.07509090e-02 2.88150792e+02] [-1.70760161e-01 9.85306176e-01 -3.56455327e-03 -3.80759057e+01] [-2.10548151e-02 -3.20311935e-05 9.99778322e-01 -8.64500211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.18, Y:-38.08, Z:-8.65 [[ 9.85410550e-01 1.68921635e-01 2.07732845e-02 2.88181395e+02] [-1.68883848e-01 9.85629485e-01 -3.57280132e-03 -3.80817443e+01] [-2.10782851e-02 1.24038875e-05 9.99777828e-01 -8.64697937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.21, Y:-38.09, Z:-8.65 [[ 9.85786038e-01 1.66715456e-01 2.07808817e-02 2.88212558e+02] [-1.66677120e-01 9.86005047e-01 -3.57553792e-03 -3.80889747e+01] [-2.10861516e-02 6.10178450e-05 9.99777661e-01 -8.64844151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.24, Y:-38.10, Z:-8.65 [[ 9.86599884e-01 1.61934208e-01 1.99494471e-02 2.88243548e+02] [-1.61897837e-01 9.86801544e-01 -3.43562639e-03 -3.80990204e+01] [-2.02424906e-02 1.59816263e-04 9.99795087e-01 -8.64958839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.27, Y:-38.11, Z:-8.65 [[ 9.87011108e-01 1.59416110e-01 1.98891218e-02 2.88273302e+02] [-1.59379375e-01 9.87211455e-01 -3.42885108e-03 -3.81072091e+01] [-2.01813830e-02 2.14398304e-04 9.99796312e-01 -8.65191538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86587156 meters Centerline goodness [0,1] 0.9999135452914605 Centerline is valid? [True, True] Translation: X:288.30, Y:-38.12, Z:-8.65 [[ 9.87752215e-01 1.54875567e-01 1.89504670e-02 2.88304380e+02] [-1.54841304e-01 9.87933941e-01 -3.27105007e-03 -3.81163054e+01] [-1.92284153e-02 2.96671938e-04 9.99815073e-01 -8.65308994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.33, Y:-38.13, Z:-8.66 [[ 9.88044031e-01 1.52994970e-01 1.90139750e-02 2.88334490e+02] [-1.52960133e-01 9.88226911e-01 -3.28177564e-03 -3.81250489e+01] [-1.92922169e-02 3.34158680e-04 9.99813832e-01 -8.65549767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92587156 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:288.37, Y:-38.13, Z:-8.65 [[ 9.88371008e-01 1.50782123e-01 1.96850651e-02 2.88365599e+02] [-1.50744280e-01 9.88566941e-01 -3.40083411e-03 -3.81341934e+01] [-1.99727896e-02 3.93874853e-04 9.99800446e-01 -8.65474118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.40, Y:-38.14, Z:-8.66 [[ 9.88407900e-01 1.50525529e-01 1.97961495e-02 2.88398434e+02] [-1.50487143e-01 9.88606040e-01 -3.42318894e-03 -3.81404685e+01] [-2.00858703e-02 4.04440999e-04 9.99798177e-01 -8.65533908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98587156 meters Centerline goodness [0,1] 0.9998914200091207 Centerline is valid? [True, True] Translation: X:288.43, Y:-38.14, Z:-8.65 [[ 9.88348679e-01 1.50894242e-01 1.99453509e-02 2.88431151e+02] [-1.50855272e-01 9.88549829e-01 -3.45287194e-03 -3.81443112e+01] [-2.02379918e-02 4.03780080e-04 9.99795109e-01 -8.65392542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01587156 meters Centerline goodness [0,1] 0.9999576262208945 Centerline is valid? [True, True] Translation: X:288.46, Y:-38.15, Z:-8.66 [[ 9.88034768e-01 1.52857660e-01 2.05385532e-02 2.88462109e+02] [-1.52816667e-01 9.88248143e-01 -3.56008596e-03 -3.81502000e+01] [-2.08413735e-02 3.78855468e-04 9.99782723e-01 -8.65655862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.49, Y:-38.15, Z:-8.66 [[ 9.87797458e-01 1.54389619e-01 2.04945639e-02 2.88494334e+02] [-1.54349056e-01 9.88009981e-01 -3.55607334e-03 -3.81522630e+01] [-2.07978545e-02 3.49363620e-04 9.99783640e-01 -8.65679843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.53, Y:-38.16, Z:-8.66 [[ 9.87768497e-01 1.54574876e-01 2.04940212e-02 2.88526322e+02] [-1.54534287e-01 9.87981015e-01 -3.55919750e-03 -3.81580128e+01] [-2.07978664e-02 3.48634194e-04 9.99783640e-01 -8.65777937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.56, Y:-38.16, Z:-8.66 [[ 9.87221453e-01 1.58088022e-01 2.00494236e-02 2.88557466e+02] [-1.58049804e-01 9.87424986e-01 -3.48666986e-03 -3.81591549e+01] [-2.03485025e-02 2.73307811e-04 9.99792910e-01 -8.66001991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.59, Y:-38.16, Z:-8.66 [[ 9.86881571e-01 1.60233017e-01 1.97520907e-02 2.88589861e+02] [-1.60196332e-01 9.87079191e-01 -3.43602266e-03 -3.81600668e+01] [-2.00474420e-02 2.26734949e-04 9.99799004e-01 -8.65955288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.62, Y:-38.16, Z:-8.66 [[ 9.86553387e-01 1.62202620e-01 2.00679874e-02 2.88620515e+02] [-1.62165083e-01 9.86757454e-01 -3.49472829e-03 -3.81638214e+01] [-2.03690902e-02 1.93409194e-04 9.99792510e-01 -8.66168545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.65, Y:-38.16, Z:-8.66 [[ 9.85961631e-01 1.65767830e-01 2.00172308e-02 2.88652569e+02] [-1.65731124e-01 9.86164799e-01 -3.49049252e-03 -3.81630731e+01] [-2.03188997e-02 1.24013558e-04 9.99793542e-01 -8.66165824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.68, Y:-38.17, Z:-8.66 [[ 9.85651985e-01 1.67610425e-01 1.99225757e-02 2.88682887e+02] [-1.67574429e-01 9.85853304e-01 -3.47460787e-03 -3.81667998e+01] [-2.02231176e-02 8.62399001e-05 9.99795488e-01 -8.66498073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.71, Y:-38.16, Z:-8.66 [[ 9.84924243e-01 1.71791741e-01 2.02936702e-02 2.88713333e+02] [-1.71755265e-01 9.85133289e-01 -3.53992943e-03 -3.81634154e+01] [-2.06001007e-02 1.01761591e-06 9.99787795e-01 -8.66427301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.74, Y:-38.16, Z:-8.66 [[ 9.84590101e-01 1.73695986e-01 2.02987095e-02 2.88742959e+02] [-1.73659907e-01 9.84799321e-01 -3.54034157e-03 -3.81646620e+01] [-2.06050984e-02 -3.92867320e-05 9.99787692e-01 -8.66410683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.77, Y:-38.17, Z:-8.66 [[ 9.84243674e-01 1.75664415e-01 2.01594626e-02 2.88772343e+02] [-1.75629251e-01 9.84450104e-01 -3.51557065e-03 -3.81660653e+01] [-2.04635457e-02 -8.04131405e-05 9.99790596e-01 -8.66481179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.80, Y:-38.17, Z:-8.67 [[ 9.83923512e-01 1.77442086e-01 2.02195278e-02 2.88801525e+02] [-1.77407095e-01 9.84131237e-01 -3.52565341e-03 -3.81669579e+01] [-2.05242682e-02 -1.18114405e-04 9.99789348e-01 -8.66586949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.83, Y:-38.16, Z:-8.67 [[ 9.83375829e-01 1.80459063e-01 2.01619906e-02 2.88831243e+02] [-1.80424918e-01 9.83582479e-01 -3.51498728e-03 -3.81644320e+01] [-2.04652920e-02 -1.81171955e-04 9.99790548e-01 -8.66680873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.86, Y:-38.17, Z:-8.67 [[ 9.83210552e-01 1.81407490e-01 1.97061522e-02 2.88858776e+02] [-1.81375077e-01 9.83407995e-01 -3.43481133e-03 -3.81653849e+01] [-2.00022881e-02 -1.97062114e-04 9.99799915e-01 -8.66941360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.89, Y:-38.17, Z:-8.67 [[ 9.83118280e-01 1.81975316e-01 1.90638843e-02 2.88887429e+02] [-1.81945120e-01 9.83303078e-01 -3.32123239e-03 -3.81681771e+01] [-1.93499584e-02 -2.03416437e-04 9.99812751e-01 -8.67149391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.92, Y:-38.17, Z:-8.67 [[ 9.83168144e-01 1.81752729e-01 1.86103611e-02 2.88916034e+02] [-1.81723929e-01 9.83344247e-01 -3.24135639e-03 -3.81711811e+01] [-1.88895169e-02 -1.95149586e-04 9.99821558e-01 -8.67294880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.94, Y:-38.18, Z:-8.67 [[ 9.83335587e-01 1.80829327e-01 1.87584062e-02 2.88943874e+02] [-1.80799913e-01 9.83514475e-01 -3.26638301e-03 -3.81756523e+01] [-1.90398219e-02 -1.79567555e-04 9.99818710e-01 -8.67396306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.97, Y:-38.18, Z:-8.68 [[ 9.83587762e-01 1.79445726e-01 1.88240666e-02 2.88972463e+02] [-1.79415879e-01 9.83767863e-01 -3.27644637e-03 -3.81814431e+01] [-1.91064561e-02 -1.54663908e-04 9.99817443e-01 -8.67508737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.00, Y:-38.19, Z:-8.68 [[ 9.84243521e-01 1.75787919e-01 1.90604001e-02 2.89000047e+02] [-1.75756648e-01 9.84428057e-01 -3.31665664e-03 -3.81902478e+01] [-1.93466208e-02 -8.55942319e-05 9.99812833e-01 -8.67518386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.03, Y:-38.20, Z:-8.68 [[ 9.84597787e-01 1.73775245e-01 1.92187790e-02 2.89028354e+02] [-1.73743087e-01 9.84785338e-01 -3.34328788e-03 -3.81975417e+01] [-1.95073525e-02 -4.73361409e-05 9.99809712e-01 -8.67553928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.06, Y:-38.21, Z:-8.67 [[ 9.85308983e-01 1.69588487e-01 2.01482716e-02 2.89056215e+02] [-1.69552291e-01 9.85514964e-01 -3.50382018e-03 -3.82066380e+01] [-2.04506307e-02 3.61598919e-05 9.99790863e-01 -8.67471459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.09, Y:-38.21, Z:-8.68 [[ 9.85644815e-01 1.67623097e-01 2.01691746e-02 2.89085429e+02] [-1.67586432e-01 9.85851151e-01 -3.50661327e-03 -3.82142690e+01] [-2.04715934e-02 7.61951781e-05 9.99790432e-01 -8.67545218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.11, Y:-38.22, Z:-8.68 [[ 9.85973581e-01 1.65694471e-01 2.00359651e-02 2.89114077e+02] [-1.65657903e-01 9.86177129e-01 -3.48286092e-03 -3.82225557e+01] [-2.03361013e-02 1.14892901e-04 9.99793194e-01 -8.67689813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.14, Y:-38.23, Z:-8.68 [[ 9.86264041e-01 1.63960567e-01 2.00043536e-02 2.89143352e+02] [-1.63923764e-01 9.86466882e-01 -3.47701169e-03 -3.82303415e+01] [-2.03037251e-02 1.50062673e-04 9.99793847e-01 -8.67734000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73587156 meters Centerline goodness [0,1] 0.9999570732544912 Centerline is valid? [True, True] Translation: X:289.17, Y:-38.24, Z:-8.68 [[ 9.86822519e-01 1.60604559e-01 1.96848133e-02 2.89172854e+02] [-1.60568260e-01 9.87018809e-01 -3.42122605e-03 -3.82415946e+01] [-1.99787455e-02 2.15386689e-04 9.99800382e-01 -8.67790785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.20, Y:-38.25, Z:-8.68 [[ 9.87109250e-01 1.58857983e-01 1.94800108e-02 2.89202334e+02] [-1.58822085e-01 9.87301413e-01 -3.38610094e-03 -3.82510019e+01] [-1.97705513e-02 2.48595624e-04 9.99804513e-01 -8.68087885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.23, Y:-38.26, Z:-8.68 [[ 9.87590286e-01 1.55892249e-01 1.90534401e-02 2.89232607e+02] [-1.55857372e-01 9.87774021e-01 -3.31101737e-03 -3.82615330e+01] [-1.93366551e-02 3.00309484e-04 9.99812984e-01 -8.68231656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82587156 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:289.26, Y:-38.27, Z:-8.68 [[ 9.87746235e-01 1.54961813e-01 1.85529574e-02 2.89263958e+02] [-1.54928532e-01 9.87920411e-01 -3.22663156e-03 -3.82687829e+01] [-1.88288500e-02 3.12710728e-04 9.99822673e-01 -8.68355858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85587156 meters Centerline goodness [0,1] 0.9999350846063964 Centerline is valid? [True, True] Translation: X:289.30, Y:-38.28, Z:-8.68 [[ 9.87820737e-01 1.54460237e-01 1.87677083e-02 2.89295268e+02] [-1.54426030e-01 9.87998951e-01 -3.26714159e-03 -3.82758906e+01] [-1.90471196e-02 3.29127517e-04 9.99818533e-01 -8.68340773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88587156 meters Centerline goodness [0,1] 0.9999569512903851 Centerline is valid? [True, True] Translation: X:289.32, Y:-38.29, Z:-8.68 [[ 9.87833964e-01 1.54221852e-01 1.99920061e-02 2.89324427e+02] [-1.54182908e-01 9.88036179e-01 -3.48420511e-03 -3.82900720e+01] [-2.02901659e-02 3.59390507e-04 9.99794069e-01 -8.68426137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91587156 meters Centerline goodness [0,1] 0.9999785439955372 Centerline is valid? [True, True] Translation: X:289.36, Y:-38.30, Z:-8.69 [[ 9.87758745e-01 1.54700413e-01 2.00110706e-02 2.89355505e+02] [-1.54661427e-01 9.87961364e-01 -3.49076507e-03 -3.82965527e+01] [-2.03101874e-02 3.53092992e-04 9.99793665e-01 -8.68522721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.39, Y:-38.30, Z:-8.69 [[ 9.87561382e-01 1.55964795e-01 1.99373946e-02 2.89388107e+02] [-1.55926270e-01 9.87762559e-01 -3.48204772e-03 -3.82998580e+01] [-2.02364888e-02 3.29972289e-04 9.99795167e-01 -8.68502182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.42, Y:-38.30, Z:-8.69 [[ 9.87028898e-01 1.59328243e-01 1.97095225e-02 2.89420816e+02] [-1.59291262e-01 9.87225630e-01 -3.44228615e-03 -3.83014963e+01] [-2.00061991e-02 2.58081196e-04 9.99799823e-01 -8.68572367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.45, Y:-38.31, Z:-8.69 [[ 9.86731550e-01 1.61197553e-01 1.93958004e-02 2.89452923e+02] [-1.61162038e-01 9.86922135e-01 -3.39071451e-03 -3.83057361e+01] [-1.96887196e-02 2.19858248e-04 9.99806134e-01 -8.68684809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.48, Y:-38.31, Z:-8.69 [[ 9.86139248e-01 1.64820701e-01 1.90661952e-02 2.89482766e+02] [-1.64786964e-01 9.86323534e-01 -3.33802620e-03 -3.83107373e+01] [-1.93556129e-02 1.49898213e-04 9.99812651e-01 -8.69161518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.51, Y:-38.31, Z:-8.69 [[ 9.85830635e-01 1.66693512e-01 1.87412093e-02 2.89512068e+02] [-1.66661242e-01 9.86008753e-01 -3.28173404e-03 -3.83137359e+01] [-1.90260402e-02 1.11800739e-04 9.99818982e-01 -8.69340164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.54, Y:-38.32, Z:-8.69 [[ 9.85508854e-01 1.68607685e-01 1.85403960e-02 2.89540599e+02] [-1.68576450e-01 9.85683237e-01 -3.24614860e-03 -3.83158669e+01] [-1.88222832e-02 7.36340498e-05 9.99822842e-01 -8.69478995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.57, Y:-38.32, Z:-8.69 [[ 9.85130140e-01 1.70839265e-01 1.82360440e-02 2.89570871e+02] [-1.70809436e-01 9.85298911e-01 -3.19251815e-03 -3.83175462e+01] [-1.85133618e-02 3.01574627e-05 9.99828613e-01 -8.69410365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.60, Y:-38.32, Z:-8.70 [[ 9.84393043e-01 1.75042762e-01 1.81760452e-02 2.89599913e+02] [-1.75013852e-01 9.84560831e-01 -3.18158990e-03 -3.83159466e+01] [-1.84523364e-02 -4.91247257e-05 9.99829740e-01 -8.69756198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.63, Y:-38.32, Z:-8.69 [[ 9.84035659e-01 1.77030040e-01 1.82807677e-02 2.89629216e+02] [-1.77001147e-01 9.84205445e-01 -3.19947611e-03 -3.83189388e+01] [-1.85584344e-02 -8.73182616e-05 9.99827774e-01 -8.69395065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.66, Y:-38.32, Z:-8.69 [[ 9.83412373e-01 1.80386864e-01 1.89916992e-02 2.89657881e+02] [-1.80356306e-01 9.83595727e-01 -3.32387240e-03 -3.83186399e+01] [-1.92797371e-02 -1.56535461e-04 9.99814116e-01 -8.69482339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.69, Y:-38.32, Z:-8.69 [[ 9.83182353e-01 1.81543278e-01 1.98619940e-02 2.89686535e+02] [-1.81510125e-01 9.83382938e-01 -3.47451019e-03 -3.83222177e+01] [-2.01627200e-02 -1.89075902e-04 9.99796694e-01 -8.69420782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.71, Y:-38.32, Z:-8.69 [[ 9.82741260e-01 1.83859645e-01 2.03775933e-02 2.89714742e+02] [-1.83825265e-01 9.82952477e-01 -3.56378536e-03 -3.83239264e+01] [-2.06854421e-02 -2.43637569e-04 9.99786004e-01 -8.69417698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30587156 meters Centerline goodness [0,1] 0.9998492938339648 Centerline is valid? [True, True] Translation: X:289.74, Y:-38.33, Z:-8.69 [[ 9.82494514e-01 1.85184565e-01 2.02782568e-02 2.89743107e+02] [-1.85150828e-01 9.82703721e-01 -3.54509586e-03 -3.83283032e+01] [-2.05840154e-02 -2.71498791e-04 9.99788090e-01 -8.69240695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.77, Y:-38.33, Z:-8.70 [[ 9.82271648e-01 1.86310142e-01 2.07591016e-02 2.89771515e+02] [-1.86275058e-01 9.82490936e-01 -3.62818525e-03 -3.83289453e+01] [-2.10715969e-02 -3.03039358e-04 9.99777923e-01 -8.69523062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.80, Y:-38.33, Z:-8.70 [[ 9.82045175e-01 1.87486526e-01 2.08824528e-02 2.89799282e+02] [-1.87451318e-01 9.82267119e-01 -3.64839233e-03 -3.83292335e+01] [-2.11961711e-02 -3.31557211e-04 9.99775281e-01 -8.69679398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.83, Y:-38.33, Z:-8.70 [[ 9.81600327e-01 1.89820222e-01 2.07142773e-02 2.89827689e+02] [-1.89786126e-01 9.81818791e-01 -3.61769364e-03 -3.83324592e+01] [-2.10243781e-02 -3.80153184e-04 9.99778891e-01 -8.69636329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42587156 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:289.86, Y:-38.33, Z:-8.70 [[ 9.81211317e-01 1.91821726e-01 2.07069146e-02 2.89855368e+02] [-1.91788118e-01 9.81429695e-01 -3.61550247e-03 -3.83328637e+01] [-2.10159128e-02 -4.23768234e-04 9.99779052e-01 -8.69781712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45587156 meters Centerline goodness [0,1] 0.9999146775879354 Centerline is valid? [True, True] Translation: X:289.88, Y:-38.34, Z:-8.70 [[ 9.81020082e-01 1.92809744e-01 2.05913055e-02 2.89884205e+02] [-1.92776756e-01 9.81236060e-01 -3.59399221e-03 -3.83360285e+01] [-2.08978882e-02 -4.43746531e-04 9.99781517e-01 -8.69857353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48587156 meters Centerline goodness [0,1] 0.9999143835616439 Centerline is valid? [True, True] Translation: X:289.91, Y:-38.33, Z:-8.70 [[ 9.80784640e-01 1.94012348e-01 2.05109277e-02 2.89912406e+02] [-1.93979897e-01 9.80998975e-01 -3.57908947e-03 -3.83346537e+01] [-2.08155866e-02 -4.68391670e-04 9.99783222e-01 -8.70078027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51587156 meters Centerline goodness [0,1] 0.9999359767809125 Centerline is valid? [True, True] Translation: X:289.94, Y:-38.34, Z:-8.70 [[ 9.80600780e-01 1.94946474e-01 2.04446399e-02 2.89940533e+02] [-1.94914463e-01 9.80813761e-01 -3.56620256e-03 -3.83401517e+01] [-2.07476028e-02 -4.87935002e-04 9.99784626e-01 -8.70094878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54587156 meters Centerline goodness [0,1] 0.9999574359410913 Centerline is valid? [True, True] Translation: X:289.97, Y:-38.34, Z:-8.70 [[ 9.80250634e-01 1.96718192e-01 2.02644463e-02 2.89969699e+02] [-1.96687141e-01 9.80459933e-01 -3.53382042e-03 -3.83396738e+01] [-2.05636445e-02 -5.21726310e-04 9.99788410e-01 -8.70187526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57587156 meters Centerline goodness [0,1] 0.999957122949941 Centerline is valid? [True, True] Translation: X:290.00, Y:-38.34, Z:-8.70 [[ 9.80149525e-01 1.97203600e-01 2.04364485e-02 2.89998703e+02] [-1.97172145e-01 9.80362408e-01 -3.56283589e-03 -3.83437646e+01] [-2.07377299e-02 -5.37386475e-04 9.99784806e-01 -8.70226419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60587156 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:290.03, Y:-38.34, Z:-8.70 [[ 9.80130759e-01 1.97344872e-01 1.99673819e-02 2.90026839e+02] [-1.97314891e-01 9.80333985e-01 -3.48022239e-03 -3.83433957e+01] [-2.02615071e-02 -5.28788750e-04 9.99794575e-01 -8.70417490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63587156 meters Centerline goodness [0,1] 0.9998505550811272 Centerline is valid? [True, True] Translation: X:290.05, Y:-38.35, Z:-8.71 [[ 9.80227966e-01 1.96866642e-01 1.99163308e-02 2.90054284e+02] [-1.96836740e-01 9.80430138e-01 -3.47008534e-03 -3.83460351e+01] [-2.02097150e-02 -5.18790944e-04 9.99795628e-01 -8.70520372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66587156 meters Centerline goodness [0,1] 0.999915435191645 Centerline is valid? [True, True] Translation: X:290.08, Y:-38.35, Z:-8.71 [[ 9.80341633e-01 1.96304616e-01 1.98690600e-02 2.90083320e+02] [-1.96274768e-01 9.80542829e-01 -3.46052258e-03 -3.83495538e+01] [-2.01617809e-02 -5.07300795e-04 9.99796602e-01 -8.70607114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69587156 meters Centerline goodness [0,1] 0.9999358151476252 Centerline is valid? [True, True] Translation: X:290.11, Y:-38.35, Z:-8.71 [[ 9.80738858e-01 1.94311596e-01 1.98568850e-02 2.90112056e+02] [-1.94281395e-01 9.80939746e-01 -3.45745044e-03 -3.83531456e+01] [-2.01502304e-02 -4.66967319e-04 9.99796854e-01 -8.70665321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.14, Y:-38.36, Z:-8.71 [[ 9.80973329e-01 1.93144742e-01 1.96579796e-02 2.90140098e+02] [-1.93114928e-01 9.81170177e-01 -3.42187840e-03 -3.83579716e+01] [-1.99487411e-02 -4.39477858e-04 9.99800907e-01 -8.70808557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.17, Y:-38.36, Z:-8.71 [[ 9.81443640e-01 1.90697582e-01 2.00702361e-02 2.90167485e+02] [-1.90666010e-01 9.81648752e-01 -3.49274408e-03 -3.83613829e+01] [-2.03679801e-02 -3.98780381e-04 9.99792472e-01 -8.70857796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.20, Y:-38.37, Z:-8.71 [[ 9.81710978e-01 1.89293246e-01 2.02884709e-02 2.90196004e+02] [-1.89260713e-01 9.81920530e-01 -3.52935901e-03 -3.83663909e+01] [-2.05897499e-02 -3.74999973e-04 9.99787938e-01 -8.70883620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.22, Y:-38.37, Z:-8.71 [[ 9.82029119e-01 1.87639518e-01 2.02538878e-02 2.90223993e+02] [-1.87606764e-01 9.82237902e-01 -3.52236263e-03 -3.83705331e+01] [-2.05550707e-02 -3.40703671e-04 9.99788664e-01 -8.70988052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.25, Y:-38.38, Z:-8.71 [[ 9.82739024e-01 1.83973836e-01 1.94329156e-02 2.90252648e+02] [-1.83942989e-01 9.82931108e-01 -3.37845676e-03 -3.83761201e+01] [-1.97227649e-02 -2.54407282e-04 9.99805455e-01 -8.71223056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.28, Y:-38.38, Z:-8.71 [[ 9.83108852e-01 1.82055325e-01 1.87841622e-02 2.90280517e+02] [-1.82026155e-01 9.83288267e-01 -3.26553232e-03 -3.83825956e+01] [-1.90647539e-02 -2.08835107e-04 9.99818229e-01 -8.71301139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.31, Y:-38.39, Z:-8.72 [[ 9.83479651e-01 1.80064801e-01 1.85592067e-02 2.90307594e+02] [-1.80035987e-01 9.83654736e-01 -3.22563690e-03 -3.83868201e+01] [-1.88366752e-02 -1.68976833e-04 9.99822560e-01 -8.71579462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.33, Y:-38.39, Z:-8.72 [[ 9.84261112e-01 1.75717354e-01 1.88009048e-02 2.90334993e+02] [-1.75687013e-01 9.84440655e-01 -3.26642500e-03 -3.83933947e+01] [-1.90823426e-02 -8.80597088e-05 9.99817912e-01 -8.71640399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.36, Y:-38.40, Z:-8.72 [[ 9.84638408e-01 1.73559728e-01 1.90846894e-02 2.90362530e+02] [-1.73528083e-01 9.84823344e-01 -3.31451724e-03 -3.83987597e+01] [-1.93703143e-02 -4.81285734e-05 9.99812377e-01 -8.71713861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.39, Y:-38.40, Z:-8.72 [[ 9.84949312e-01 1.71787858e-01 1.90731394e-02 2.90391435e+02] [-1.71755945e-01 9.85133966e-01 -3.31110893e-03 -3.84035897e+01] [-1.93584058e-02 -1.46506203e-05 9.99812608e-01 -8.71743413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.42, Y:-38.41, Z:-8.72 [[ 9.84957336e-01 1.71741828e-01 1.90732949e-02 2.90419351e+02] [-1.71709925e-01 9.85141992e-01 -3.31021288e-03 -3.84083426e+01] [-1.93584057e-02 -1.46555710e-05 9.99812608e-01 -8.71828863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.45, Y:-38.41, Z:-8.72 [[ 9.85480525e-01 1.68775399e-01 1.85202397e-02 2.90447845e+02] [-1.68744811e-01 9.85654535e-01 -3.21337915e-03 -3.84123478e+01] [-1.87968976e-02 4.15282195e-05 9.99823322e-01 -8.72007000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.48, Y:-38.42, Z:-8.72 [[ 9.85711457e-01 1.67445987e-01 1.82965804e-02 2.90476135e+02] [-1.67415920e-01 9.85881249e-01 -3.17371386e-03 -3.84176602e+01] [-1.85696812e-02 6.52272767e-05 9.99827566e-01 -8.72132760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.50, Y:-38.42, Z:-8.72 [[ 9.85921814e-01 1.66188512e-01 1.84270159e-02 2.90503764e+02] [-1.66157810e-01 9.86093997e-01 -3.19556505e-03 -3.84232732e+01] [-1.87018360e-02 8.87846895e-05 9.99825101e-01 -8.72250188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.53, Y:-38.43, Z:-8.72 [[ 9.86379033e-01 1.63420992e-01 1.87078107e-02 2.90532380e+02] [-1.63388873e-01 9.86556415e-01 -3.24299539e-03 -3.84269094e+01] [-1.89862842e-02 1.42174552e-04 9.99819734e-01 -8.72122109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.56, Y:-38.43, Z:-8.72 [[ 9.86622733e-01 1.61991581e-01 1.82841658e-02 2.90561096e+02] [-1.61960672e-01 9.86792126e-01 -3.16867377e-03 -3.84312589e+01] [-1.85559693e-02 1.64969803e-04 9.99827810e-01 -8.72287193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.59, Y:-38.44, Z:-8.73 [[ 9.86798387e-01 1.60927075e-01 1.82049648e-02 2.90588170e+02] [-1.60896265e-01 9.86966283e-01 -3.15419080e-03 -3.84379630e+01] [-1.84752811e-02 1.83439555e-04 9.99829301e-01 -8.72674443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.62, Y:-38.44, Z:-8.73 [[ 9.87117883e-01 1.58914071e-01 1.85634660e-02 2.90616983e+02] [-1.58881705e-01 9.87292392e-01 -3.21498100e-03 -3.84414108e+01] [-1.88384745e-02 2.24170104e-04 9.99822515e-01 -8.72503024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26587156 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:290.64, Y:-38.45, Z:-8.73 [[ 9.87242504e-01 1.58145990e-01 1.84954985e-02 2.90644048e+02] [-1.58113739e-01 9.87415713e-01 -3.20244325e-03 -3.84468868e+01] [-1.87691994e-02 2.37195653e-04 9.99823815e-01 -8.72641115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29587156 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:290.67, Y:-38.45, Z:-8.73 [[ 9.87485585e-01 1.56561738e-01 1.89905877e-02 2.90671930e+02] [-1.56527468e-01 9.87668136e-01 -3.28696394e-03 -3.84521615e+01] [-1.92710112e-02 2.73280893e-04 9.99814259e-01 -8.72603055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.70, Y:-38.46, Z:-8.73 [[ 9.87506538e-01 1.56384147e-01 1.93606827e-02 2.90700319e+02] [-1.56348521e-01 9.87696269e-01 -3.34968442e-03 -3.84568957e+01] [-1.96463116e-02 2.80821165e-04 9.99806953e-01 -8.72605913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35587156 meters Centerline goodness [0,1] 0.9999575173116955 Centerline is valid? [True, True] Translation: X:290.73, Y:-38.46, Z:-8.73 [[ 9.87555758e-01 1.56058297e-01 1.94790450e-02 2.90727178e+02] [-1.56022187e-01 9.87747804e-01 -3.36932364e-03 -3.84638874e+01] [-1.97661949e-02 2.88231762e-04 9.99804588e-01 -8.72866794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38587156 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:290.76, Y:-38.46, Z:-8.73 [[ 9.87504522e-01 1.56368847e-01 1.95857811e-02 2.90756308e+02] [-1.56332428e-01 9.87698691e-01 -3.38645809e-03 -3.84641980e+01] [-1.98743869e-02 2.82249961e-04 9.99802445e-01 -8.72728508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.78, Y:-38.47, Z:-8.73 [[ 9.87416996e-01 1.56901802e-01 1.97357476e-02 2.90783966e+02] [-1.56864946e-01 9.87614171e-01 -3.41153692e-03 -3.84682727e+01] [-2.00265803e-02 2.72762547e-04 9.99799411e-01 -8.72846147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44587156 meters Centerline goodness [0,1] 0.9999783075554785 Centerline is valid? [True, True] Translation: X:290.81, Y:-38.47, Z:-8.73 [[ 9.87317897e-01 1.57507850e-01 1.98657555e-02 2.90813279e+02] [-1.57470656e-01 9.87517701e-01 -3.43269136e-03 -3.84694662e+01] [-2.01584611e-02 2.60884045e-04 9.99796764e-01 -8.72771367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.84, Y:-38.47, Z:-8.73 [[ 9.86897321e-01 1.60112062e-01 1.99450751e-02 2.90841099e+02] [-1.60075119e-01 9.87098822e-01 -3.44551274e-03 -3.84711935e+01] [-2.02394283e-02 2.07657017e-04 9.99795140e-01 -8.72969045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.87, Y:-38.47, Z:-8.73 [[ 9.86676694e-01 1.61446444e-01 2.01034246e-02 2.90869101e+02] [-1.61409216e-01 9.86881459e-01 -3.47157388e-03 -3.84744812e+01] [-2.04001703e-02 1.80443038e-04 9.99791879e-01 -8.73120137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.90, Y:-38.48, Z:-8.73 [[ 9.86446949e-01 1.62836130e-01 2.01695563e-02 2.90898480e+02] [-1.62798975e-01 9.86653116e-01 -3.48160485e-03 -3.84752795e+01] [-2.04672866e-02 1.50835394e-04 9.99790512e-01 -8.73073579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.93, Y:-38.47, Z:-8.73 [[ 9.85995893e-01 1.65707759e-01 1.87892930e-02 2.90927616e+02] [-1.65676053e-01 9.86174899e-01 -3.24254626e-03 -3.84741637e+01] [-1.90668442e-02 8.42014054e-05 9.99818208e-01 -8.73404370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.96, Y:-38.48, Z:-8.74 [[ 9.85880446e-01 1.66447266e-01 1.83044644e-02 2.90956360e+02] [-1.66417317e-01 9.86050355e-01 -3.15804327e-03 -3.84764315e+01] [-1.85747713e-02 6.72732411e-05 9.99827472e-01 -8.73619242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62587156 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:290.98, Y:-38.48, Z:-8.74 [[ 9.85782791e-01 1.67056769e-01 1.80090114e-02 2.90984005e+02] [-1.67027892e-01 9.85947277e-01 -3.10652930e-03 -3.84787707e+01] [-1.82749025e-02 5.43559201e-05 9.99832999e-01 -8.73645458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.01, Y:-38.48, Z:-8.74 [[ 9.85670761e-01 1.67658161e-01 1.85443412e-02 2.91012956e+02] [-1.67627679e-01 9.85845190e-01 -3.19719107e-03 -3.84797840e+01] [-1.88178848e-02 4.28328831e-05 9.99822927e-01 -8.73591063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.04, Y:-38.48, Z:-8.74 [[ 9.85720027e-01 1.67315484e-01 1.90146427e-02 2.91040368e+02] [-1.67283389e-01 9.85903406e-01 -3.27741729e-03 -3.84842037e+01] [-1.92949637e-02 4.97819812e-05 9.99813834e-01 -8.73712954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.07, Y:-38.49, Z:-8.74 [[ 9.85878965e-01 1.66298215e-01 1.96868177e-02 2.91067499e+02] [-1.66263634e-01 9.86075503e-01 -3.39197454e-03 -3.84898678e+01] [-1.99767680e-02 7.08745007e-05 9.99800442e-01 -8.73664415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74587156 meters Centerline goodness [0,1] 0.9999137019697525 Centerline is valid? [True, True] Translation: X:291.09, Y:-38.50, Z:-8.74 [[ 9.86015850e-01 1.65457917e-01 1.99103275e-02 2.91094679e+02] [-1.65422396e-01 9.86216847e-01 -3.42938201e-03 -3.84952747e+01] [-2.02033188e-02 8.78109297e-05 9.99795888e-01 -8.73614797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.12, Y:-38.50, Z:-8.74 [[ 9.86192468e-01 1.64404654e-01 1.98878339e-02 2.91123224e+02] [-1.64369033e-01 9.86392974e-01 -3.42384554e-03 -3.85002533e+01] [-2.01801157e-02 1.07626660e-04 9.99796355e-01 -8.73813081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80587156 meters Centerline goodness [0,1] 0.9999357009666288 Centerline is valid? [True, True] Translation: X:291.15, Y:-38.51, Z:-8.74 [[ 9.86341141e-01 1.63517825e-01 1.98260982e-02 2.91151944e+02] [-1.63482265e-01 9.86540372e-01 -3.41227884e-03 -3.85057465e+01] [-2.01172147e-02 1.24455565e-04 9.99797621e-01 -8.73792561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83587156 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:291.18, Y:-38.51, Z:-8.74 [[ 9.86761163e-01 1.60918195e-01 2.01926296e-02 2.91179096e+02] [-1.60880780e-01 9.86967731e-01 -3.47455805e-03 -3.85128655e+01] [-2.04885934e-02 1.79952946e-04 9.99790071e-01 -8.73963879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.21, Y:-38.52, Z:-8.74 [[ 9.86990892e-01 1.59492135e-01 2.02789957e-02 2.91206773e+02] [-1.59454126e-01 9.87199177e-01 -3.48803562e-03 -3.85191352e+01] [-2.05757221e-02 2.09089853e-04 9.99788276e-01 -8.73989133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.23, Y:-38.53, Z:-8.74 [[ 9.87515193e-01 1.56226800e-01 2.01725128e-02 2.91234334e+02] [-1.56188539e-01 9.87721171e-01 -3.46822442e-03 -3.85284509e+01] [-2.04666476e-02 2.74209011e-04 9.99790499e-01 -8.74050544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92587156 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:291.26, Y:-38.54, Z:-8.74 [[ 9.87799076e-01 1.54389860e-01 2.04146117e-02 2.91262425e+02] [-1.54350303e-01 9.88009955e-01 -3.50884467e-03 -3.85371050e+01] [-2.07115697e-02 3.15032011e-04 9.99785443e-01 -8.74151392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.29, Y:-38.55, Z:-8.74 [[ 9.88292410e-01 1.51247132e-01 2.00603605e-02 2.91290998e+02] [-1.51208313e-01 9.88495911e-01 -3.44679364e-03 -3.85464625e+01] [-2.03509020e-02 3.73146722e-04 9.99792829e-01 -8.74161541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98587156 meters Centerline goodness [0,1] 0.9999574014909478 Centerline is valid? [True, True] Translation: X:291.32, Y:-38.56, Z:-8.74 [[ 9.88477420e-01 1.50057545e-01 1.98776950e-02 2.91318448e+02] [-1.50019196e-01 9.88677186e-01 -3.41504277e-03 -3.85557324e+01] [-2.01650765e-02 3.93656844e-04 9.99796587e-01 -8.74411942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01587156 meters Centerline goodness [0,1] 0.9999784858329209 Centerline is valid? [True, True] Translation: X:291.35, Y:-38.56, Z:-8.74 [[ 9.88630869e-01 1.49073623e-01 1.96484145e-02 2.91346831e+02] [-1.49035971e-01 9.88826015e-01 -3.37507049e-03 -3.85604780e+01] [-1.99319974e-02 4.08378321e-04 9.99801255e-01 -8.74366287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.37, Y:-38.57, Z:-8.75 [[ 9.88743144e-01 1.48315147e-01 1.97385964e-02 2.91374272e+02] [-1.48277020e-01 9.88940057e-01 -3.38947778e-03 -3.85676276e+01] [-2.00229995e-02 4.24542669e-04 9.99799430e-01 -8.74513746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07587156 meters Centerline goodness [0,1] 0.9999568649441402 Centerline is valid? [True, True] Translation: X:291.40, Y:-38.57, Z:-8.74 [[ 9.88788116e-01 1.47943792e-01 2.02656592e-02 2.91402774e+02] [-1.47903536e-01 9.88995671e-01 -3.47935245e-03 -3.85723501e+01] [-2.05573978e-02 4.42979693e-04 9.99788576e-01 -8.74398018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10587156 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:291.43, Y:-38.58, Z:-8.74 [[ 9.88759288e-01 1.48129559e-01 2.03151320e-02 2.91430039e+02] [-1.48089163e-01 9.88967866e-01 -3.48698421e-03 -3.85774330e+01] [-2.06075382e-02 4.39337131e-04 9.99787546e-01 -8.74491774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13587156 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:291.46, Y:-38.58, Z:-8.75 [[ 9.88627921e-01 1.49026136e-01 2.01505637e-02 2.91457977e+02] [-1.48986610e-01 9.88833170e-01 -3.45715031e-03 -3.85845735e+01] [-2.04407515e-02 4.15671149e-04 9.99790980e-01 -8.74693093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16587156 meters Centerline goodness [0,1] 0.9998718988855203 Centerline is valid? [True, True] Translation: X:291.49, Y:-38.59, Z:-8.75 [[ 9.88523149e-01 1.49749385e-01 1.99274908e-02 2.91487247e+02] [-1.49710894e-01 9.88723908e-01 -3.41803734e-03 -3.85899447e+01] [-2.02146355e-02 3.95446584e-04 9.99795585e-01 -8.74757732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19587156 meters Centerline goodness [0,1] 0.9998500717513761 Centerline is valid? [True, True] Translation: X:291.52, Y:-38.60, Z:-8.75 [[ 9.88417489e-01 1.50493152e-01 1.95621799e-02 2.91515883e+02] [-1.50456214e-01 9.88610981e-01 -3.35491937e-03 -3.85953150e+01] [-1.98442782e-02 3.72809470e-04 9.99803013e-01 -8.74983043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.54, Y:-38.60, Z:-8.75 [[ 9.88205118e-01 1.51929777e-01 1.91830255e-02 2.91544774e+02] [-1.51894532e-01 9.88391233e-01 -3.28969836e-03 -3.85987352e+01] [-1.94601374e-02 3.37100087e-04 9.99810577e-01 -8.75204744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.57, Y:-38.60, Z:-8.75 [[ 9.88083979e-01 1.52733408e-01 1.90408903e-02 2.91573719e+02] [-1.52698849e-01 9.88267375e-01 -3.26444569e-03 -3.86022740e+01] [-1.93160806e-02 3.18024453e-04 9.99813377e-01 -8.75244225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.60, Y:-38.61, Z:-8.76 [[ 9.87900712e-01 1.53939647e-01 1.88352986e-02 2.91600798e+02] [-1.53906064e-01 9.88080210e-01 -3.22844418e-03 -3.86093572e+01] [-1.91077713e-02 2.90515645e-04 9.99817388e-01 -8.75575324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.63, Y:-38.61, Z:-8.75 [[ 9.87433955e-01 1.56904238e-01 1.88479366e-02 2.91630689e+02] [-1.56871175e-01 9.87613794e-01 -3.22926025e-03 -3.86077645e+01] [-1.91211668e-02 2.31983268e-04 9.99817147e-01 -8.75480057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.66, Y:-38.61, Z:-8.76 [[ 9.87161151e-01 1.58635509e-01 1.86450575e-02 2.91659908e+02] [-1.58603479e-01 9.87337195e-01 -3.19360690e-03 -3.86098389e+01] [-1.89155782e-02 1.95433669e-04 9.99821065e-01 -8.75562522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.69, Y:-38.61, Z:-8.76 [[ 9.86877937e-01 1.60361984e-01 1.88672177e-02 2.91688494e+02] [-1.60329521e-01 9.87058259e-01 -3.23071313e-03 -3.86125186e+01] [-1.91411266e-02 1.63347538e-04 9.99816779e-01 -8.75617832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.72, Y:-38.62, Z:-8.76 [[ 9.86562147e-01 1.62251854e-01 1.92215179e-02 2.91717008e+02] [-1.62218537e-01 9.86749370e-01 -3.29040365e-03 -3.86154244e+01] [-1.95006948e-02 1.28101174e-04 9.99809835e-01 -8.75683916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.75, Y:-38.62, Z:-8.76 [[ 9.86037051e-01 1.65417773e-01 1.91805691e-02 2.91745374e+02] [-1.65385215e-01 9.86223583e-01 -3.28244847e-03 -3.86172029e+01] [-1.94593049e-02 6.44332666e-05 9.99810648e-01 -8.75837174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.77, Y:-38.62, Z:-8.76 [[ 9.85833219e-01 1.66627785e-01 1.91845296e-02 2.91772929e+02] [-1.66595459e-01 9.86019868e-01 -3.28230181e-03 -3.86200096e+01] [-1.94632500e-02 3.97466455e-05 9.99810572e-01 -8.75902527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.80, Y:-38.62, Z:-8.76 [[ 9.85537375e-01 1.68293752e-01 1.98316817e-02 2.91800729e+02] [-1.68259571e-01 9.85736888e-01 -3.39176099e-03 -3.86215971e+01] [-2.01196324e-02 5.83697564e-06 9.99797580e-01 -8.75960336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52587156 meters Centerline goodness [0,1] 0.999891292531797 Centerline is valid? [True, True] Translation: X:291.83, Y:-38.63, Z:-8.76 [[ 9.85532525e-01 1.68333150e-01 1.97380883e-02 2.91829308e+02] [-1.68299323e-01 9.85730161e-01 -3.37449058e-03 -3.86270791e+01] [-2.00244676e-02 3.76332510e-06 9.99799490e-01 -8.75753568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.86, Y:-38.63, Z:-8.76 [[ 9.85681539e-01 1.67490537e-01 1.94633680e-02 2.91856660e+02] [-1.67457497e-01 9.85873683e-01 -3.32674163e-03 -3.86332860e+01] [-1.97456201e-02 1.98209268e-05 9.99805036e-01 -8.76270771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.88, Y:-38.64, Z:-8.76 [[ 9.85815910e-01 1.66741354e-01 1.90869737e-02 2.91884780e+02] [-1.66709467e-01 9.86000669e-01 -3.26093037e-03 -3.86387954e+01] [-1.93635008e-02 3.26978292e-05 9.99812509e-01 -8.76312973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.91, Y:-38.64, Z:-8.77 [[ 9.85935271e-01 1.66028330e-01 1.91372431e-02 2.91911956e+02] [-1.65996157e-01 9.86120982e-01 -3.26870745e-03 -3.86446934e+01] [-1.94143350e-02 4.60251550e-05 9.99811523e-01 -8.76514080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.94, Y:-38.65, Z:-8.77 [[ 9.86055840e-01 1.65297748e-01 1.92492594e-02 2.91939919e+02] [-1.65265084e-01 9.86243708e-01 -3.28652890e-03 -3.86510827e+01] [-1.95277168e-02 5.94705465e-05 9.99809314e-01 -8.76516104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.97, Y:-38.66, Z:-8.77 [[ 9.86327772e-01 1.63662239e-01 1.92924191e-02 2.91966747e+02] [-1.63629130e-01 9.86516428e-01 -3.29310228e-03 -3.86594571e+01] [-1.95712449e-02 9.12764716e-05 9.99808461e-01 -8.76591750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.99, Y:-38.67, Z:-8.77 [[ 9.86484642e-01 1.62733421e-01 1.91281278e-02 2.91994787e+02] [-1.62700723e-01 9.86670068e-01 -3.26383352e-03 -3.86650103e+01] [-1.94042859e-02 1.07561424e-04 9.99811713e-01 -8.76583727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.02, Y:-38.67, Z:-8.77 [[ 9.86614500e-01 1.61906007e-01 1.94492675e-02 2.92023250e+02] [-1.61872060e-01 9.86806176e-01 -3.31768601e-03 -3.86703884e+01] [-1.97298106e-02 1.24984128e-04 9.99805341e-01 -8.76576837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.05, Y:-38.68, Z:-8.77 [[ 9.86799091e-01 1.60753601e-01 1.96426414e-02 2.92050460e+02] [-1.60718763e-01 9.86994558e-01 -3.34986398e-03 -3.86773670e+01] [-1.99256829e-02 1.48701711e-04 9.99801453e-01 -8.76676798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.08, Y:-38.68, Z:-8.77 [[ 9.86894165e-01 1.60159830e-01 1.97163935e-02 2.92079016e+02] [-1.60124642e-01 9.87091082e-01 -3.36091829e-03 -3.86833586e+01] [-2.00001603e-02 1.59790186e-04 9.99799964e-01 -8.76767731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.11, Y:-38.69, Z:-8.77 [[ 9.87114391e-01 1.58917670e-01 1.87177206e-02 2.92106739e+02] [-1.58885748e-01 9.87291823e-01 -3.18986426e-03 -3.86896665e+01] [-1.89867783e-02 1.74781863e-04 9.99819720e-01 -8.76886995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.13, Y:-38.70, Z:-8.77 [[ 9.87229909e-01 1.58198323e-01 1.87189277e-02 2.92133526e+02] [-1.58166282e-01 9.87407340e-01 -3.18933654e-03 -3.86958476e+01] [-1.89877543e-02 1.87905219e-04 9.99819699e-01 -8.77027396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.16, Y:-38.70, Z:-8.77 [[ 9.87237398e-01 1.58151548e-01 1.87191703e-02 2.92161457e+02] [-1.58119526e-01 9.87414833e-01 -3.18791178e-03 -3.87005153e+01] [-1.89877596e-02 1.87359387e-04 9.99819699e-01 -8.77112853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91587156 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:292.19, Y:-38.71, Z:-8.77 [[ 9.87399536e-01 1.57163339e-01 1.84889627e-02 2.92189593e+02] [-1.57131943e-01 9.87572602e-01 -3.14782440e-03 -3.87070411e+01] [-1.87539156e-02 2.02953719e-04 9.99824109e-01 -8.77144377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.22, Y:-38.72, Z:-8.77 [[ 9.87667007e-01 1.55486432e-01 1.83807807e-02 2.92216474e+02] [-1.55455126e-01 9.87838001e-01 -3.12865284e-03 -3.87163789e+01] [-1.86436967e-02 2.32680617e-04 9.99826164e-01 -8.77440317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97587156000003 meters Centerline goodness [0,1] 0.999914855573767 Centerline is valid? [True, True] Translation: X:292.24, Y:-38.72, Z:-8.77 [[ 9.87828906e-01 1.54442916e-01 1.84780284e-02 2.92244523e+02] [-1.54411120e-01 9.88001681e-01 -3.14392834e-03 -3.87229057e+01] [-1.87418806e-02 2.52450239e-04 9.99824324e-01 -8.77343609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.27, Y:-38.73, Z:-8.77 [[ 9.88112220e-01 1.52552435e-01 1.90261739e-02 2.92273791e+02] [-1.52518396e-01 9.88295334e-01 -3.23599944e-03 -3.87302656e+01] [-1.92971385e-02 2.95689055e-04 9.99813749e-01 -8.77352892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03587156000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.30, Y:-38.74, Z:-8.77 [[ 9.88245234e-01 1.51687218e-01 1.90353773e-02 2.92303266e+02] [-1.51652995e-01 9.88428495e-01 -3.23709684e-03 -3.87362824e+01] [-1.93061356e-02 3.12273539e-04 9.99813570e-01 -8.77403020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.33, Y:-38.74, Z:-8.77 [[ 9.88386211e-01 1.50779763e-01 1.89251338e-02 2.92332103e+02] [-1.50745778e-01 9.88567325e-01 -3.21788232e-03 -3.87424045e+01] [-1.91939605e-02 3.27626502e-04 9.99815725e-01 -8.77453597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09587156000003 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:292.36, Y:-38.75, Z:-8.78 [[ 9.88652406e-01 1.48996773e-01 1.91411152e-02 2.92360595e+02] [-1.48961685e-01 9.88837615e-01 -3.25398720e-03 -3.87529181e+01] [-1.94122883e-02 3.65769494e-04 9.99811497e-01 -8.77635167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12587156 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.39, Y:-38.76, Z:-8.78 [[ 9.88775766e-01 1.48179669e-01 1.91120422e-02 2.92390375e+02] [-1.48144542e-01 9.88960384e-01 -3.24867603e-03 -3.87599285e+01] [-1.93824403e-02 3.80867385e-04 9.99812070e-01 -8.77655706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15587156 meters Centerline goodness [0,1] 0.9999569846220023 Centerline is valid? [True, True] Translation: X:292.42, Y:-38.77, Z:-8.78 [[ 9.88839000e-01 1.47724533e-01 1.93621915e-02 2.92418190e+02] [-1.47688395e-01 9.89028466e-01 -3.29108998e-03 -3.87699357e+01] [-1.96359333e-02 3.94787131e-04 9.99807119e-01 -8.77765864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18587156 meters Centerline goodness [0,1] 0.999871407445509 Centerline is valid? [True, True] Translation: X:292.45, Y:-38.78, Z:-8.78 [[ 9.88940577e-01 1.47067730e-01 1.91733479e-02 2.92447858e+02] [-1.47032165e-01 9.89126341e-01 -3.25929384e-03 -3.87777243e+01] [-1.94442005e-02 4.04149065e-04 9.99810862e-01 -8.77895403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21587156 meters Centerline goodness [0,1] 0.999719422441888 Centerline is valid? [True, True] Translation: X:292.48, Y:-38.78, Z:-8.78 [[ 9.88923127e-01 1.47213933e-01 1.89500932e-02 2.92478179e+02] [-1.47179218e-01 9.89104595e-01 -3.22134257e-03 -3.87826339e+01] [-1.92178508e-02 3.96600271e-04 9.99815241e-01 -8.77885929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24587156 meters Centerline goodness [0,1] 0.999571468363652 Centerline is valid? [True, True] Translation: X:292.51, Y:-38.79, Z:-8.78 [[ 9.88830380e-01 1.47837752e-01 1.89335245e-02 2.92506482e+02] [-1.47803216e-01 9.89011553e-01 -3.21837009e-03 -3.87897916e+01] [-1.92012711e-02 3.83986309e-04 9.99815565e-01 -8.78024472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27587156 meters Centerline goodness [0,1] 0.9994831039607159 Centerline is valid? [True, True] Translation: X:292.53, Y:-38.80, Z:-8.78 [[ 9.88799638e-01 1.48057909e-01 1.88183861e-02 2.92534906e+02] [-1.48023820e-01 9.88978621e-01 -3.19935749e-03 -3.87959196e+01] [-1.90846717e-02 3.77954122e-04 9.99817800e-01 -8.78135532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30587156 meters Centerline goodness [0,1] 0.9994616477884491 Centerline is valid? [True, True] Translation: X:292.56, Y:-38.80, Z:-8.78 [[ 9.88768185e-01 1.48264208e-01 1.88467792e-02 2.92564513e+02] [-1.48230061e-01 9.88947716e-01 -3.20382410e-03 -3.88024282e+01] [-1.91134917e-02 3.74180116e-04 9.99817251e-01 -8.78268186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33587156 meters Centerline goodness [0,1] 0.9994673144123413 Centerline is valid? [True, True] Translation: X:292.59, Y:-38.81, Z:-8.78 [[ 9.88676445e-01 1.48818016e-01 1.92895330e-02 2.92594158e+02] [-1.48782351e-01 9.88864530e-01 -3.27908923e-03 -3.88116031e+01] [-1.95627226e-02 3.72016212e-04 9.99808562e-01 -8.78307869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36587156 meters Centerline goodness [0,1] 0.9995084839936744 Centerline is valid? [True, True] Translation: X:292.62, Y:-38.82, Z:-8.78 [[ 9.88576085e-01 1.49397306e-01 1.99441611e-02 2.92624218e+02] [-1.49359299e-01 9.88777177e-01 -3.39025572e-03 -3.88182164e+01] [-2.02268263e-02 3.72679813e-04 9.99795347e-01 -8.78308582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39587156 meters Centerline goodness [0,1] 0.9991792302043285 Centerline is valid? [True, True] Translation: X:292.65, Y:-38.82, Z:-8.78 [[ 9.88521644e-01 1.49724233e-01 2.01894585e-02 2.92654502e+02] [-1.49685346e-01 9.88727726e-01 -3.43230929e-03 -3.88215348e+01] [-2.04757773e-02 3.70845950e-04 9.99790281e-01 -8.78102744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42587156 meters Centerline goodness [0,1] 0.9991644170201825 Centerline is valid? [True, True] Translation: X:292.68, Y:-38.83, Z:-8.78 [[ 9.88115675e-01 1.52369250e-01 2.02737233e-02 2.92684580e+02] [-1.52330594e-01 9.88323586e-01 -3.44663472e-03 -3.88254590e+01] [-2.05621600e-02 3.17365487e-04 9.99788526e-01 -8.78285440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45587156 meters Centerline goodness [0,1] 0.9989750816731792 Centerline is valid? [True, True] Translation: X:292.71, Y:-38.83, Z:-8.78 [[ 9.87957961e-01 1.53432938e-01 1.99349363e-02 2.92713423e+02] [-1.53395777e-01 9.88159020e-01 -3.38915962e-03 -3.88315439e+01] [-2.02188958e-02 2.90412176e-04 9.99795535e-01 -8.78447886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48587156 meters Centerline goodness [0,1] 0.9988224715252205 Centerline is valid? [True, True] Translation: X:292.74, Y:-38.83, Z:-8.79 [[ 9.87274284e-01 1.57830364e-01 1.94695987e-02 2.92743573e+02] [-1.57795779e-01 9.87466221e-01 -3.30969033e-03 -3.88341770e+01] [-1.97479407e-02 1.95351652e-04 9.99804971e-01 -8.78686532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51587156 meters Centerline goodness [0,1] 0.998734150056856 Centerline is valid? [True, True] Translation: X:292.77, Y:-38.84, Z:-8.79 [[ 9.86899110e-01 1.60207446e-01 1.90714902e-02 2.92772305e+02] [-1.60174700e-01 9.87083357e-01 -3.24224926e-03 -3.88364869e+01] [-1.93445830e-02 1.45002689e-04 9.99812866e-01 -8.78807326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54587156 meters Centerline goodness [0,1] 0.998753653085783 Centerline is valid? [True, True] Translation: X:292.80, Y:-38.84, Z:-8.79 [[ 9.86538170e-01 1.62403537e-01 1.91710924e-02 2.92800968e+02] [-1.62370868e-01 9.86724420e-01 -3.25890718e-03 -3.88383932e+01] [-1.94458431e-02 1.02209408e-04 9.99810906e-01 -8.78910980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57587156 meters Centerline goodness [0,1] 0.9986965254925424 Centerline is valid? [True, True] Translation: X:292.83, Y:-38.84, Z:-8.79 [[ 9.86209740e-01 1.64362014e-01 1.93772325e-02 2.92829944e+02] [-1.64329028e-01 9.86400083e-01 -3.29335926e-03 -3.88407995e+01] [-1.96550069e-02 6.37012027e-05 9.99806820e-01 -8.78996196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60587156 meters Centerline goodness [0,1] 0.9985596663585355 Centerline is valid? [True, True] Translation: X:292.86, Y:-38.84, Z:-8.79 [[ 9.85935914e-01 1.65970177e-01 1.96029034e-02 2.92859073e+02] [-1.65936755e-01 9.86130772e-01 -3.33075793e-03 -3.88435123e+01] [-1.98838328e-02 3.10716791e-05 9.99802297e-01 -8.78989507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63587156 meters Centerline goodness [0,1] 0.9983841819921335 Centerline is valid? [True, True] Translation: X:292.89, Y:-38.84, Z:-8.79 [[ 9.85436140e-01 1.68880757e-01 1.98722064e-02 2.92887026e+02] [-1.68847019e-01 9.85636489e-01 -3.37564868e-03 -3.88442648e+01] [-2.01568538e-02 -2.88766091e-05 9.99796830e-01 -8.79210688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66587156 meters Centerline goodness [0,1] 0.998329979017685 Centerline is valid? [True, True] Translation: X:292.92, Y:-38.85, Z:-8.79 [[ 9.85270214e-01 1.69844048e-01 1.98898152e-02 2.92915716e+02] [-1.69810473e-01 9.85470952e-01 -3.37734014e-03 -3.88482852e+01] [-2.01744563e-02 -4.99062853e-05 9.99796474e-01 -8.79121766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69587156 meters Centerline goodness [0,1] 0.9983124706284445 Centerline is valid? [True, True] Translation: X:292.94, Y:-38.85, Z:-8.79 [[ 9.85066984e-01 1.71065899e-01 1.94806237e-02 2.92943249e+02] [-1.71033946e-01 9.85259587e-01 -3.30704327e-03 -3.88521333e+01] [-1.97591936e-02 -7.41888001e-05 9.99804765e-01 -8.79242292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72587156000003 meters Centerline goodness [0,1] 0.9983885868981373 Centerline is valid? [True, True] Translation: X:292.97, Y:-38.86, Z:-8.79 [[ 9.84928008e-01 1.71896471e-01 1.91943407e-02 2.92970565e+02] [-1.71865631e-01 9.85115016e-01 -3.25727318e-03 -3.88558459e+01] [-1.94685470e-02 -9.06678880e-05 9.99810466e-01 -8.79433964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75587156 meters Centerline goodness [0,1] 0.9981996052146375 Centerline is valid? [True, True] Translation: X:293.00, Y:-38.86, Z:-8.79 [[ 9.84857361e-01 1.72341794e-01 1.88224611e-02 2.92999391e+02] [-1.72312242e-01 9.85037206e-01 -3.19292304e-03 -3.88595006e+01] [-1.90910986e-02 -9.87667198e-05 9.99817743e-01 -8.79353648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78587156000003 meters Centerline goodness [0,1] 0.9983003808007573 Centerline is valid? [True, True] Translation: X:293.03, Y:-38.86, Z:-8.80 [[ 9.84624019e-01 1.73685037e-01 1.86828502e-02 2.93028369e+02] [-1.73656182e-01 9.84801245e-01 -3.16830624e-03 -3.88622649e+01] [-1.89491815e-02 -1.24802018e-04 9.99820440e-01 -8.79670468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81587156 meters Centerline goodness [0,1] 0.9982316534040672 Centerline is valid? [True, True] Translation: X:293.06, Y:-38.87, Z:-8.80 [[ 9.84534098e-01 1.74201478e-01 1.86132972e-02 2.93055758e+02] [-1.74172945e-01 9.84710022e-01 -3.15571183e-03 -3.88657345e+01] [-1.88784300e-02 -1.35026882e-04 9.99821777e-01 -8.79803626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84587156000003 meters Centerline goodness [0,1] 0.9981927967002594 Centerline is valid? [True, True] Translation: X:293.08, Y:-38.87, Z:-8.80 [[ 9.84432292e-01 1.74719159e-01 1.91384165e-02 2.93083647e+02] [-1.74689115e-01 9.84618298e-01 -3.24348045e-03 -3.88678825e+01] [-1.94107333e-02 -1.50286153e-04 9.99811583e-01 -8.80044335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87587156 meters Centerline goodness [0,1] 0.9982329871137353 Centerline is valid? [True, True] Translation: X:293.11, Y:-38.87, Z:-8.80 [[ 9.84435407e-01 1.74726036e-01 1.89140820e-02 2.93112260e+02] [-1.74696718e-01 9.84617078e-01 -3.20420428e-03 -3.88744271e+01] [-1.91829861e-02 -1.49895903e-04 9.99815978e-01 -8.79974751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90587156 meters Centerline goodness [0,1] 0.9980141783395968 Centerline is valid? [True, True] Translation: X:293.14, Y:-38.88, Z:-8.80 [[ 9.84497169e-01 1.74394815e-01 1.87555918e-02 2.93139733e+02] [-1.74365941e-01 9.84675798e-01 -3.17656714e-03 -3.88794930e+01] [-1.90221542e-02 -1.43015062e-04 9.99819052e-01 -8.80166980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93587156 meters Centerline goodness [0,1] 0.9980533510171776 Centerline is valid? [True, True] Translation: X:293.17, Y:-38.89, Z:-8.80 [[ 9.84631736e-01 1.73619412e-01 1.88850255e-02 2.93168223e+02] [-1.73590021e-01 9.84812816e-01 -3.19715103e-03 -3.88854749e+01] [-1.91533027e-02 -1.30235607e-04 9.99816550e-01 -8.80147547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96587156 meters Centerline goodness [0,1] 0.997910023269844 Centerline is valid? [True, True] Translation: X:293.20, Y:-38.89, Z:-8.80 [[ 9.84809878e-01 1.72566455e-01 1.92437497e-02 2.93195945e+02] [-1.72535755e-01 9.84997871e-01 -3.25692425e-03 -3.88933577e+01] [-1.95170883e-02 -1.12783699e-04 9.99809517e-01 -8.80246118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99587156 meters Centerline goodness [0,1] 0.9979826722160876 Centerline is valid? [True, True] Translation: X:293.22, Y:-38.90, Z:-8.80 [[ 9.84916690e-01 1.71956745e-01 1.92351855e-02 2.93223357e+02] [-1.71925972e-01 9.85104496e-01 -3.25465733e-03 -3.88984386e+01] [-1.95083280e-02 -1.01461641e-04 9.99809689e-01 -8.80313033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02587156 meters Centerline goodness [0,1] 0.9979634711027268 Centerline is valid? [True, True] Translation: X:293.25, Y:-38.90, Z:-8.80 [[ 9.85078882e-01 1.70981850e-01 1.96164112e-02 2.93251157e+02] [-1.70949678e-01 9.85274175e-01 -3.31781502e-03 -3.89046563e+01] [-1.98948295e-02 -8.51096653e-05 9.99802075e-01 -8.80256726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05587156 meters Centerline goodness [0,1] 0.9982314245659442 Centerline is valid? [True, True] Translation: X:293.28, Y:-38.91, Z:-8.80 [[ 9.85118338e-01 1.70702086e-01 2.00663390e-02 2.93278963e+02] [-1.70668382e-01 9.85322684e-01 -3.39300272e-03 -3.89094875e+01] [-2.03510117e-02 -8.21804063e-05 9.99792893e-01 -8.80335914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08587156 meters Centerline goodness [0,1] 0.9981006237724201 Centerline is valid? [True, True] Translation: X:293.31, Y:-38.92, Z:-8.80 [[ 9.85179819e-01 1.70321254e-01 2.02828676e-02 2.93307044e+02] [-1.70286765e-01 9.85388586e-01 -3.42824747e-03 -3.89155254e+01] [-2.05704096e-02 -7.64636798e-05 9.99788404e-01 -8.80278070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11587156 meters Centerline goodness [0,1] 0.998232425410482 Centerline is valid? [True, True] Translation: X:293.33, Y:-38.92, Z:-8.81 [[ 9.85255508e-01 1.69902865e-01 2.01146872e-02 2.93334226e+02] [-1.69868877e-01 9.85460812e-01 -3.39894392e-03 -3.89213760e+01] [-2.03997263e-02 -6.80310962e-05 9.99791902e-01 -8.80535523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14587156 meters Centerline goodness [0,1] 0.9980678817543633 Centerline is valid? [True, True] Translation: X:293.36, Y:-38.93, Z:-8.81 [[ 9.85284653e-01 1.69749649e-01 1.99802028e-02 2.93362225e+02] [-1.69716110e-01 9.85487216e-01 -3.37483770e-03 -3.89267454e+01] [-2.02631120e-02 -6.57865097e-05 9.99794680e-01 -8.80640645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17587156 meters Centerline goodness [0,1] 0.9980544747081712 Centerline is valid? [True, True] Translation: X:293.39, Y:-38.93, Z:-8.81 [[ 9.85279110e-01 1.69776243e-01 2.00275242e-02 2.93390771e+02] [-1.69742571e-01 9.85482634e-01 -3.38186519e-03 -3.89317477e+01] [-2.03109377e-02 -6.74423209e-05 9.99793709e-01 -8.80738767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20587156 meters Centerline goodness [0,1] 0.9980727638707467 Centerline is valid? [True, True] Translation: X:293.42, Y:-38.94, Z:-8.81 [[ 9.85255797e-01 1.69968374e-01 1.95388210e-02 2.93418402e+02] [-1.69936378e-01 9.85449515e-01 -3.29861549e-03 -3.89354821e+01] [-1.98151820e-02 -7.03764344e-05 9.99803658e-01 -8.80948239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23587156 meters Centerline goodness [0,1] 0.9983820515586237 Centerline is valid? [True, True] Translation: X:293.45, Y:-38.94, Z:-8.81 [[ 9.85257654e-01 1.70030192e-01 1.88967828e-02 2.93447069e+02] [-1.70000301e-01 9.85438851e-01 -3.18885604e-03 -3.89404368e+01] [-1.91638257e-02 -7.06139371e-05 9.99816355e-01 -8.81133656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26587156 meters Centerline goodness [0,1] 0.9983574384572721 Centerline is valid? [True, True] Translation: X:293.47, Y:-38.94, Z:-8.81 [[ 9.85253143e-01 1.70093658e-01 1.85577945e-02 2.93474696e+02] [-1.70064855e-01 9.85427898e-01 -3.13091579e-03 -3.89449856e+01] [-1.88199174e-02 -7.12840100e-05 9.99822887e-01 -8.81417737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29587156 meters Centerline goodness [0,1] 0.9982724740331254 Centerline is valid? [True, True] Translation: X:293.50, Y:-38.95, Z:-8.81 [[ 9.85242231e-01 1.70190754e-01 1.82442728e-02 2.93502517e+02] [-1.70162955e-01 9.85411133e-01 -3.07684155e-03 -3.89508305e+01] [-1.85017595e-02 -7.30651328e-05 9.99828825e-01 -8.81339404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32587156 meters Centerline goodness [0,1] 0.9980959231599213 Centerline is valid? [True, True] Translation: X:293.53, Y:-38.95, Z:-8.82 [[ 9.85120765e-01 1.70827534e-01 1.88423092e-02 2.93529888e+02] [-1.70798015e-01 9.85300942e-01 -3.17683207e-03 -3.89540586e+01] [-1.91080354e-02 -8.86657785e-05 9.99817421e-01 -8.81566443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35587156 meters Centerline goodness [0,1] 0.9981147435622777 Centerline is valid? [True, True] Translation: X:293.56, Y:-38.96, Z:-8.81 [[ 9.84990378e-01 1.71542945e-01 1.91565567e-02 2.93558388e+02] [-1.71512595e-01 9.85176637e-01 -3.22844187e-03 -3.89579281e+01] [-1.94264085e-02 -1.05606580e-04 9.99811284e-01 -8.81446298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38587156 meters Centerline goodness [0,1] 0.9982890628341674 Centerline is valid? [True, True] Translation: X:293.59, Y:-38.96, Z:-8.81 [[ 9.84753853e-01 1.72863318e-01 1.94453479e-02 2.93586816e+02] [-1.72832325e-01 9.84945813e-01 -3.27601100e-03 -3.89604746e+01] [-1.97189161e-02 -1.34720228e-04 9.99805554e-01 -8.81415323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41587156 meters Centerline goodness [0,1] 0.9980567182027846 Centerline is valid? [True, True] Translation: X:293.61, Y:-38.96, Z:-8.82 [[ 9.84642815e-01 1.73494583e-01 1.94462398e-02 2.93614128e+02] [-1.73463719e-01 9.84834812e-01 -3.27568954e-03 -3.89632248e+01] [-1.97196483e-02 -1.47832908e-04 9.99805538e-01 -8.81564583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44587156 meters Centerline goodness [0,1] 0.998191643264403 Centerline is valid? [True, True] Translation: X:293.64, Y:-38.97, Z:-8.82 [[ 9.84519545e-01 1.74187539e-01 1.94927553e-02 2.93641604e+02] [-1.74156687e-01 9.84712483e-01 -3.28234245e-03 -3.89655158e+01] [-1.97665026e-02 -1.63263391e-04 9.99804610e-01 -8.81781118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47587156000003 meters Centerline goodness [0,1] 0.9979032948224219 Centerline is valid? [True, True] Translation: X:293.67, Y:-38.97, Z:-8.82 [[ 9.84282079e-01 1.75554899e-01 1.92163128e-02 2.93669971e+02] [-1.75525203e-01 9.84469624e-01 -3.23447631e-03 -3.89674312e+01] [-1.94857044e-02 -1.89310133e-04 9.99810118e-01 -8.81846472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50587156 meters Centerline goodness [0,1] 0.9981053348660961 Centerline is valid? [True, True] Translation: X:293.70, Y:-38.97, Z:-8.82 [[ 9.84211986e-01 1.76015611e-01 1.85814633e-02 2.93698118e+02] [-1.75987946e-01 9.84387357e-01 -3.12655515e-03 -3.89691034e+01] [-1.88416801e-02 -1.92920506e-04 9.99822461e-01 -8.82131698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53587156000003 meters Centerline goodness [0,1] 0.9981645502080888 Centerline is valid? [True, True] Translation: X:293.73, Y:-38.97, Z:-8.82 [[ 9.84113002e-01 1.76609536e-01 1.81843532e-02 2.93727184e+02] [-1.76583164e-01 9.84280972e-01 -3.05855429e-03 -3.89721411e+01] [-1.84386827e-02 -2.01087580e-04 9.99829973e-01 -8.82165250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56587156 meters Centerline goodness [0,1] 0.9979924824876132 Centerline is valid? [True, True] Translation: X:293.76, Y:-38.98, Z:-8.82 [[ 9.84111010e-01 1.76623530e-01 1.81562339e-02 2.93756139e+02] [-1.76597258e-01 9.84278461e-01 -3.05294829e-03 -3.89758934e+01] [-1.84100125e-02 -2.01901110e-04 9.99830501e-01 -8.82249322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59587156000003 meters Centerline goodness [0,1] 0.9980733827118209 Centerline is valid? [True, True] Translation: X:293.78, Y:-38.98, Z:-8.82 [[ 9.84144953e-01 1.76448989e-01 1.80129477e-02 2.93783765e+02] [-1.76423114e-01 9.84309766e-01 -3.02813012e-03 -3.89797403e+01] [-1.82646308e-02 -1.97781358e-04 9.99833168e-01 -8.82385968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62587156 meters Centerline goodness [0,1] 0.9981031543052004 Centerline is valid? [True, True] Translation: X:293.81, Y:-38.98, Z:-8.82 [[ 9.84238333e-01 1.75930448e-01 1.79827845e-02 2.93812539e+02] [-1.75904596e-01 9.84402581e-01 -3.02182954e-03 -3.89843343e+01] [-1.82339313e-02 -1.89053969e-04 9.99833730e-01 -8.82465616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65587156000004 meters Centerline goodness [0,1] 0.9980296410520003 Centerline is valid? [True, True] Translation: X:293.84, Y:-38.99, Z:-8.82 [[ 9.84431735e-01 1.74809731e-01 1.83225803e-02 2.93841407e+02] [-1.74782715e-01 9.84602218e-01 -3.07804432e-03 -3.89893292e+01] [-1.85785253e-02 -1.72345819e-04 9.99827389e-01 -8.82335985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68587156 meters Centerline goodness [0,1] 0.9982900136798906 Centerline is valid? [True, True] Translation: X:293.87, Y:-38.99, Z:-8.82 [[ 9.84558966e-01 1.74083594e-01 1.83996047e-02 2.93869813e+02] [-1.74056241e-01 9.84730865e-01 -3.09006540e-03 -3.89938205e+01] [-1.86565884e-02 -1.60214438e-04 9.99825938e-01 -8.82427780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71587156 meters Centerline goodness [0,1] 0.9982493595217763 Centerline is valid? [True, True] Translation: X:293.90, Y:-39.00, Z:-8.83 [[ 9.84891189e-01 1.72218651e-01 1.81681412e-02 2.93897581e+02] [-1.72191681e-01 9.85058740e-01 -3.05030742e-03 -3.89991590e+01] [-1.84220061e-02 -1.24181874e-04 9.99830293e-01 -8.82564553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74587156 meters Centerline goodness [0,1] 0.9981335678887864 Centerline is valid? [True, True] Translation: X:293.93, Y:-39.00, Z:-8.83 [[ 9.85133273e-01 1.70813367e-01 1.83092361e-02 2.93926376e+02] [-1.70785750e-01 9.85303397e-01 -3.07307804e-03 -3.90044626e+01] [-1.85650753e-02 -9.95651879e-05 9.99827649e-01 -8.82546313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77587156 meters Centerline goodness [0,1] 0.998359957401491 Centerline is valid? [True, True] Translation: X:293.95, Y:-39.01, Z:-8.83 [[ 9.85339182e-01 1.69630720e-01 1.82240384e-02 2.93954172e+02] [-1.69603174e-01 9.85507693e-01 -3.05789313e-03 -3.90110721e+01] [-1.84786426e-02 -7.77928422e-05 9.99829252e-01 -8.82767958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80587156 meters Centerline goodness [0,1] 0.9985564078255623 Centerline is valid? [True, True] Translation: X:293.98, Y:-39.02, Z:-8.83 [[ 9.85558643e-01 1.68390070e-01 1.78590728e-02 2.93981348e+02] [-1.68363425e-01 9.85720438e-01 -2.99595346e-03 -3.90165172e+01] [-1.81085419e-02 -5.41268327e-05 9.99836025e-01 -8.82918249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83587156 meters Centerline goodness [0,1] 0.9985564078255623 Centerline is valid? [True, True] Translation: X:294.01, Y:-39.02, Z:-8.83 [[ 9.85566601e-01 1.68343465e-01 1.78592723e-02 2.94009291e+02] [-1.68316834e-01 9.85728398e-01 -2.99476341e-03 -3.90211105e+01] [-1.81085408e-02 -5.44773874e-05 9.99836025e-01 -8.83003702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86587156 meters Centerline goodness [0,1] 0.9984700254277464 Centerline is valid? [True, True] Translation: X:294.04, Y:-39.03, Z:-8.83 [[ 9.85959639e-01 1.66027811e-01 1.78425183e-02 2.94037992e+02] [-1.66000865e-01 9.86121071e-01 -2.99111259e-03 -3.90270415e+01] [-1.80914911e-02 -1.27571799e-05 9.99836335e-01 -8.82840935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89587156 meters Centerline goodness [0,1] 0.9986403806934059 Centerline is valid? [True, True] Translation: X:294.07, Y:-39.03, Z:-8.83 [[ 9.86088460e-01 1.65249716e-01 1.79465972e-02 2.94065272e+02] [-1.65222341e-01 9.86251759e-01 -3.00778352e-03 -3.90323418e+01] [-1.81968984e-02 7.61809222e-07 9.99834423e-01 -8.83153285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92587156 meters Centerline goodness [0,1] 0.9988204006348389 Centerline is valid? [True, True] Translation: X:294.09, Y:-39.04, Z:-8.83 [[ 9.86205439e-01 1.64561369e-01 1.78434297e-02 2.94093764e+02] [-1.64534218e-01 9.86366846e-01 -2.98922112e-03 -3.90379141e+01] [-1.80920778e-02 1.21313824e-05 9.99836325e-01 -8.83190884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95587156 meters Centerline goodness [0,1] 0.9988885088919288 Centerline is valid? [True, True] Translation: X:294.12, Y:-39.04, Z:-8.83 [[ 9.86557267e-01 1.62446588e-01 1.77725724e-02 2.94120995e+02] [-1.62419322e-01 9.86717337e-01 -2.97663572e-03 -3.90446896e+01] [-1.80200497e-02 5.00124476e-05 9.99837624e-01 -8.83353136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98587156 meters Centerline goodness [0,1] 0.9988390092879257 Centerline is valid? [True, True] Translation: X:294.15, Y:-39.05, Z:-8.83 [[ 9.86721636e-01 1.61442991e-01 1.77925039e-02 2.94149125e+02] [-1.61415522e-01 9.86882038e-01 -2.97875529e-03 -3.90504405e+01] [-1.80400016e-02 6.72159924e-05 9.99837264e-01 -8.83404302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01587156 meters Centerline goodness [0,1] 0.9988549375516869 Centerline is valid? [True, True] Translation: X:294.18, Y:-39.06, Z:-8.84 [[ 9.86867325e-01 1.60572024e-01 1.75928350e-02 2.94176215e+02] [-1.60545042e-01 9.87024123e-01 -2.94469704e-03 -3.90567819e+01] [-1.78373885e-02 8.15828630e-05 9.99840898e-01 -8.83670601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04587156 meters Centerline goodness [0,1] 0.998868778280543 Centerline is valid? [True, True] Translation: X:294.20, Y:-39.06, Z:-8.84 [[ 9.86991447e-01 1.59860559e-01 1.71021969e-02 2.94204124e+02] [-1.59834977e-01 9.87139602e-01 -2.86124973e-03 -3.90635724e+01] [-1.73396568e-02 9.04997638e-05 9.99849653e-01 -8.83815319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07587156 meters Centerline goodness [0,1] 0.9990731959651694 Centerline is valid? [True, True] Translation: X:294.23, Y:-39.07, Z:-8.84 [[ 9.87010735e-01 1.59728380e-01 1.72236123e-02 2.94232542e+02] [-1.59702428e-01 9.87160998e-01 -2.88072835e-03 -3.90683683e+01] [-1.74626123e-02 9.26571081e-05 9.99847513e-01 -8.83819099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10587156 meters Centerline goodness [0,1] 0.9990418192658206 Centerline is valid? [True, True] Translation: X:294.26, Y:-39.07, Z:-8.84 [[ 9.86983483e-01 1.59840669e-01 1.77359606e-02 2.94260284e+02] [-1.59813181e-01 9.87142823e-01 -2.96566505e-03 -3.90729557e+01] [-1.79819601e-02 9.26221371e-05 9.99838307e-01 -8.83970703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13587156 meters Centerline goodness [0,1] 0.9989556247069356 Centerline is valid? [True, True] Translation: X:294.29, Y:-39.08, Z:-8.84 [[ 9.86838622e-01 1.60756833e-01 1.75149658e-02 2.94289555e+02] [-1.60730193e-01 9.86994040e-01 -2.92739284e-03 -3.90758495e+01] [-1.77577653e-02 7.36804831e-05 9.99842316e-01 -8.83956519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16587156 meters Centerline goodness [0,1] 0.9988425181660343 Centerline is valid? [True, True] Translation: X:294.32, Y:-39.08, Z:-8.84 [[ 9.86738582e-01 1.61367594e-01 1.75348626e-02 2.94318107e+02] [-1.61340999e-01 9.86894369e-01 -2.93023301e-03 -3.90799394e+01] [-1.77779018e-02 6.22817078e-05 9.99841959e-01 -8.83962223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19587156 meters Centerline goodness [0,1] 0.9988693333333334 Centerline is valid? [True, True] Translation: X:294.35, Y:-39.09, Z:-8.84 [[ 9.86683670e-01 1.61687014e-01 1.76817647e-02 2.94346611e+02] [-1.61660038e-01 9.86842088e-01 -2.95392789e-03 -3.90853672e+01] [-1.79267213e-02 5.61576618e-05 9.99839302e-01 -8.84054686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22587156000003 meters Centerline goodness [0,1] 0.9986756098602982 Centerline is valid? [True, True] Translation: X:294.38, Y:-39.09, Z:-8.84 [[ 9.86629028e-01 1.62060970e-01 1.73032719e-02 2.94375005e+02] [-1.62035208e-01 9.86780746e-01 -2.88988892e-03 -3.90901835e+01] [-1.75428737e-02 4.75090325e-05 9.99846111e-01 -8.84187862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25587156 meters Centerline goodness [0,1] 0.9987305002689618 Centerline is valid? [True, True] Translation: X:294.40, Y:-39.09, Z:-8.84 [[ 9.86619747e-01 1.62117721e-01 1.73008187e-02 2.94403674e+02] [-1.62091991e-01 9.86771424e-01 -2.88864350e-03 -3.90944311e+01] [-1.75402538e-02 4.56685767e-05 9.99846157e-01 -8.84278707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28587156000003 meters Centerline goodness [0,1] 0.9988626609442061 Centerline is valid? [True, True] Translation: X:294.43, Y:-39.10, Z:-8.84 [[ 9.86621769e-01 1.62137640e-01 1.69961772e-02 2.94431970e+02] [-1.62112824e-01 9.86768151e-01 -2.83698694e-03 -3.90998301e+01] [-1.72312688e-02 4.37347942e-05 9.99851530e-01 -8.84477159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31587156 meters Centerline goodness [0,1] 0.9988125310361207 Centerline is valid? [True, True] Translation: X:294.46, Y:-39.11, Z:-8.85 [[ 9.86661858e-01 1.61949213e-01 1.64569026e-02 2.94459857e+02] [-1.61925933e-01 9.86799093e-01 -2.74623198e-03 -3.91052808e+01] [-1.66844067e-02 4.48030324e-05 9.99860805e-01 -8.84629442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34587156000003 meters Centerline goodness [0,1] 0.9986977776828982 Centerline is valid? [True, True] Translation: X:294.49, Y:-39.11, Z:-8.85 [[ 9.86693344e-01 1.61762076e-01 1.64096091e-02 2.94486357e+02] [-1.61738914e-01 9.86829787e-01 -2.73770767e-03 -3.91126913e+01] [-1.66363483e-02 4.72055746e-05 9.99861605e-01 -8.84852292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37587156 meters Centerline goodness [0,1] 0.9985294431064982 Centerline is valid? [True, True] Translation: X:294.51, Y:-39.12, Z:-8.85 [[ 9.86706494e-01 1.61680105e-01 1.64267825e-02 2.94514106e+02] [-1.61656903e-01 9.86843220e-01 -2.73941027e-03 -3.91187413e+01] [-1.66535671e-02 4.74911190e-05 9.99861319e-01 -8.84862064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40587156000004 meters Centerline goodness [0,1] 0.9985813163664503 Centerline is valid? [True, True] Translation: X:294.54, Y:-39.12, Z:-8.85 [[ 9.86680798e-01 1.61835124e-01 1.64436859e-02 2.94542377e+02] [-1.61811909e-01 9.86817810e-01 -2.74144136e-03 -3.91248911e+01] [-1.66705836e-02 4.41433511e-05 9.99861035e-01 -8.84932624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43587156 meters Centerline goodness [0,1] 0.9985216473072862 Centerline is valid? [True, True] Translation: X:294.57, Y:-39.13, Z:-8.85 [[ 9.86631558e-01 1.62083068e-01 1.69483707e-02 2.94569440e+02] [-1.62058454e-01 9.86777116e-01 -2.82492397e-03 -3.91295623e+01] [-1.71821367e-02 4.05323944e-05 9.99852375e-01 -8.85077819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46587156 meters Centerline goodness [0,1] 0.9986141186660892 Centerline is valid? [True, True] Translation: X:294.60, Y:-39.13, Z:-8.85 [[ 9.86547115e-01 1.62569064e-01 1.72072199e-02 2.94597709e+02] [-1.62543789e-01 9.86697167e-01 -2.86675863e-03 -3.91335379e+01] [-1.74443614e-02 3.12657342e-05 9.99847835e-01 -8.84936251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49587156 meters Centerline goodness [0,1] 0.9985099091044554 Centerline is valid? [True, True] Translation: X:294.63, Y:-39.14, Z:-8.85 [[ 9.86223430e-01 1.64501317e-01 1.73972012e-02 2.94625139e+02] [-1.64475794e-01 9.86376863e-01 -2.89770754e-03 -3.91355120e+01] [-1.76368734e-02 -3.63140299e-06 9.99844458e-01 -8.85042715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52587156 meters Centerline goodness [0,1] 0.9983808989249169 Centerline is valid? [True, True] Translation: X:294.65, Y:-39.14, Z:-8.85 [[ 9.86068468e-01 1.65507353e-01 1.66220277e-02 2.94654097e+02] [-1.65484214e-01 9.86208556e-01 -2.76756039e-03 -3.91388576e+01] [-1.68508376e-02 -2.16791557e-05 9.99858014e-01 -8.85116662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55587156 meters Centerline goodness [0,1] 0.9982318059299191 Centerline is valid? [True, True] Translation: X:294.68, Y:-39.14, Z:-8.85 [[ 9.85927419e-01 1.66370021e-01 1.63750118e-02 2.94682827e+02] [-1.66347696e-01 9.86063393e-01 -2.72564254e-03 -3.91424449e+01] [-1.66002649e-02 -3.66597858e-05 9.99862205e-01 -8.85281628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58587156 meters Centerline goodness [0,1] 0.9982754215636178 Centerline is valid? [True, True] Translation: X:294.71, Y:-39.14, Z:-8.86 [[ 9.85597079e-01 1.68333654e-01 1.61919349e-02 2.94710738e+02] [-1.68312102e-01 9.85730073e-01 -2.69454309e-03 -3.91440170e+01] [-1.64144594e-02 -6.95647825e-05 9.99865271e-01 -8.85521179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61587156 meters Centerline goodness [0,1] 0.9981209028207811 Centerline is valid? [True, True] Translation: X:294.74, Y:-39.15, Z:-8.86 [[ 9.85453795e-01 1.69181953e-01 1.60712309e-02 2.94739873e+02] [-1.69160851e-01 9.85584831e-01 -2.67332280e-03 -3.91470717e+01] [-1.62918393e-02 -8.41869974e-05 9.99867276e-01 -8.85560275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64587156 meters Centerline goodness [0,1] 0.9983064463599453 Centerline is valid? [True, True] Translation: X:294.77, Y:-39.15, Z:-8.86 [[ 9.85338991e-01 1.69903125e-01 1.54919355e-02 2.94768539e+02] [-1.69883617e-01 9.85460765e-01 -2.57625855e-03 -3.91516616e+01] [-1.57044090e-02 -9.33380335e-05 9.99876674e-01 -8.85732874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67587156 meters Centerline goodness [0,1] 0.9977503053157072 Centerline is valid? [True, True] Translation: X:294.80, Y:-39.16, Z:-8.86 [[ 9.85213947e-01 1.70666538e-01 1.50469893e-02 2.94795895e+02] [-1.70648232e-01 9.85328840e-01 -2.50173030e-03 -3.91553666e+01] [-1.52531942e-02 -1.03002549e-04 9.99883658e-01 -8.85962273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70587156 meters Centerline goodness [0,1] 0.9980338682057461 Centerline is valid? [True, True] Translation: X:294.82, Y:-39.16, Z:-8.86 [[ 9.85184274e-01 1.70843032e-01 1.49868101e-02 2.94822930e+02] [-1.70824906e-01 9.85298253e-01 -2.49084040e-03 -3.91597667e+01] [-1.51920206e-02 -1.06183646e-04 9.99884589e-01 -8.86182048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73587156 meters Centerline goodness [0,1] 0.9980831487476571 Centerline is valid? [True, True] Translation: X:294.85, Y:-39.16, Z:-8.86 [[ 9.85191652e-01 1.70803696e-01 1.49501360e-02 2.94850877e+02] [-1.70785673e-01 9.85305073e-01 -2.48351195e-03 -3.91647679e+01] [-1.51546379e-02 -1.06533793e-04 9.99885156e-01 -8.86298506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76587156 meters Centerline goodness [0,1] 0.9980523094045631 Centerline is valid? [True, True] Translation: X:294.88, Y:-39.17, Z:-8.86 [[ 9.85295527e-01 1.70118595e-01 1.58867155e-02 2.94878058e+02] [-1.70098165e-01 9.85423591e-01 -2.63840622e-03 -3.91712888e+01] [-1.61039862e-02 -1.02691309e-04 9.99870317e-01 -8.86239217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79587156 meters Centerline goodness [0,1] 0.9980789984891 Centerline is valid? [True, True] Translation: X:294.91, Y:-39.18, Z:-8.86 [[ 9.85427281e-01 1.69308399e-01 1.63627667e-02 2.94905885e+02] [-1.69286634e-01 9.85563117e-01 -2.71628767e-03 -3.91782499e+01] [-1.65864297e-02 -9.32937283e-05 9.99862431e-01 -8.86160828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82587156 meters Centerline goodness [0,1] 0.9981552190141147 Centerline is valid? [True, True] Translation: X:294.93, Y:-39.19, Z:-8.86 [[ 9.85722941e-01 1.67492340e-01 1.72220577e-02 2.94933487e+02] [-1.67467967e-01 9.85873375e-01 -2.85802918e-03 -3.91870509e+01] [-1.74574661e-02 -6.69180524e-05 9.99847605e-01 -8.85973789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85587156 meters Centerline goodness [0,1] 0.9983281534669382 Centerline is valid? [True, True] Translation: X:294.96, Y:-39.19, Z:-8.86 [[ 9.85816872e-01 1.66918575e-01 1.74150587e-02 2.94960250e+02] [-1.66893579e-01 9.85970682e-01 -2.88916975e-03 -3.91929015e+01] [-1.76529934e-02 -5.82691924e-05 9.99844172e-01 -8.86114711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88587156 meters Centerline goodness [0,1] 0.9981471906239228 Centerline is valid? [True, True] Translation: X:294.99, Y:-39.20, Z:-8.86 [[ 9.85924065e-01 1.66272773e-01 1.75243629e-02 2.94988661e+02] [-1.66247376e-01 9.86079795e-01 -2.90642099e-03 -3.91995726e+01] [-1.77636789e-02 -4.78689530e-05 9.99842212e-01 -8.86147315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91587156 meters Centerline goodness [0,1] 0.998180533852773 Centerline is valid? [True, True] Translation: X:295.02, Y:-39.21, Z:-8.86 [[ 9.86024064e-01 1.65708031e-01 1.72450879e-02 2.95016101e+02] [-1.65683367e-01 9.86174856e-01 -2.85913535e-03 -3.92064510e+01] [-1.74804538e-02 -3.80479713e-05 9.99847204e-01 -8.86418565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94587156 meters Centerline goodness [0,1] 0.9983293351610693 Centerline is valid? [True, True] Translation: X:295.04, Y:-39.21, Z:-8.86 [[ 9.85992349e-01 1.65918995e-01 1.70286376e-02 2.95044721e+02] [-1.65894986e-01 9.86139384e-01 -2.82279993e-03 -3.92116322e+01] [-1.72609663e-02 -4.17064623e-05 9.99851018e-01 -8.86406462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97587156000003 meters Centerline goodness [0,1] 0.9981504183065574 Centerline is valid? [True, True] Translation: X:295.07, Y:-39.22, Z:-8.87 [[ 9.85913766e-01 1.66416220e-01 1.67238841e-02 2.95072986e+02] [-1.66393148e-01 9.86055596e-01 -2.77150704e-03 -3.92163167e+01] [-1.69519033e-02 -5.02727761e-05 9.99856305e-01 -8.86546125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00587156 meters Centerline goodness [0,1] 0.9982019008476753 Centerline is valid? [True, True] Translation: X:295.10, Y:-39.22, Z:-8.87 [[ 9.85731631e-01 1.67516572e-01 1.64726680e-02 2.95101179e+02] [-1.67494354e-01 9.85869258e-01 -2.72910945e-03 -3.92217285e+01] [-1.66970681e-02 -6.89093819e-05 9.99860592e-01 -8.86611706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03587156000003 meters Centerline goodness [0,1] 0.9981552585855552 Centerline is valid? [True, True] Translation: X:295.13, Y:-39.23, Z:-8.86 [[ 9.85576356e-01 1.68401554e-01 1.67380897e-02 2.95129272e+02] [-1.68378755e-01 9.85718474e-01 -2.77229496e-03 -3.92260303e+01] [-1.69659030e-02 -8.60303458e-05 9.99856065e-01 -8.86493332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06587156 meters Centerline goodness [0,1] 0.9980067726863561 Centerline is valid? [True, True] Translation: X:295.16, Y:-39.23, Z:-8.87 [[ 9.85277420e-01 1.70197108e-01 1.61663596e-02 2.95156685e+02] [-1.70176091e-01 9.85410032e-01 -2.67700770e-03 -3.92282237e+01] [-1.63861119e-02 -1.13532652e-04 9.99865732e-01 -8.86826784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09587156000003 meters Centerline goodness [0,1] 0.9978885043209473 Centerline is valid? [True, True] Translation: X:295.18, Y:-39.23, Z:-8.87 [[ 9.85144121e-01 1.71022708e-01 1.55657790e-02 2.95184944e+02] [-1.71003343e-01 9.85267080e-01 -2.57649085e-03 -3.92335003e+01] [-1.57770881e-02 -1.23585441e-04 9.99875526e-01 -8.86764107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12587156 meters Centerline goodness [0,1] 0.9978668390433096 Centerline is valid? [True, True] Translation: X:295.21, Y:-39.24, Z:-8.87 [[ 9.84990920e-01 1.71910438e-01 1.54819069e-02 2.95213284e+02] [-1.71891403e-01 9.85112573e-01 -2.56184173e-03 -3.92377264e+01] [-1.56918285e-02 -1.37815861e-04 9.99876866e-01 -8.86804836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15587156000004 meters Centerline goodness [0,1] 0.9977097112523813 Centerline is valid? [True, True] Translation: X:295.24, Y:-39.24, Z:-8.87 [[ 9.84862853e-01 1.72652738e-01 1.53685803e-02 2.95241177e+02] [-1.72634081e-01 9.84982746e-01 -2.54249152e-03 -3.92403269e+01] [-1.55767545e-02 -1.49135280e-04 9.99878664e-01 -8.87101602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18587156 meters Centerline goodness [0,1] 0.9976571651698555 Centerline is valid? [True, True] Translation: X:295.27, Y:-39.24, Z:-8.87 [[ 9.84618274e-01 1.74074146e-01 1.50015458e-02 2.95269313e+02] [-1.74056551e-01 9.84732534e-01 -2.48067553e-03 -3.92448956e+01] [-1.52043317e-02 -1.68598862e-04 9.99884393e-01 -8.86986646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21587156 meters Centerline goodness [0,1] 0.997773496039392 Centerline is valid? [True, True] Translation: X:295.30, Y:-39.25, Z:-8.87 [[ 9.84459065e-01 1.74959651e-01 1.51482785e-02 2.95297033e+02] [-1.74941824e-01 9.84575587e-01 -2.50433988e-03 -3.92464141e+01] [-1.53527836e-02 -1.84647367e-04 9.99882122e-01 -8.87209195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24587156 meters Centerline goodness [0,1] 0.9977165998879841 Centerline is valid? [True, True] Translation: X:295.33, Y:-39.25, Z:-8.87 [[ 9.84353407e-01 1.75570823e-01 1.49417926e-02 2.95325870e+02] [-1.75553566e-01 9.84466784e-01 -2.46906906e-03 -3.92501334e+01] [-1.51431950e-02 -1.92648434e-04 9.99885317e-01 -8.87263090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27587156 meters Centerline goodness [0,1] 0.9977845833061836 Centerline is valid? [True, True] Translation: X:295.35, Y:-39.26, Z:-8.87 [[ 9.84158845e-01 1.76682392e-01 1.46526590e-02 2.95354035e+02] [-1.76665930e-01 9.84267895e-01 -2.42065557e-03 -3.92553899e+01] [-1.48498291e-02 -2.06316040e-04 9.99889714e-01 -8.87117440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30587156 meters Centerline goodness [0,1] 0.9978491353089424 Centerline is valid? [True, True] Translation: X:295.38, Y:-39.26, Z:-8.87 [[ 9.84099402e-01 1.77018883e-01 1.45836460e-02 2.95381450e+02] [-1.77002620e-01 9.84207433e-01 -2.40870250e-03 -3.92583759e+01] [-1.47797186e-02 -2.10940868e-04 9.99890752e-01 -8.87300046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33587156 meters Centerline goodness [0,1] 0.9976917766847873 Centerline is valid? [True, True] Translation: X:295.41, Y:-39.26, Z:-8.87 [[ 9.84069631e-01 1.77234796e-01 1.39566652e-02 2.95410367e+02] [-1.77219938e-01 9.84168575e-01 -2.30411760e-03 -3.92623829e+01] [-1.41440812e-02 -2.05987183e-04 9.99899946e-01 -8.87473351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36587156 meters Centerline goodness [0,1] 0.9980258162490508 Centerline is valid? [True, True] Translation: X:295.44, Y:-39.27, Z:-8.87 [[ 9.84089034e-01 1.77118060e-01 1.40700449e-02 2.95438473e+02] [-1.77102957e-01 9.84189591e-01 -2.32213236e-03 -3.92671850e+01] [-1.42588833e-02 -2.06661570e-04 9.99898316e-01 -8.87488953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39587156 meters Centerline goodness [0,1] 0.9977100885720458 Centerline is valid? [True, True] Translation: X:295.47, Y:-39.27, Z:-8.87 [[ 9.84045024e-01 1.77354032e-01 1.41752836e-02 2.95466663e+02] [-1.77338737e-01 9.84147094e-01 -2.33877213e-03 -3.92707735e+01] [-1.43653548e-02 -2.12369810e-04 9.99896790e-01 -8.87376850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42587156 meters Centerline goodness [0,1] 0.9978872788578501 Centerline is valid? [True, True] Translation: X:295.49, Y:-39.27, Z:-8.88 [[ 9.84057241e-01 1.77221622e-01 1.49613881e-02 2.95494538e+02] [-1.77204579e-01 9.84170944e-01 -2.46781941e-03 -3.92737277e+01] [-1.51619144e-02 -2.22750913e-04 9.99885027e-01 -8.87574009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45587156 meters Centerline goodness [0,1] 0.997905221982344 Centerline is valid? [True, True] Translation: X:295.52, Y:-39.28, Z:-8.88 [[ 9.84094012e-01 1.77030381e-01 1.48060831e-02 2.95523435e+02] [-1.77013685e-01 9.84205363e-01 -2.44109675e-03 -3.92780336e+01] [-1.50043746e-02 -2.18610630e-04 9.99887404e-01 -8.87675321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48587156 meters Centerline goodness [0,1] 0.9979750980138727 Centerline is valid? [True, True] Translation: X:295.55, Y:-39.28, Z:-8.88 [[ 9.84117389e-01 1.76880024e-01 1.50473351e-02 2.95551749e+02] [-1.76862773e-01 9.84232395e-01 -2.48015072e-03 -3.92836375e+01] [-1.52487638e-02 -2.20553964e-04 9.99883707e-01 -8.87520360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51587156 meters Centerline goodness [0,1] 0.9979704637706193 Centerline is valid? [True, True] Translation: X:295.58, Y:-39.29, Z:-8.88 [[ 9.84180678e-01 1.76487179e-01 1.55134835e-02 2.95579904e+02] [-1.76468804e-01 9.84302914e-01 -2.55632313e-03 -3.92860799e+01] [-1.57211253e-02 -2.21762036e-04 9.99876391e-01 -8.87613968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54587156 meters Centerline goodness [0,1] 0.9978624635647199 Centerline is valid? [True, True] Translation: X:295.61, Y:-39.29, Z:-8.88 [[ 9.84218429e-01 1.76284461e-01 1.54231045e-02 2.95608352e+02] [-1.76266292e-01 9.84339241e-01 -2.54028270e-03 -3.92900875e+01] [-1.56293794e-02 -2.18380406e-04 9.99877830e-01 -8.87684990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57587156 meters Centerline goodness [0,1] 0.9978583972244828 Centerline is valid? [True, True] Translation: X:295.64, Y:-39.29, Z:-8.88 [[ 9.84232840e-01 1.76229483e-01 1.51289651e-02 2.95635759e+02] [-1.76212003e-01 9.84349086e-01 -2.49128756e-03 -3.92932421e+01] [-1.53312213e-02 -2.13898203e-04 9.99882447e-01 -8.87850320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60587156 meters Centerline goodness [0,1] 0.9978566988876267 Centerline is valid? [True, True] Translation: X:295.66, Y:-39.30, Z:-8.88 [[ 9.84258316e-01 1.76111255e-01 1.48456377e-02 2.95663480e+02] [-1.76094424e-01 9.84370246e-01 -2.44372991e-03 -3.92963378e+01] [-1.50439723e-02 -2.08972521e-04 9.99886811e-01 -8.88087895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63587156 meters Centerline goodness [0,1] 0.9977554764217115 Centerline is valid? [True, True] Translation: X:295.69, Y:-39.30, Z:-8.88 [[ 9.84400205e-01 1.75333602e-01 1.46411778e-02 2.95692000e+02] [-1.75317161e-01 9.84509060e-01 -2.40903938e-03 -3.93010415e+01] [-1.48367577e-02 -1.95390855e-04 9.99889910e-01 -8.87970875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66587156 meters Centerline goodness [0,1] 0.997949156163213 Centerline is valid? [True, True] Translation: X:295.72, Y:-39.30, Z:-8.88 [[ 9.84558048e-01 1.74374040e-01 1.54643054e-02 2.95719911e+02] [-1.74355590e-01 9.84679469e-01 -2.54379274e-03 -3.93036119e+01] [-1.56709555e-02 -1.91776476e-04 9.99877185e-01 -8.88293665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69587156 meters Centerline goodness [0,1] 0.997949156163213 Centerline is valid? [True, True] Translation: X:295.75, Y:-39.31, Z:-8.88 [[ 9.84569872e-01 1.74307255e-01 1.54644424e-02 2.95747055e+02] [-1.74288810e-01 9.84691294e-01 -2.54295935e-03 -3.93079330e+01] [-1.56709581e-02 -1.91558102e-04 9.99877185e-01 -8.88376606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72587156000003 meters Centerline goodness [0,1] 0.9980465782562455 Centerline is valid? [True, True] Translation: X:295.78, Y:-39.32, Z:-8.88 [[ 9.84736307e-01 1.73305888e-01 1.61082287e-02 2.95775426e+02] [-1.73285765e-01 9.84868029e-01 -2.64734882e-03 -3.93150281e+01] [-1.63232806e-02 -1.84386234e-04 9.99866749e-01 -8.88091612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75587156 meters Centerline goodness [0,1] 0.998206064797804 Centerline is valid? [True, True] Translation: X:295.80, Y:-39.32, Z:-8.88 [[ 9.85055184e-01 1.71518835e-01 1.57345028e-02 2.95802919e+02] [-1.71499416e-01 9.85180829e-01 -2.58534796e-03 -3.93191666e+01] [-1.59447664e-02 -1.51747622e-04 9.99872863e-01 -8.88263637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78587156000003 meters Centerline goodness [0,1] 0.9984003804500551 Centerline is valid? [True, True] Translation: X:295.83, Y:-39.32, Z:-8.88 [[ 9.85228175e-01 1.70513061e-01 1.58347626e-02 2.95830774e+02] [-1.70493280e-01 9.85355407e-01 -2.60080177e-03 -3.93237586e+01] [-1.60463396e-02 -1.37337435e-04 9.99871240e-01 -8.88363868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81587156 meters Centerline goodness [0,1] 0.998285285607116 Centerline is valid? [True, True] Translation: X:295.86, Y:-39.33, Z:-8.89 [[ 9.85405001e-01 1.69504475e-01 1.56594201e-02 2.95858595e+02] [-1.69485018e-01 9.85529410e-01 -2.57105378e-03 -3.93275444e+01] [-1.58686241e-02 -1.20507839e-04 9.99874078e-01 -8.88511237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84587156000003 meters Centerline goodness [0,1] 0.9984102090360281 Centerline is valid? [True, True] Translation: X:295.89, Y:-39.33, Z:-8.89 [[ 9.85513849e-01 1.68871980e-01 1.56431160e-02 2.95887100e+02] [-1.68852501e-01 9.85637987e-01 -2.56724262e-03 -3.93321194e+01] [-1.58519848e-02 -1.11326121e-04 9.99874343e-01 -8.88539744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87587156 meters Centerline goodness [0,1] 0.9983788395904437 Centerline is valid? [True, True] Translation: X:295.91, Y:-39.34, Z:-8.89 [[ 9.85614940e-01 1.68308616e-01 1.53427153e-02 2.95914246e+02] [-1.68289819e-01 9.85734345e-01 -2.51739595e-03 -3.93362704e+01] [-1.55475408e-02 -1.00839724e-04 9.99879125e-01 -8.88656597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90587156000004 meters Centerline goodness [0,1] 0.9984884800587334 Centerline is valid? [True, True] Translation: X:295.94, Y:-39.34, Z:-8.89 [[ 9.85806424e-01 1.67207963e-01 1.50728727e-02 2.95942904e+02] [-1.67189709e-01 9.85921645e-01 -2.47206633e-03 -3.93414963e+01] [-1.52740206e-02 -8.30503262e-05 9.99883342e-01 -8.88727208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93587156 meters Centerline goodness [0,1] 0.9988102963443651 Centerline is valid? [True, True] Translation: X:295.97, Y:-39.35, Z:-8.89 [[ 9.86172986e-01 1.64976061e-01 1.56761070e-02 2.95971459e+02] [-1.64956047e-01 9.86297570e-01 -2.57018404e-03 -3.93482626e+01] [-1.58853251e-02 -5.12225671e-05 9.99873819e-01 -8.88711570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96587156 meters Centerline goodness [0,1] 0.9987551243802452 Centerline is valid? [True, True] Translation: X:296.00, Y:-39.35, Z:-8.89 [[ 9.86357585e-01 1.63855852e-01 1.58105955e-02 2.96000093e+02] [-1.63835362e-01 9.86484292e-01 -2.59145017e-03 -3.93543796e+01] [-1.60215284e-02 -3.42381046e-05 9.99871646e-01 -8.88708427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99587156 meters Centerline goodness [0,1] 0.9988275397876545 Centerline is valid? [True, True] Translation: X:296.03, Y:-39.36, Z:-8.89 [[ 9.86659784e-01 1.62001324e-01 1.60637023e-02 2.96028237e+02] [-1.61979940e-01 9.86790541e-01 -2.63216020e-03 -3.93612052e+01] [-1.62779229e-02 -4.95090876e-06 9.99867506e-01 -8.88613455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02587156 meters Centerline goodness [0,1] 0.9988693931685256 Centerline is valid? [True, True] Translation: X:296.06, Y:-39.37, Z:-8.89 [[ 9.87110538e-01 1.59235288e-01 1.60284025e-02 2.96057402e+02] [-1.59213652e-01 9.87240660e-01 -2.62522089e-03 -3.93694633e+01] [-1.62419184e-02 3.94427183e-05 9.99868091e-01 -8.88638220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05587156 meters Centerline goodness [0,1] 0.999153829464092 Centerline is valid? [True, True] Translation: X:296.09, Y:-39.38, Z:-8.89 [[ 9.87310839e-01 1.58030486e-01 1.56100019e-02 2.96086341e+02] [-1.58009819e-01 9.87434232e-01 -2.55632493e-03 -3.93764969e+01] [-1.58178275e-02 5.73537459e-05 9.99874889e-01 -8.88741023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08587156 meters Centerline goodness [0,1] 0.999187270082984 Centerline is valid? [True, True] Translation: X:296.11, Y:-39.38, Z:-8.89 [[ 9.87596931e-01 1.56248554e-01 1.54496373e-02 2.96113704e+02] [-1.56228095e-01 9.87717764e-01 -2.52985941e-03 -3.93847434e+01] [-1.56551681e-02 8.48139864e-05 9.99877447e-01 -8.88811587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11587156 meters Centerline goodness [0,1] 0.9992277826637208 Centerline is valid? [True, True] Translation: X:296.14, Y:-39.39, Z:-8.89 [[ 9.87679914e-01 1.55724798e-01 1.54328929e-02 2.96141390e+02] [-1.55704328e-01 9.87800475e-01 -2.52652038e-03 -3.93906321e+01] [-1.56380608e-02 9.24252111e-05 9.99877714e-01 -8.89009781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14587156 meters Centerline goodness [0,1] 0.9989862824605297 Centerline is valid? [True, True] Translation: X:296.17, Y:-39.40, Z:-8.89 [[ 9.87672497e-01 1.55772961e-01 1.54215129e-02 2.96169260e+02] [-1.55752540e-01 9.87792881e-01 -2.52389908e-03 -3.93958715e+01] [-1.56264159e-02 9.08459018e-05 9.99877896e-01 -8.89229204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17587156 meters Centerline goodness [0,1] 0.9989071506632096 Centerline is valid? [True, True] Translation: X:296.20, Y:-39.40, Z:-8.89 [[ 9.87617605e-01 1.56094681e-01 1.56817266e-02 2.96198477e+02] [-1.56073611e-01 9.87742093e-01 -2.56610381e-03 -3.93995444e+01] [-1.58900566e-02 8.68256026e-05 9.99873741e-01 -8.89017570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20587156 meters Centerline goodness [0,1] 0.9989215770856699 Centerline is valid? [True, True] Translation: X:296.23, Y:-39.40, Z:-8.89 [[ 9.87555825e-01 1.56432738e-01 1.61953855e-02 2.96227616e+02] [-1.56410317e-01 9.87688611e-01 -2.64974489e-03 -3.94035611e+01] [-1.64105047e-02 8.36456167e-05 9.99865335e-01 -8.88921962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23587156 meters Centerline goodness [0,1] 0.9991134943458236 Centerline is valid? [True, True] Translation: X:296.26, Y:-39.41, Z:-8.89 [[ 9.87485891e-01 1.56909870e-01 1.58400549e-02 2.96255455e+02] [-1.56888487e-01 9.87612924e-01 -2.59140101e-03 -3.94084111e+01] [-1.60504593e-02 7.38496909e-05 9.99871180e-01 -8.89172607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26587156 meters Centerline goodness [0,1] 0.9988723164322645 Centerline is valid? [True, True] Translation: X:296.28, Y:-39.41, Z:-8.89 [[ 9.87171300e-01 1.58903829e-01 1.55691561e-02 2.96284682e+02] [-1.58883431e-01 9.87294065e-01 -2.54634802e-03 -3.94109074e+01] [-1.57759598e-02 4.00007615e-05 9.99875551e-01 -8.89224697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29587156 meters Centerline goodness [0,1] 0.9989743370584842 Centerline is valid? [True, True] Translation: X:296.31, Y:-39.41, Z:-8.89 [[ 9.87074949e-01 1.59534853e-01 1.52209301e-02 2.96313267e+02] [-1.59515432e-01 9.87192296e-01 -2.48939791e-03 -3.94149216e+01] [-1.54231307e-02 2.92490681e-05 9.99881056e-01 -8.89329225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32587156 meters Centerline goodness [0,1] 0.9989408840376094 Centerline is valid? [True, True] Translation: X:296.34, Y:-39.42, Z:-8.89 [[ 9.87043585e-01 1.59816557e-01 1.42698515e-02 2.96342780e+02] [-1.59799531e-01 9.87146731e-01 -2.33287370e-03 -3.94204608e+01] [-1.44592691e-02 2.23324522e-05 9.99895459e-01 -8.89368768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35587156 meters Centerline goodness [0,1] 0.9989690057349055 Centerline is valid? [True, True] Translation: X:296.37, Y:-39.43, Z:-8.90 [[ 9.87064272e-01 1.59690575e-01 1.42493119e-02 2.96369529e+02] [-1.59673582e-01 9.87167118e-01 -2.32973904e-03 -3.94254444e+01] [-1.44384895e-02 2.43635052e-05 9.99895759e-01 -8.89883713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38587156 meters Centerline goodness [0,1] 0.9991855630331348 Centerline is valid? [True, True] Translation: X:296.40, Y:-39.43, Z:-8.90 [[ 9.87089381e-01 1.59526867e-01 1.43433538e-02 2.96398295e+02] [-1.59509649e-01 9.87193587e-01 -2.34394205e-03 -3.94310343e+01] [-1.45335886e-02 2.57769860e-05 9.99894381e-01 -8.89950405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41587156 meters Centerline goodness [0,1] 0.9990379270534913 Centerline is valid? [True, True] Translation: X:296.43, Y:-39.44, Z:-8.90 [[ 9.87095373e-01 1.59446697e-01 1.48147204e-02 2.96426861e+02] [-1.59428329e-01 9.87206539e-01 -2.42028175e-03 -3.94369542e+01] [-1.50110948e-02 2.71627867e-05 9.99887327e-01 -8.89721202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44587156 meters Centerline goodness [0,1] 0.9989763494060694 Centerline is valid? [True, True] Translation: X:296.46, Y:-39.44, Z:-8.90 [[ 9.87163628e-01 1.58987071e-01 1.52014023e-02 2.96455035e+02] [-1.58967689e-01 9.87280664e-01 -2.48268076e-03 -3.94442423e+01] [-1.54027647e-02 3.42803534e-05 9.99881370e-01 -8.89647169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47587156000003 meters Centerline goodness [0,1] 0.9991476485755076 Centerline is valid? [True, True] Translation: X:296.48, Y:-39.45, Z:-8.90 [[ 9.87250783e-01 1.58393231e-01 1.57313968e-02 2.96483130e+02] [-1.58372414e-01 9.87376110e-01 -2.56825759e-03 -3.94509702e+01] [-1.59396000e-02 4.40950183e-05 9.99872956e-01 -8.89613977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50587156 meters Centerline goodness [0,1] 0.9992656111627103 Centerline is valid? [True, True] Translation: X:296.51, Y:-39.46, Z:-8.89 [[ 9.87263996e-01 1.58250614e-01 1.63262279e-02 2.96512353e+02] [-1.58228186e-01 9.87398978e-01 -2.66458553e-03 -3.94565713e+01] [-1.65421730e-02 4.73799302e-05 9.99863168e-01 -8.89457265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53587156000003 meters Centerline goodness [0,1] 0.998983520048445 Centerline is valid? [True, True] Translation: X:296.54, Y:-39.46, Z:-8.89 [[ 9.87166039e-01 1.58807896e-01 1.68304470e-02 2.96541412e+02] [-1.58784150e-01 9.87309501e-01 -2.74644018e-03 -3.94614524e+01] [-1.70530166e-02 3.87842541e-05 9.99854586e-01 -8.89460900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56587156 meters Centerline goodness [0,1] 0.9993116947366157 Centerline is valid? [True, True] Translation: X:296.57, Y:-39.47, Z:-8.89 [[ 9.87123062e-01 1.59055588e-01 1.70111861e-02 2.96570619e+02] [-1.59031374e-01 9.87269628e-01 -2.77550976e-03 -3.94673024e+01] [-1.72360878e-02 3.44573906e-05 9.99851447e-01 -8.89493225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59587156000003 meters Centerline goodness [0,1] 0.9991568843634477 Centerline is valid? [True, True] Translation: X:296.60, Y:-39.47, Z:-8.89 [[ 9.86805418e-01 1.60943307e-01 1.76725673e-02 2.96599965e+02] [-1.60917487e-01 9.86963653e-01 -2.88280903e-03 -3.94711090e+01] [-1.79061504e-02 9.46449885e-07 9.99839672e-01 -8.89324788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62587156 meters Centerline goodness [0,1] 0.9991155405988438 Centerline is valid? [True, True] Translation: X:296.63, Y:-39.47, Z:-8.90 [[ 9.86589578e-01 1.62275361e-01 1.75417003e-02 2.96628821e+02] [-1.62250131e-01 9.86745513e-01 -2.86155148e-03 -3.94742327e+01] [-1.77735533e-02 -2.29662951e-05 9.99842038e-01 -8.89540879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65587156000004 meters Centerline goodness [0,1] 0.9989693599295729 Centerline is valid? [True, True] Translation: X:296.66, Y:-39.48, Z:-8.90 [[ 9.86136504e-01 1.65108346e-01 1.65538230e-02 2.96657990e+02] [-1.65086286e-01 9.86275433e-01 -2.69981951e-03 -3.94754175e+01] [-1.67723917e-02 -7.04185907e-05 9.99859331e-01 -8.89794793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68587156 meters Centerline goodness [0,1] 0.9990721760707736 Centerline is valid? [True, True] Translation: X:296.69, Y:-39.48, Z:-8.90 [[ 9.85858924e-01 1.66745141e-01 1.66805126e-02 2.96686352e+02] [-1.66722984e-01 9.86000024e-01 -2.72002522e-03 -3.94776819e+01] [-1.69005369e-02 -9.94636983e-05 9.99857171e-01 -8.89872290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71587156 meters Centerline goodness [0,1] 0.9989027774789699 Centerline is valid? [True, True] Translation: X:296.71, Y:-39.48, Z:-8.90 [[ 9.85559027e-01 1.68537702e-01 1.63843355e-02 2.96714056e+02] [-1.68516581e-01 9.85695200e-01 -2.67121262e-03 -3.94786093e+01] [-1.66001609e-02 -1.28394495e-04 9.99862200e-01 -8.90199449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74587156 meters Centerline goodness [0,1] 0.9986935943289144 Centerline is valid? [True, True] Translation: X:296.74, Y:-39.48, Z:-8.90 [[ 9.84845886e-01 1.72598315e-01 1.69823927e-02 2.96742395e+02] [-1.72576250e-01 9.84992274e-01 -2.76737393e-03 -3.94762747e+01] [-1.72051697e-02 -2.05320809e-04 9.99851959e-01 -8.90174080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77587156 meters Centerline goodness [0,1] 0.9987760886369492 Centerline is valid? [True, True] Translation: X:296.77, Y:-39.48, Z:-8.90 [[ 9.84450955e-01 1.74811323e-01 1.72429196e-02 2.96771284e+02] [-1.74788934e-01 9.84601919e-01 -2.80871659e-03 -3.94800939e+01] [-1.74684072e-02 -2.48827817e-04 9.99847385e-01 -8.89897539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80587156 meters Centerline goodness [0,1] 0.9984585741811175 Centerline is valid? [True, True] Translation: X:296.80, Y:-39.48, Z:-8.90 [[ 9.84000338e-01 1.77295222e-01 1.75993897e-02 2.96800055e+02] [-1.77272311e-01 9.84157667e-01 -2.86589054e-03 -3.94803786e+01] [-1.78286830e-02 -2.99847224e-04 9.99841011e-01 -8.89992042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83587156 meters Centerline goodness [0,1] 0.9986885104919161 Centerline is valid? [True, True] Translation: X:296.83, Y:-39.48, Z:-8.90 [[ 9.83370382e-01 1.80718224e-01 1.79893404e-02 2.96830347e+02] [-1.80694880e-01 9.83534842e-01 -2.92820463e-03 -3.94799818e+01] [-1.82223231e-02 -3.71072006e-04 9.99833891e-01 -8.89877308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86587156 meters Centerline goodness [0,1] 0.99855926371925 Centerline is valid? [True, True] Translation: X:296.86, Y:-39.48, Z:-8.90 [[ 9.83065416e-01 1.82366186e-01 1.80267033e-02 2.96858831e+02] [-1.82343020e-01 9.83230600e-01 -2.93441570e-03 -3.94807245e+01] [-1.82595445e-02 -4.02320942e-04 9.99833200e-01 -8.89966968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89587156 meters Centerline goodness [0,1] 0.998666351179849 Centerline is valid? [True, True] Translation: X:296.89, Y:-39.48, Z:-8.90 [[ 9.82848865e-01 1.83525153e-01 1.80728421e-02 2.96887104e+02] [-1.83502091e-01 9.83014922e-01 -2.94043641e-03 -3.94818715e+01] [-1.83055175e-02 -4.26399725e-04 9.99832349e-01 -8.90089085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92587156 meters Centerline goodness [0,1] 0.998409081136862 Centerline is valid? [True, True] Translation: X:296.92, Y:-39.48, Z:-8.90 [[ 9.82629739e-01 1.84624745e-01 1.87749994e-02 2.96915933e+02] [-1.84600082e-01 9.82808978e-01 -3.05331749e-03 -3.94836214e+01] [-1.90159559e-02 -4.65585866e-04 9.99819072e-01 -8.90059946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95587156 meters Centerline goodness [0,1] 0.9982644840589647 Centerline is valid? [True, True] Translation: X:296.94, Y:-39.49, Z:-8.90 [[ 9.82577367e-01 1.84900336e-01 1.88038005e-02 2.96943834e+02] [-1.84875663e-01 9.82757164e-01 -3.05720123e-03 -3.94850970e+01] [-1.90448472e-02 -4.72428357e-04 9.99818519e-01 -8.90202599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98587156 meters Centerline goodness [0,1] 0.9982738044497486 Centerline is valid? [True, True] Translation: X:296.97, Y:-39.49, Z:-8.90 [[ 9.82518357e-01 1.85193936e-01 1.89969718e-02 2.96972051e+02] [-1.85168830e-01 9.82701873e-01 -3.08753945e-03 -3.94872666e+01] [-1.92401534e-02 -4.84082862e-04 9.99814774e-01 -8.90319579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01587156 meters Centerline goodness [0,1] 0.9980919671818356 Centerline is valid? [True, True] Translation: X:297.00, Y:-39.49, Z:-8.90 [[ 9.82500282e-01 1.85261002e-01 1.92758392e-02 2.96999789e+02] [-1.85235193e-01 9.82689227e-01 -3.13146077e-03 -3.94901815e+01] [-1.95222971e-02 -4.93902710e-04 9.99809300e-01 -8.90333994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04587156 meters Centerline goodness [0,1] 0.9980915212077025 Centerline is valid? [True, True] Translation: X:297.03, Y:-39.49, Z:-8.90 [[ 9.82364690e-01 1.85902122e-01 2.00004167e-02 2.97028848e+02] [-1.85874504e-01 9.82568126e-01 -3.24742646e-03 -3.94899963e+01] [-2.02554755e-02 -5.27410460e-04 9.99794698e-01 -8.90301667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07587156 meters Centerline goodness [0,1] 0.9975769791577322 Centerline is valid? [True, True] Translation: X:297.06, Y:-39.49, Z:-8.90 [[ 9.82340058e-01 1.86043556e-01 1.98948651e-02 2.97056579e+02] [-1.86016275e-01 9.82541356e-01 -3.22944877e-03 -3.94897358e+01] [-2.01483459e-02 -5.28351807e-04 9.99796862e-01 -8.90494337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10587156 meters Centerline goodness [0,1] 0.9970751557797465 Centerline is valid? [True, True] Translation: X:297.08, Y:-39.49, Z:-8.91 [[ 9.82306120e-01 1.86243050e-01 1.97031336e-02 2.97084332e+02] [-1.86216356e-01 9.82503561e-01 -3.19714581e-03 -3.94912343e+01] [-1.99538451e-02 -5.28469834e-04 9.99800763e-01 -8.90684670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13587156 meters Centerline goodness [0,1] 0.9981543806318532 Centerline is valid? [True, True] Translation: X:297.11, Y:-39.50, Z:-8.90 [[ 9.82450055e-01 1.85432768e-01 2.01638049e-02 2.97112724e+02] [-1.85404670e-01 9.82656813e-01 -3.27045244e-03 -3.94994767e+01] [-2.04205493e-02 -5.25407413e-04 9.99791341e-01 -8.90448102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16587156 meters Centerline goodness [0,1] 0.9976117219269747 Centerline is valid? [True, True] Translation: X:297.14, Y:-39.50, Z:-8.91 [[ 9.82578202e-01 1.84765657e-01 2.00431827e-02 2.97141056e+02] [-1.84737767e-01 9.82782475e-01 -3.25036135e-03 -3.94988007e+01] [-2.02986439e-02 -5.08998604e-04 9.99793832e-01 -8.90652979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19587156 meters Centerline goodness [0,1] 0.9974013701866289 Centerline is valid? [True, True] Translation: X:297.17, Y:-39.50, Z:-8.91 [[ 9.82681981e-01 1.84164646e-01 2.04819001e-02 2.97169104e+02] [-1.84135418e-01 9.82895276e-01 -3.32016805e-03 -3.95000111e+01] [-2.07430204e-02 -5.08773929e-04 9.99784711e-01 -8.90761197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22587156000003 meters Centerline goodness [0,1] 0.9963548772169167 Centerline is valid? [True, True] Translation: X:297.20, Y:-39.50, Z:-8.91 [[ 9.83080000e-01 1.81935308e-01 2.12898618e-02 2.97197812e+02] [-1.81903237e-01 9.83310384e-01 -3.44967711e-03 -3.95006165e+01] [-2.15621603e-02 -4.81386213e-04 9.99767394e-01 -8.90842839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25587156 meters Centerline goodness [0,1] 0.9963442791174961 Centerline is valid? [True, True] Translation: X:297.23, Y:-39.51, Z:-8.91 [[ 9.83327383e-01 1.80578910e-01 2.14129721e-02 2.97226468e+02] [-1.80546169e-01 9.83560395e-01 -3.46859477e-03 -3.95051073e+01] [-2.16873064e-02 -4.55265856e-04 9.99764699e-01 -8.90931903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28587156000003 meters Centerline goodness [0,1] 0.9957264048646695 Centerline is valid? [True, True] Translation: X:297.26, Y:-39.51, Z:-8.91 [[ 9.83635493e-01 1.79011141e-01 2.04016952e-02 2.97255527e+02] [-1.78981102e-01 9.83846965e-01 -3.30380467e-03 -3.95083848e+01] [-2.06635637e-02 -4.01778352e-04 9.99786405e-01 -8.91178147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31587156 meters Centerline goodness [0,1] 0.9952999248846442 Centerline is valid? [True, True] Translation: X:297.28, Y:-39.52, Z:-8.91 [[ 9.84235617e-01 1.75451601e-01 2.22931636e-02 2.97283788e+02] [-1.75414832e-01 9.84487993e-01 -3.60957580e-03 -3.95177308e+01] [-2.25806577e-02 -3.57878466e-04 9.99744960e-01 -8.90902859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34587156000003 meters Centerline goodness [0,1] 0.9945199614684791 Centerline is valid? [True, True] Translation: X:297.31, Y:-39.52, Z:-8.91 [[ 9.84644664e-01 1.73178881e-01 2.19991271e-02 2.97310739e+02] [-1.73142548e-01 9.84890341e-01 -3.56016200e-03 -3.95233813e+01] [-2.22832726e-02 -3.03490412e-04 9.99751651e-01 -8.91097888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37587156 meters Centerline goodness [0,1] 0.9931239189391189 Centerline is valid? [True, True] Translation: X:297.34, Y:-39.53, Z:-8.91 [[ 9.85503098e-01 1.68236687e-01 2.19103100e-02 2.97338273e+02] [-1.68199457e-01 9.85746611e-01 -3.54434705e-03 -3.95302418e+01] [-2.21943030e-02 -1.92337246e-04 9.99753658e-01 -8.91369439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40587156000004 meters Centerline goodness [0,1] 0.9921382640090581 Centerline is valid? [True, True] Translation: X:297.37, Y:-39.54, Z:-8.91 [[ 9.85929085e-01 1.65704409e-01 2.20428542e-02 2.97365777e+02] [-1.65666117e-01 9.86175456e-01 -3.56477714e-03 -3.95359982e+01] [-2.23288211e-02 -1.37136594e-04 9.99750671e-01 -8.91391298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43587156 meters Centerline goodness [0,1] 0.9912146594603906 Centerline is valid? [True, True] Translation: X:297.39, Y:-39.54, Z:-8.91 [[ 9.86315124e-01 1.63298652e-01 2.27162261e-02 2.97393423e+02] [-1.63257380e-01 9.86576679e-01 -3.67223021e-03 -3.95429043e+01] [-2.30109691e-02 -8.66153602e-05 9.99735209e-01 -8.91344542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46587156 meters Centerline goodness [0,1] 0.9894891693672182 Centerline is valid? [True, True] Translation: X:297.42, Y:-39.55, Z:-8.91 [[ 9.86681541e-01 1.61142891e-01 2.21924546e-02 2.97420890e+02] [-1.61102976e-01 9.86931085e-01 -3.58661084e-03 -3.95487684e+01] [-2.24803802e-02 -3.64277697e-05 9.99747284e-01 -8.91462954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49587156 meters Centerline goodness [0,1] 0.9872400153119816 Centerline is valid? [True, True] Translation: X:297.45, Y:-39.56, Z:-8.91 [[ 9.87196031e-01 1.57716715e-01 2.38628207e-02 2.97448384e+02] [-1.57669600e-01 9.87484398e-01 -3.85501428e-03 -3.95558139e+01] [-2.41721633e-02 4.32133910e-05 9.99707810e-01 -8.91346309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52587156 meters Centerline goodness [0,1] 0.9856190885640584 Centerline is valid? [True, True] Translation: X:297.48, Y:-39.56, Z:-8.91 [[ 9.87372080e-01 1.56541058e-01 2.43161000e-02 2.97476817e+02] [-1.56491820e-01 9.87671449e-01 -3.92659754e-03 -3.95605240e+01] [-2.46309915e-02 7.17420279e-05 9.99696609e-01 -8.91309051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55587156 meters Centerline goodness [0,1] 0.9842772684431497 Centerline is valid? [True, True] Translation: X:297.51, Y:-39.57, Z:-8.91 [[ 9.87504045e-01 1.55710452e-01 2.42902666e-02 2.97505296e+02] [-1.55661096e-01 9.87802737e-01 -3.92128108e-03 -3.95650570e+01] [-2.46045763e-02 9.12314112e-05 9.99697257e-01 -8.91453981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58587156 meters Centerline goodness [0,1] 0.98194628860239 Centerline is valid? [True, True] Translation: X:297.53, Y:-39.57, Z:-8.91 [[ 9.87574232e-01 1.55167343e-01 2.49044544e-02 2.97533031e+02] [-1.55115316e-01 9.87888194e-01 -4.01927992e-03 -3.95686957e+01] [-2.52264774e-02 1.06274982e-04 9.99681756e-01 -8.91441271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61587156 meters Centerline goodness [0,1] 0.9804353816478368 Centerline is valid? [True, True] Translation: X:297.56, Y:-39.57, Z:-8.92 [[ 9.87571741e-01 1.55202370e-01 2.47846933e-02 2.97561186e+02] [-1.55150891e-01 9.87882692e-01 -3.99843995e-03 -3.95718676e+01] [-2.51049369e-02 1.03379064e-04 9.99684816e-01 -8.91550805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64587156 meters Centerline goodness [0,1] 0.9804353816478368 Centerline is valid? [True, True] Translation: X:297.59, Y:-39.58, Z:-8.92 [[ 9.87578779e-01 1.55157547e-01 2.47848764e-02 2.97589154e+02] [-1.55106082e-01 9.87889733e-01 -3.99730433e-03 -3.95762880e+01] [-2.51049369e-02 1.03367856e-04 9.99684816e-01 -8.91636253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67587156 meters Centerline goodness [0,1] 0.9773173203389465 Centerline is valid? [True, True] Translation: X:297.61, Y:-39.60, Z:-8.94 [[ 9.88108528e-01 1.50620069e-01 3.09052112e-02 2.97613414e+02] [-1.51743948e-01 9.87690197e-01 3.79716826e-02 -3.96019570e+01] [-2.48054767e-02 -4.22098221e-02 9.98800791e-01 -8.94034940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70587156 meters Centerline goodness [0,1] 0.9752816690228334 Centerline is valid? [True, True] Translation: X:297.65, Y:-39.58, Z:-8.94 [[ 9.87926247e-01 1.53123115e-01 2.35593405e-02 2.97646103e+02] [-1.53029283e-01 9.88204949e-01 -5.74610247e-03 -3.95781263e+01] [-2.41613180e-02 2.07145646e-03 9.99705927e-01 -8.93986879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73587156 meters Centerline goodness [0,1] 0.9738109891975636 Centerline is valid? [True, True] Translation: X:297.67, Y:-39.58, Z:-8.94 [[ 9.87708740e-01 1.54272400e-01 2.51290976e-02 2.97672591e+02] [-1.54264178e-01 9.88027013e-01 -2.27710923e-03 -3.95818382e+01] [-2.51795224e-02 -1.62739891e-03 9.99681621e-01 -8.94259414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76587156 meters Centerline goodness [0,1] 0.9695977549111319 Centerline is valid? [True, True] Translation: X:297.70, Y:-39.57, Z:-8.93 [[ 9.87454632e-01 1.57021631e-01 1.66600432e-02 2.97702634e+02] [-1.56849393e-01 9.87559101e-01 -1.11933176e-02 -3.95733146e+01] [-1.82103702e-02 8.43977560e-03 9.99798556e-01 -8.93206204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79587156 meters Centerline goodness [0,1] 0.9681953136681121 Centerline is valid? [True, True] Translation: X:297.73, Y:-39.58, Z:-8.94 [[ 9.87555836e-01 1.55425805e-01 2.40060268e-02 2.97733115e+02] [-1.55558026e-01 9.87819711e-01 3.73084413e-03 -3.95833514e+01] [-2.31337570e-02 -7.41874706e-03 9.99704852e-01 -8.93739899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82587156 meters Centerline goodness [0,1] 0.9655423181400125 Centerline is valid? [True, True] Translation: X:297.76, Y:-39.58, Z:-8.94 [[ 9.87397512e-01 1.56413635e-01 2.41024624e-02 2.97762087e+02] [-1.56424832e-01 9.87688829e-01 -1.43179010e-03 -3.95815258e+01] [-2.40296843e-02 -2.35647765e-03 9.99708468e-01 -8.93823620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85587156 meters Centerline goodness [0,1] 0.9604211977002088 Centerline is valid? [True, True] Translation: X:297.79, Y:-39.57, Z:-8.93 [[ 9.87161691e-01 1.58874197e-01 1.64555621e-02 2.97791559e+02] [-1.58630302e-01 9.87220986e-01 -1.52036618e-02 -3.95724024e+01] [-1.86607459e-02 1.23981217e-02 9.99749000e-01 -8.93408970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88587156 meters Centerline goodness [0,1] 0.9588762473781224 Centerline is valid? [True, True] Translation: X:297.81, Y:-39.59, Z:-8.94 [[ 9.86875607e-01 1.59078950e-01 2.77565261e-02 2.97814022e+02] [-1.59529261e-01 9.87081821e-01 1.48288242e-02 -3.95933034e+01] [-2.50390085e-02 -1.90621829e-02 9.99504718e-01 -8.94244383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91587156 meters Centerline goodness [0,1] 0.9523799405014874 Centerline is valid? [True, True] Translation: X:297.85, Y:-39.56, Z:-8.93 [[ 9.86589480e-01 1.63207216e-01 2.14525078e-03 2.97847585e+02] [-1.62938022e-01 9.85566084e-01 -4.59423096e-02 -3.95608541e+01] [-9.61240283e-03 4.49766564e-02 9.98941791e-01 -8.92626113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94587156 meters Centerline goodness [0,1] 0.9500171614896173 Centerline is valid? [True, True] Translation: X:297.87, Y:-39.60, Z:-8.93 [[ 9.87447595e-01 1.57140331e-01 1.59425250e-02 2.97873175e+02] [-1.57388629e-01 9.87411358e-01 1.57362683e-02 -3.96003393e+01] [-1.32690278e-02 -1.80479125e-02 9.99749071e-01 -8.93460407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97587156000003 meters Centerline goodness [0,1] 0.9464251051439664 Centerline is valid? [True, False] Translation: X:297.87, Y:-39.59, Z:-8.94 [[ 9.88134892e-01 1.52827270e-01 1.52728469e-02 2.97873884e+02] [-1.52995149e-01 9.88171172e-01 1.04985693e-02 -3.95948370e+01] [-1.34877193e-02 -1.27106741e-02 9.99828245e-01 -8.93513027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00587156 meters Centerline goodness [0,1] 0.9434336611929588 Centerline is valid? [False, False] Translation: X:297.92, Y:-39.60, Z:-8.94 [[ 9.88679209e-01 1.49160048e-01 1.62696846e-02 2.97915939e+02] [-1.49271653e-01 9.88778807e-01 5.86891870e-03 -3.95968052e+01] [-1.52117111e-02 -8.23108061e-03 9.99850415e-01 -8.93503034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03587156000003 meters Centerline goodness [0,1] 0.9423737331434794 Centerline is valid? [False, False] Translation: X:297.92, Y:-39.59, Z:-8.94 [[ 9.89319621e-01 1.44933801e-01 1.55203533e-02 2.97917188e+02] [-1.44963157e-01 9.89436748e-01 7.77496289e-04 -3.95920442e+01] [-1.52437224e-02 -3.01907174e-03 9.99879250e-01 -8.93568153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06587156 meters Centerline goodness [0,1] 0.9372996234534696 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.58, Z:-8.94 [[ 9.89971755e-01 1.40593620e-01 1.37607619e-02 2.97876774e+02] [-1.40509874e-01 9.90055378e-01 -6.87923096e-03 -3.95780881e+01] [-1.45910923e-02 4.87672143e-03 9.99881652e-01 -8.93632998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09587156000003 meters Centerline goodness [0,1] 0.9353828454557075 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.57, Z:-8.94 [[ 9.90565508e-01 1.36426190e-01 1.29564051e-02 2.97878553e+02] [-1.36274118e-01 9.90598770e-01 -1.19767227e-02 -3.95728875e+01] [-1.44685376e-02 1.00981058e-02 9.99844333e-01 -8.93725977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12587156 meters Centerline goodness [0,1] 0.9318347404962928 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.57, Z:-8.94 [[ 9.91150463e-01 1.32166782e-01 1.23572468e-02 2.97879823e+02] [-1.31948922e-01 9.91110017e-01 -1.70415783e-02 -3.95682808e+01] [-1.44997216e-02 1.52602429e-02 9.99778417e-01 -8.93826561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15587156000004 meters Centerline goodness [0,1] 0.9362783087918711 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.94 [[ 9.91699234e-01 1.28030523e-01 1.18665278e-02 2.97880324e+02] [-1.27749133e-01 9.91561756e-01 -2.20327563e-02 -3.95638443e+01] [-1.45872605e-02 2.03339289e-02 9.99686823e-01 -8.93866936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18587156 meters Centerline goodness [0,1] 0.20316278273522925 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.94 [[ 9.91687675e-01 1.28102400e-01 1.20553024e-02 2.97880113e+02] [-1.27819623e-01 9.91556357e-01 -2.18662819e-02 -3.95648350e+01] [-1.47546349e-02 2.01436180e-02 9.99688219e-01 -8.93916023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21587156 meters Centerline goodness [0,1] 0.19567361289769314 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.57, Z:-8.94 [[ 9.91657867e-01 1.28300201e-01 1.23989645e-02 2.97879513e+02] [-1.28016108e-01 9.91539167e-01 -2.14931693e-02 -3.95672662e+01] [-1.50516369e-02 1.97266032e-02 9.99692107e-01 -8.93955240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24587156 meters Centerline goodness [0,1] 0.19308375906924824 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.94 [[ 9.92166705e-01 1.24369454e-01 1.17247292e-02 2.97880928e+02] [-1.24029513e-01 9.91930865e-01 -2.62647966e-02 -3.95634580e+01] [-1.48966592e-02 2.46048443e-02 9.99586260e-01 -8.94032719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27587156 meters Centerline goodness [0,1] 0.1966235276384074 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.94 [[ 9.92153480e-01 1.24462342e-01 1.18573963e-02 2.97881272e+02] [-1.24122198e-01 9.91924685e-01 -2.60595417e-02 -3.95645826e+01] [-1.50050757e-02 2.43832989e-02 9.99590067e-01 -8.94148999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30587156 meters Centerline goodness [0,1] 0.20049869904596707 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.94 [[ 9.92141469e-01 1.24541975e-01 1.20250803e-02 2.97881770e+02] [-1.24198198e-01 9.91915990e-01 -2.60283939e-02 -3.95647926e+01] [-1.51694970e-02 2.43303557e-02 9.99588876e-01 -8.94253562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33587156 meters Centerline goodness [0,1] 0.20123189971904043 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.94 [[ 9.92131947e-01 1.24606121e-01 1.21455126e-02 2.97881995e+02] [-1.24259352e-01 9.91908248e-01 -2.60315422e-02 -3.95646869e+01] [-1.52909236e-02 2.43175311e-02 9.99587338e-01 -8.94318762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36587156 meters Centerline goodness [0,1] 0.2039139527935464 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.57, Z:-8.94 [[ 9.92071187e-01 1.25071993e-01 1.23189517e-02 2.97882791e+02] [-1.24723780e-01 9.91854821e-01 -2.58455678e-02 -3.95656159e+01] [-1.54511683e-02 2.41041769e-02 9.99590041e-01 -8.94414246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39587156 meters Centerline goodness [0,1] 0.20501993398208085 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.57, Z:-8.94 [[ 9.92055586e-01 1.25180737e-01 1.24698316e-02 2.97882983e+02] [-1.24826679e-01 9.91838220e-01 -2.59854854e-02 -3.95650695e+01] [-1.56209378e-02 2.42224783e-02 9.99584543e-01 -8.94487003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42587156 meters Centerline goodness [0,1] 0.20575638170292954 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.95 [[ 9.92039388e-01 1.25304315e-01 1.25172273e-02 2.97883692e+02] [-1.24946307e-01 9.91818506e-01 -2.61623990e-02 -3.95642551e+01] [-1.56930791e-02 2.43901489e-02 9.99579335e-01 -8.94573557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45587156 meters Centerline goodness [0,1] 0.2066006035571346 Centerline is valid? [False, False] Translation: X:297.88, Y:-39.56, Z:-8.95 [[ 9.92021844e-01 1.25434327e-01 1.26051530e-02 2.97884214e+02] [-1.25070537e-01 9.91796800e-01 -2.63906811e-02 -3.95631771e+01] [-1.58120477e-02 2.46035988e-02 9.99572230e-01 -8.94654330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48587156 meters Centerline goodness [0,1] 0.1771827009453737 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.56, Z:-8.95 [[ 9.91954827e-01 1.25960804e-01 1.26291905e-02 2.97885924e+02] [-1.25588700e-01 9.91718467e-01 -2.68693070e-02 -3.95595074e+01] [-1.59090809e-02 2.50670552e-02 9.99559175e-01 -8.94765155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51587156 meters Centerline goodness [0,1] 0.1802775152504511 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.56, Z:-8.95 [[ 9.91950042e-01 1.25982413e-01 1.27884785e-02 2.97886267e+02] [-1.25599860e-01 9.91706115e-01 -2.72700845e-02 -3.95574499e+01] [-1.61179633e-02 2.54443304e-02 9.99546296e-01 -8.94841495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54587156 meters Centerline goodness [0,1] 0.1831970484800104 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.55, Z:-8.95 [[ 9.92384721e-01 1.22554709e-01 1.23656579e-02 2.97887298e+02] [-1.22106587e-01 9.91997078e-01 -3.21213166e-02 -3.95511223e+01] [-1.62033151e-02 3.03667755e-02 9.99407480e-01 -8.94892774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57587156 meters Centerline goodness [0,1] 0.18983386843069228 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.55, Z:-8.95 [[ 9.92355719e-01 1.22757502e-01 1.26776313e-02 2.97887852e+02] [-1.22296301e-01 9.91966771e-01 -3.23348071e-02 -3.95502819e+01] [-1.65451291e-02 3.05372033e-02 9.99396687e-01 -8.94992334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60587156 meters Centerline goodness [0,1] 0.1928656105183748 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.55, Z:-8.95 [[ 9.92352817e-01 1.22761422e-01 1.28654661e-02 2.97888142e+02] [-1.22294001e-01 9.91966111e-01 -3.23637549e-02 -3.95501464e+01] [-1.67351270e-02 3.05428940e-02 9.99393350e-01 -8.95101388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63587156 meters Centerline goodness [0,1] 0.1944014114811946 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.55, Z:-8.95 [[ 9.92350949e-01 1.22758308e-01 1.30381011e-02 2.97888619e+02] [-1.22285287e-01 9.91966552e-01 -3.23831466e-02 -3.95501866e+01] [-1.69086605e-02 3.05410783e-02 9.99390484e-01 -8.95231570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66587156 meters Centerline goodness [0,1] 0.2060079292467215 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.55, Z:-8.95 [[ 9.92856638e-01 1.18651423e-01 1.25513736e-02 2.97890799e+02] [-1.18117681e-01 9.92308558e-01 -3.70396984e-02 -3.95467321e+01] [-1.68496483e-02 3.52925713e-02 9.99234969e-01 -8.95406884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69587156 meters Centerline goodness [0,1] 0.20868432479374732 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.55, Z:-8.96 [[ 9.92853818e-01 1.18663866e-01 1.26563561e-02 2.97891372e+02] [-1.18131073e-01 9.92317190e-01 -3.67647011e-02 -3.95481692e+01] [-1.69217613e-02 3.50068649e-02 9.99243801e-01 -8.95534801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72587156000003 meters Centerline goodness [0,1] 0.21037056098816265 Centerline is valid? [False, False] Translation: X:297.89, Y:-39.55, Z:-8.96 [[ 9.92849241e-01 1.18679998e-01 1.28624814e-02 2.97891660e+02] [-1.18143518e-01 9.92323338e-01 -3.65581990e-02 -3.95494201e+01] [-1.71024674e-02 3.47771614e-02 9.99248745e-01 -8.95644053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75587156 meters Centerline goodness [0,1] 0.2088753198168175 Centerline is valid? [False, False] Translation: X:297.90, Y:-39.55, Z:-8.96 [[ 9.93014724e-01 1.17334745e-01 1.24224150e-02 2.97896624e+02] [-1.16799249e-01 9.92448803e-01 -3.74607656e-02 -3.95499255e+01] [-1.67240603e-02 3.57481631e-02 9.99220884e-01 -8.96012445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78587156000003 meters Centerline goodness [0,1] 0.06553164150337298 Centerline is valid? [False, False] Translation: X:297.90, Y:-39.55, Z:-8.96 [[ 9.93013820e-01 1.17322011e-01 1.26134578e-02 2.97896693e+02] [-1.16782659e-01 9.92457356e-01 -3.72854843e-02 -3.95507845e+01] [-1.68927270e-02 3.55519681e-02 9.99225046e-01 -8.96098637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81587156 meters Centerline goodness [0,1] 0.821240686263984 Centerline is valid? [False, False] Translation: X:297.90, Y:-39.55, Z:-8.96 [[ 9.93010126e-01 1.17338808e-01 1.27473249e-02 2.97896952e+02] [-1.16797093e-01 9.92460953e-01 -3.71442465e-02 -3.95516994e+01] [-1.70096839e-02 3.53957624e-02 9.99228608e-01 -8.96183736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84587156000003 meters Centerline goodness [0,1] 0.8108531120687807 Centerline is valid? [False, False] Translation: X:297.92, Y:-39.56, Z:-8.96 [[ 9.93612012e-01 1.12139887e-01 1.26418138e-02 2.97919572e+02] [-1.11674471e-01 9.93199406e-01 -3.29203934e-02 -3.95564741e+01] [-1.62475312e-02 3.12983305e-02 9.99378023e-01 -8.96116263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87587156 meters Centerline goodness [0,1] 0.8071422454397533 Centerline is valid? [False, False] Translation: X:297.92, Y:-39.56, Z:-8.96 [[ 9.93601989e-01 1.12202496e-01 1.28719571e-02 2.97919406e+02] [-1.11734217e-01 9.93201433e-01 -3.26554478e-02 -3.95582722e+01] [-1.64484690e-02 3.10082798e-02 9.99383777e-01 -8.96169793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90587156000004 meters Centerline goodness [0,1] 0.8030915576694412 Centerline is valid? [False, False] Translation: X:297.92, Y:-39.56, Z:-8.96 [[ 9.93585988e-01 1.12316073e-01 1.31143037e-02 2.97919221e+02] [-1.11844817e-01 9.93197973e-01 -3.23809042e-02 -3.95600232e+01] [-1.66619959e-02 3.07064458e-02 9.99389560e-01 -8.96254290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93587156 meters Centerline goodness [0,1] 0.7958426291402094 Centerline is valid? [False, False] Translation: X:297.93, Y:-39.56, Z:-8.97 [[ 9.93765742e-01 1.10774050e-01 1.26000237e-02 2.97925448e+02] [-1.10302335e-01 9.93335876e-01 -3.34250192e-02 -3.95610473e+01] [-1.62186803e-02 3.18268270e-02 9.99361800e-01 -8.96698588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96587156 meters Centerline goodness [0,1] 0.7915907287892108 Centerline is valid? [False, False] Translation: X:297.93, Y:-39.56, Z:-8.97 [[ 9.93754918e-01 1.10862645e-01 1.26742359e-02 2.97926057e+02] [-1.10393877e-01 9.93336699e-01 -3.30967569e-02 -3.95630089e+01] [-1.62589777e-02 3.14909069e-02 9.99371787e-01 -8.96798638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99587156 meters Centerline goodness [0,1] 0.7833329782928232 Centerline is valid? [False, False] Translation: X:297.93, Y:-39.57, Z:-8.97 [[ 9.93908787e-01 1.09553269e-01 1.19751617e-02 2.97933401e+02] [-1.09093376e-01 9.93450605e-01 -3.39783748e-02 -3.95652645e+01] [-1.56191737e-02 3.24649945e-02 9.99350822e-01 -8.97332173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02587156 meters Centerline goodness [0,1] 0.7774394787829753 Centerline is valid? [False, False] Translation: X:297.93, Y:-39.57, Z:-8.97 [[ 9.93886551e-01 1.09744017e-01 1.20737218e-02 2.97934138e+02] [-1.09286360e-01 9.93441356e-01 -3.36268327e-02 -3.95675060e+01] [-1.56848782e-02 3.21017637e-02 9.99361527e-01 -8.97455200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05587156 meters Centerline goodness [0,1] 0.7744246401990433 Centerline is valid? [False, False] Translation: X:297.93, Y:-39.57, Z:-8.98 [[ 9.93867508e-01 1.09896320e-01 1.22545950e-02 2.97934538e+02] [-1.09436750e-01 9.93433216e-01 -3.33772768e-02 -3.95690625e+01] [-1.58421616e-02 3.18314879e-02 9.99367691e-01 -8.97570879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08587156 meters Centerline goodness [0,1] 0.7665665880334549 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.57, Z:-8.98 [[ 9.93808490e-01 1.10397237e-01 1.25353175e-02 2.97935861e+02] [-1.09938940e-01 9.93399292e-01 -3.27303545e-02 -3.95733876e+01] [-1.60659163e-02 3.11495847e-02 9.99385606e-01 -8.97738319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11587156 meters Centerline goodness [0,1] 0.7644807679833949 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.58, Z:-8.98 [[ 9.93779998e-01 1.10635794e-01 1.26900427e-02 2.97936171e+02] [-1.10176059e-01 9.93380063e-01 -3.25159301e-02 -3.95750410e+01] [-1.62034611e-02 3.09155421e-02 9.99390653e-01 -8.97824311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14587156 meters Centerline goodness [0,1] 0.7599714019541998 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.58, Z:-8.98 [[ 9.93756217e-01 1.10832485e-01 1.28351700e-02 2.97936706e+02] [-1.10369390e-01 9.93361010e-01 -3.24422797e-02 -3.95755489e+01] [-1.63456159e-02 3.08231073e-02 9.99391193e-01 -8.97915440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17587156 meters Centerline goodness [0,1] 0.7557322844855532 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.58, Z:-8.98 [[ 9.93733493e-01 1.11023418e-01 1.29439604e-02 2.97937522e+02] [-1.10557058e-01 9.93340465e-01 -3.24323392e-02 -3.95758417e+01] [-1.64585088e-02 3.07980556e-02 9.99390113e-01 -8.98025487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20587156 meters Centerline goodness [0,1] 0.7239373891987719 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.58, Z:-8.98 [[ 9.93646606e-01 1.11804258e-01 1.28930186e-02 2.97940541e+02] [-1.11344169e-01 9.93262463e-01 -3.21271809e-02 -3.95770281e+01] [-1.63981070e-02 3.04875018e-02 9.99400628e-01 -8.98215542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23587156 meters Centerline goodness [0,1] 0.7658582690696625 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.58, Z:-8.98 [[ 9.93619241e-01 1.12040680e-01 1.29494776e-02 2.97941912e+02] [-1.11576766e-01 9.93232402e-01 -3.22493561e-02 -3.95766760e+01] [-1.64750805e-02 3.05987199e-02 9.99395963e-01 -8.98354470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26587156 meters Centerline goodness [0,1] 0.7359415843937005 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.58, Z:-8.98 [[ 9.93595885e-01 1.12249574e-01 1.29325170e-02 2.97943299e+02] [-1.11783395e-01 9.93203831e-01 -3.24133091e-02 -3.95759085e+01] [-1.64830055e-02 3.07600899e-02 9.99390878e-01 -8.98482591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29587156 meters Centerline goodness [0,1] 0.7386617900172117 Centerline is valid? [False, False] Translation: X:297.94, Y:-39.57, Z:-8.99 [[ 9.93573343e-01 1.12449340e-01 1.29289420e-02 2.97944814e+02] [-1.11979349e-01 9.93174134e-01 -3.26460597e-02 -3.95748637e+01] [-1.65117186e-02 3.09884802e-02 9.99383348e-01 -8.98605880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32587156 meters Centerline goodness [0,1] 0.7260711910228077 Centerline is valid? [False, False] Translation: X:297.95, Y:-39.57, Z:-8.99 [[ 9.93475218e-01 1.13317261e-01 1.28914560e-02 2.97948458e+02] [-1.12848783e-01 9.93077114e-01 -3.26036482e-02 -3.95739412e+01] [-1.64967660e-02 3.09361314e-02 9.99385217e-01 -8.98811266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35587156 meters Centerline goodness [0,1] 0.7210949589172461 Centerline is valid? [False, False] Translation: X:297.95, Y:-39.57, Z:-8.99 [[ 9.93455499e-01 1.13482810e-01 1.29546712e-02 2.97949398e+02] [-1.13008810e-01 9.93051965e-01 -3.28146807e-02 -3.95731786e+01] [-1.65885639e-02 3.11359330e-02 9.99377493e-01 -8.98905015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38587156 meters Centerline goodness [0,1] 0.70658069575446 Centerline is valid? [False, False] Translation: X:297.95, Y:-39.57, Z:-8.99 [[ 9.93441326e-01 1.13594214e-01 1.30647153e-02 2.97950488e+02] [-1.13111889e-01 9.93030599e-01 -3.31048384e-02 -3.95719560e+01] [-1.67341802e-02 3.14099399e-02 9.99366491e-01 -8.99021150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41587156 meters Centerline goodness [0,1] 0.6736494899408025 Centerline is valid? [False, False] Translation: X:297.95, Y:-39.57, Z:-8.99 [[ 9.93393900e-01 1.14021586e-01 1.29474774e-02 2.97954166e+02] [-1.13540381e-01 9.92976909e-01 -3.32481501e-02 -3.95707070e+01] [-1.66475529e-02 3.15584480e-02 9.99363259e-01 -8.99203978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44587156 meters Centerline goodness [0,1] 0.6967559329414326 Centerline is valid? [False, False] Translation: X:297.96, Y:-39.57, Z:-8.99 [[ 9.93387323e-01 1.14080207e-01 1.29356837e-02 2.97955711e+02] [-1.13595320e-01 9.92962497e-01 -3.34900497e-02 -3.95694584e+01] [-1.66652006e-02 3.17991577e-02 9.99355335e-01 -8.99354576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47587156000003 meters Centerline goodness [0,1] 0.65432933478735 Centerline is valid? [False, False] Translation: X:297.96, Y:-39.57, Z:-9.00 [[ 9.93373989e-01 1.14204441e-01 1.28632532e-02 2.97959707e+02] [-1.13716758e-01 9.92938313e-01 -3.37935827e-02 -3.95673056e+01] [-1.66317942e-02 3.21068986e-02 9.99346051e-01 -8.99563092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50587156 meters Centerline goodness [0,1] 0.65432933478735 Centerline is valid? [False, False] Translation: X:297.96, Y:-39.57, Z:-9.00 [[ 9.93373989e-01 1.14204441e-01 1.28632532e-02 2.97959707e+02] [-1.13716758e-01 9.92938313e-01 -3.37935827e-02 -3.95673056e+01] [-1.66317942e-02 3.21068986e-02 9.99346051e-01 -8.99563092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53587156000003 meters Centerline goodness [0,1] 0.6706960965345472 Centerline is valid? [False, False] Translation: X:297.96, Y:-39.57, Z:-9.00 [[ 9.93374032e-01 1.14188069e-01 1.30044894e-02 2.97961064e+02] [-1.13693557e-01 9.92936295e-01 -3.39306458e-02 -3.95666346e+01] [-1.67871045e-02 3.22272958e-02 9.99339579e-01 -8.99701362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56587156 meters Centerline goodness [0,1] 0.6621422056204664 Centerline is valid? [False, False] Translation: X:297.96, Y:-39.57, Z:-9.00 [[ 9.93371997e-01 1.14193426e-01 1.31124549e-02 2.97961964e+02] [-1.13696296e-01 9.92937726e-01 -3.38795697e-02 -3.95669328e+01] [-1.68886753e-02 3.21641783e-02 9.99339901e-01 -8.99809611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59587156000003 meters Centerline goodness [0,1] 0.6761093719214519 Centerline is valid? [False, False] Translation: X:297.97, Y:-39.57, Z:-9.00 [[ 9.93567849e-01 1.12548117e-01 1.24840246e-02 2.97969493e+02] [-1.12054372e-01 9.93086915e-01 -3.49599416e-02 -3.95671184e+01] [-1.63323971e-02 3.33361844e-02 9.99310738e-01 -9.00244399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62587156 meters Centerline goodness [0,1] 0.68282464290366 Centerline is valid? [False, False] Translation: X:297.97, Y:-39.57, Z:-9.00 [[ 9.93564234e-01 1.12575984e-01 1.25204377e-02 2.97970860e+02] [-1.12086773e-01 9.93095592e-01 -3.46078153e-02 -3.95693031e+01] [-1.63300003e-02 3.29817120e-02 9.99322539e-01 -9.00405712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65587156000004 meters Centerline goodness [0,1] 0.6812790320838285 Centerline is valid? [False, False] Translation: X:297.97, Y:-39.57, Z:-9.01 [[ 9.93570821e-01 1.12522717e-01 1.24764166e-02 2.97972415e+02] [-1.12039190e-01 9.93109933e-01 -3.43493931e-02 -3.95707985e+01] [-1.62555403e-02 3.27307071e-02 9.99332006e-01 -9.00542973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68587156 meters Centerline goodness [0,1] 0.6404052135759453 Centerline is valid? [False, False] Translation: X:297.97, Y:-39.57, Z:-9.01 [[ 9.93577131e-01 1.12463767e-01 1.25054753e-02 2.97973686e+02] [-1.11983099e-01 9.93124270e-01 -3.41170115e-02 -3.95720254e+01] [-1.62564187e-02 3.24974805e-02 9.99339603e-01 -9.00675689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71587156 meters Centerline goodness [0,1] 0.6856746685154693 Centerline is valid? [False, False] Translation: X:297.98, Y:-39.57, Z:-9.01 [[ 9.93596291e-01 1.12282461e-01 1.26118909e-02 2.97976257e+02] [-1.11799329e-01 9.93146886e-01 -3.40613085e-02 -3.95732300e+01] [-1.63499477e-02 3.24331889e-02 9.99340166e-01 -9.00819354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74587156 meters Centerline goodness [0,1] 0.6466808492163418 Centerline is valid? [False, False] Translation: X:297.98, Y:-39.57, Z:-9.01 [[ 9.93590845e-01 1.12327319e-01 1.26414298e-02 2.97977433e+02] [-1.11846148e-01 9.93147751e-01 -3.38819119e-02 -3.95743980e+01] [-1.63606719e-02 3.22508622e-02 9.99345891e-01 -9.00952722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77587156 meters Centerline goodness [0,1] 0.6811992093125412 Centerline is valid? [False, False] Translation: X:297.98, Y:-39.58, Z:-9.01 [[ 9.93588273e-01 1.12349996e-01 1.26420614e-02 2.97978753e+02] [-1.11870482e-01 9.93148524e-01 -3.37787543e-02 -3.95752928e+01] [-1.63504875e-02 3.21479006e-02 9.99349375e-01 -9.01079874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80587156 meters Centerline goodness [0,1] 0.6481664801583886 Centerline is valid? [False, False] Translation: X:297.98, Y:-39.58, Z:-9.01 [[ 9.93581527e-01 1.12370669e-01 1.29838962e-02 2.97981559e+02] [-1.11879320e-01 9.93145814e-01 -3.38291275e-02 -3.95758047e+01] [-1.66963038e-02 3.21593667e-02 9.99343289e-01 -9.01254991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83587156 meters Centerline goodness [0,1] 0.6430078691695609 Centerline is valid? [False, False] Translation: X:297.98, Y:-39.58, Z:-9.01 [[ 9.93579504e-01 1.12392894e-01 1.29462842e-02 2.97982990e+02] [-1.11902835e-01 9.93143347e-01 -3.38237672e-02 -3.95760638e+01] [-1.66590671e-02 3.21578760e-02 9.99343958e-01 -9.01392739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86587156 meters Centerline goodness [0,1] 0.6306781063542528 Centerline is valid? [False, False] Translation: X:297.99, Y:-39.58, Z:-9.02 [[ 9.93574741e-01 1.12404823e-01 1.32056327e-02 2.97986094e+02] [-1.11904586e-01 9.93139454e-01 -3.39321156e-02 -3.95760160e+01] [-1.69291683e-02 3.22363221e-02 9.99336892e-01 -9.01589702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89587156 meters Centerline goodness [0,1] 0.5396048184418061 Centerline is valid? [False, False] Translation: X:297.99, Y:-39.58, Z:-9.02 [[ 9.93583841e-01 1.12324260e-01 1.32065092e-02 2.97987763e+02] [-1.11822966e-01 9.93146501e-01 -3.39948820e-02 -3.95752712e+01] [-1.69344484e-02 3.22999744e-02 9.99334747e-01 -9.01746806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92587156 meters Centerline goodness [0,1] 0.3626826116477211 Centerline is valid? [False, False] Translation: X:297.99, Y:-39.58, Z:-9.02 [[ 9.93594639e-01 1.12225078e-01 1.32372941e-02 2.97990636e+02] [-1.11723815e-01 9.93159639e-01 -3.39370096e-02 -3.95764035e+01] [-1.69553298e-02 3.22407098e-02 9.99336306e-01 -9.01870975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95587156 meters Centerline goodness [0,1] 0.3496538295110342 Centerline is valid? [False, False] Translation: X:297.99, Y:-39.58, Z:-9.02 [[ 9.93596624e-01 1.12215945e-01 1.31655173e-02 2.97992247e+02] [-1.11721066e-01 9.93168147e-01 -3.36962180e-02 -3.95780515e+01] [-1.68568253e-02 3.20095828e-02 9.99345403e-01 -9.02025991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98587156 meters Centerline goodness [0,1] 0.6196116928446771 Centerline is valid? [False, False] Translation: X:297.99, Y:-39.58, Z:-9.02 [[ 9.93597044e-01 1.12221426e-01 1.30868407e-02 2.97993853e+02] [-1.11732684e-01 9.93174136e-01 -3.34805010e-02 -3.95794270e+01] [-1.67547412e-02 3.18038990e-02 9.99353686e-01 -9.02172849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5586.64 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%| | 0/10333 [00:00